3x3 matrix template class More...

#include <SLMat3.h>

Public Member Functions
	SLMat3 ()
	Sets identity matrix. More...

	SLMat3 (const SLMat3 &A)
	Sets mat by other SLMat3. More...

	SLMat3 (const T M0, const T M3, const T M6, const T M1, const T M4, const T M7, const T M2, const T M5, const T M8)
	Sets matrix by components. More...

	SLMat3 (const T angleDEG, const T axis_x, const T axis_y, const T axis_z)
	Sets rotate matrix from axis & angle. More...

	SLMat3 (const T angleDEG, const SLVec3< T > axis)
	Sets rotate matrix. More...

	SLMat3 (const T scale_xyz)
	Sets uniform scaling matrix. More...

	SLMat3 (const T angleXRAD, const T angleYRAD, const T angleZRAD)
	Sets rotation matrix from Euler angles in radians. More...

void	setMatrix (const SLMat3 &A)

void	setMatrix (const SLMat3 *A)

void	setMatrix (const T *M)

void	setMatrix (T M0, T M3, T M6, T M1, T M4, T M7, T M2, T M5, T M8)

void	m (int i, T val)

const T *	m () const

T	m (int i) const

SLMat3< T > &	operator= (const SLMat3 &A)

SLMat3< T > &	operator*= (const SLMat3 &A)

SLMat3< T > &	operator= (const T *a)

SLMat3< T >	operator+ (const SLMat3 &A) const

SLMat3< T >	operator- (const SLMat3 &A) const

SLMat3< T >	operator* (const SLMat3 &A) const

SLVec3< T >	operator* (const SLVec3< T > &v) const

SLMat3< T >	operator* (T a) const
	scalar multiplication More...

SLMat3< T > &	operator*= (T a)
	scalar multiplication More...

SLMat3< T >	operator/ (T a) const
	scalar division More...

SLMat3< T > &	operator/= (T a)
	scalar division More...

	operator const T * () const

	operator T* ()

T &	operator() (SLint row, SLint col)

const T &	operator() (SLint row, SLint col) const

void	rotation (const T angleDEG, const SLVec3< T > &axis)
	Sets the rotation components More...

void	rotation (const T angleDEG, const T axisx, const T axisy, const T axisz)

void	rotation (const T zAngleRAD, const T yAngleRAD, const T xAngleRAD)

void	scale (const T sx, const T sy, const T sz)
	Sets the scaling components. More...

void	scale (const SLVec3< T > &s)

void	scale (const T s)

void	identity ()

void	transpose ()
	Transposes the matrix. More...

SLMat3< T >	transposed () const
	Returns the transposed of the matrix and leaves the itself unchanged. More...

void	invert ()
	Inverts the matrix. More...

SLMat3< T >	inverted ()
	Returns the inverse of the matrix and leaves itself unchanged. More...

T	trace () const

T	det () const
	det returns the determinant More...

void	toAngleAxis (T &angleDEG, SLVec3< T > &axis) const
	Conversion to axis and angle in radians. More...

void	toEulerAnglesXYZ (T &xRotRAD, T &yRotRAD, T &zRotRAD)

void	toEulerAnglesZYX (T &zRotRAD, T &yRotRAD, T &xRotRAD)

void	fromEulerAnglesXYZ (const T angleXRAD, const T angleYRAD, const T angleZRAD)

void	fromEulerAnglesZYX (const T angleZ1RAD, const T angleY2RAD, const T angleX3RAD)

void	fromEulerAnglesZXZ (const T angleZ1RAD, const T angleX2RAD, const T angleZ2RAD)

void	print (const SLchar *str) const

Static Public Member Functions
static void	swap (T &a, T &b)

Public Attributes
T	_m [9]

Detailed Description

template<class T>
class SLMat3< T >

3x3 matrix template class

Implements a 3 by 3 matrix template. 9 floats were used instead of the normal [3][3] array. The order is columnwise as in OpenGL

| 0 3 6 | | 1 4 7 | | 2 5 8 |

type definitions for 3x3 matrice:
Use SLMat3f for a specific float type 3x3 matrix
Use SLMat3d for a specific double type 3x3 matrix

Constructor & Destructor Documentation

◆ SLMat3() [1/7]

template<class T >

SLMat3< T >::SLMat3

Sets identity matrix.

◆ SLMat3() [2/7]

template<class T >

SLMat3< T >::SLMat3 ( const SLMat3< T > & A )

Sets mat by other SLMat3.

◆ SLMat3() [3/7]

template<class T >

SLMat3< T >::SLMat3	(	const T	M0,
		const T	M3,
		const T	M6,
		const T	M1,
		const T	M4,
		const T	M7,
		const T	M2,
		const T	M5,
		const T	M8
	)

Sets matrix by components.

◆ SLMat3() [4/7]

template<class T >

SLMat3< T >::SLMat3	(	const T	angleDEG,
		const T	axis_x,
		const T	axis_y,
		const T	axis_z
	)

Sets rotate matrix from axis & angle.

◆ SLMat3() [5/7]

template<class T >

SLMat3< T >::SLMat3	(	const T	angleDEG,
		const SLVec3< T >	axis
	)

Sets rotate matrix.

◆ SLMat3() [6/7]

template<class T >

SLMat3< T >::SLMat3 ( const T scale_xyz )

Sets uniform scaling matrix.

◆ SLMat3() [7/7]

template<class T >

SLMat3< T >::SLMat3	(	const T	angleXRAD,
		const T	angleYRAD,
		const T	angleZRAD
	)

Sets rotation matrix from Euler angles in radians.

Member Function Documentation

◆ det()

template<class T >

T SLMat3< T >::det

inline

det returns the determinant

◆ fromEulerAnglesXYZ()

template<class T >

void SLMat3< T >::fromEulerAnglesXYZ	(	const T	angleX1RAD,
		const T	angleY2RAD,
		const T	angleZ3RAD
	)

Sets the linear 3x3 sub-matrix as a rotation matrix from the 3 euler angles in radians around the z-axis, y-axis & x-axis := Rx * Ry * Rz See: http://en.wikipedia.org/wiki/Euler_angles

◆ fromEulerAnglesZXZ()

template<class T >

void SLMat3< T >::fromEulerAnglesZXZ	(	const T	angleZ1RAD,
		const T	angleX2RAD,
		const T	angleZ3RAD
	)

Sets the linear 3x3 sub-matrix as a rotation matrix from the 3 euler angles in radians around the z-axis, x-axis & z-axis:= Z1*X2*Z3 See: http://en.wikipedia.org/wiki/Euler_angles

◆ fromEulerAnglesZYX()

template<class T >

void SLMat3< T >::fromEulerAnglesZYX	(	const T	angleZ1RAD,
		const T	angleY2RAD,
		const T	angleX3RAD
	)

Sets the linear 3x3 sub-matrix as a rotation matrix from the 3 euler angles in radians around the x-axis, y-axis & z-axis := Rz * Ry * Rx See: http://en.wikipedia.org/wiki/Euler_angles

◆ identity()

template<class T >

void SLMat3< T >::identity

◆ invert()

template<class T >

void SLMat3< T >::invert

Inverts the matrix.

◆ inverted()

template<class T >

SLMat3< T > SLMat3< T >::inverted

Returns the inverse of the matrix and leaves itself unchanged.

◆ m() [1/3]

template<class T >

const T * SLMat3< T >::m ( ) const

inline

◆ m() [2/3]

template<class T >

T SLMat3< T >::m ( int i ) const

inline

◆ m() [3/3]

template<class T >

void SLMat3< T >::m	(	int	i,
		T	val
	)

inline

◆ operator const T *()

template<class T >

SLMat3< T >::operator const T * ( ) const

inline

◆ operator T*()

template<class T >

SLMat3< T >::operator T* ( )

inline

◆ operator()() [1/2]

template<class T >

T & SLMat3< T >::operator()	(	SLint	row,
		SLint	col
	)

inline

◆ operator()() [2/2]

template<class T >

const T & SLMat3< T >::operator()	(	SLint	row,
		SLint	col
	)		const

inline

◆ operator*() [1/3]

template<class T >

SLMat3< T > SLMat3< T >::operator* ( const SLMat3< T > & A ) const

◆ operator*() [2/3]

template<class T >

SLVec3< T > SLMat3< T >::operator* ( const SLVec3< T > & v ) const

◆ operator*() [3/3]

template<class T >

SLMat3< T > SLMat3< T >::operator* ( T a ) const

scalar multiplication

◆ operator*=() [1/2]

template<class T >

SLMat3< T > & SLMat3< T >::operator*= ( const SLMat3< T > & A )

◆ operator*=() [2/2]

template<class T >

SLMat3< T > & SLMat3< T >::operator*= ( T a )

scalar multiplication

◆ operator+()

template<class T >

SLMat3< T > SLMat3< T >::operator+ ( const SLMat3< T > & A ) const

◆ operator-()

template<class T >

SLMat3< T > SLMat3< T >::operator- ( const SLMat3< T > & A ) const

◆ operator/()

template<class T >

SLMat3< T > SLMat3< T >::operator/ ( T a ) const

scalar division

◆ operator/=()

template<class T >

SLMat3< T > & SLMat3< T >::operator/= ( T a )

scalar division

◆ operator=() [1/2]

template<class T >

SLMat3< T > & SLMat3< T >::operator= ( const SLMat3< T > & A )

◆ operator=() [2/2]

template<class T >

SLMat3< T > & SLMat3< T >::operator= ( const T * a )

◆ print()

template<class T >

void SLMat3< T >::print ( const SLchar * str ) const

◆ rotation() [1/3]

template<class T >

void SLMat3< T >::rotation	(	const T	angleDEG,
		const SLVec3< T > &	axis
	)

Sets the rotation components

◆ rotation() [2/3]

template<class T >

void SLMat3< T >::rotation	(	const T	angleDEG,
		const T	axisx,
		const T	axisy,
		const T	axisz
	)

◆ rotation() [3/3]

template<class T >

void SLMat3< T >::rotation	(	const T	zAngleRAD,
		const T	yAngleRAD,
		const T	xAngleRAD
	)

Sets the matrix as a rotation matrix from the 3 euler angles in radians around the z-axis, y-axis & x-axis. See Van Verth: Essential Math for Games, chapter 5: Orientation Representation

◆ scale() [1/3]

template<class T >

void SLMat3< T >::scale ( const SLVec3< T > & s )

◆ scale() [2/3]

template<class T >

void SLMat3< T >::scale ( const T s )

◆ scale() [3/3]

template<class T >

void SLMat3< T >::scale	(	const T	sx,
		const T	sy,
		const T	sz
	)

Sets the scaling components.

◆ setMatrix() [1/4]

template<class T >

void SLMat3< T >::setMatrix ( const SLMat3< T > & A )

◆ setMatrix() [2/4]

template<class T >

void SLMat3< T >::setMatrix ( const SLMat3< T > * A )

◆ setMatrix() [3/4]

template<class T >

void SLMat3< T >::setMatrix ( const T * M )

◆ setMatrix() [4/4]

template<class T >

void SLMat3< T >::setMatrix	(	T	M0,
		T	M3,
		T	M6,
		T	M1,
		T	M4,
		T	M7,
		T	M2,
		T	M5,
		T	M8
	)

◆ swap()

template<class T >

static void SLMat3< T >::swap	(	T &	a,
		T &	b
	)

inlinestatic

◆ toAngleAxis()

template<typename T >

void SLMat3< T >::toAngleAxis	(	T &	angleDEG,
		SLVec3< T > &	axis
	)		const

Conversion to axis and angle in radians.

The matrix must be a rotation matrix for this functions to be valid. The last function uses Gram-Schmidt orthonormalization applied to the columns of the rotation matrix. The angle must be in radians, not degrees.

◆ toEulerAnglesXYZ()

template<class T >

void SLMat3< T >::toEulerAnglesXYZ	(	T &	xRotRAD,
		T &	yRotRAD,
		T &	zRotRAD
	)

Gets one set of possible x-y-z euler angles that will generate this matrix Source: Essential Mathematics for Games and Interactive Applications A Programmer's Guide 2nd edition by James M. Van Verth and Lars M. Bishop

◆ toEulerAnglesZYX()

template<class T >

void SLMat3< T >::toEulerAnglesZYX	(	T &	zRotRAD,
		T &	yRotRAD,
		T &	xRotRAD
	)

Gets one set of possible z-y-x euler angles that will generate this matrix Source: Essential Mathematics for Games and Interactive Applications A Programmer's Guide 2nd edition by James M. Van Verth and Lars M. Bishop

◆ trace()

template<class T >

T SLMat3< T >::trace

inline

◆ transpose()

template<class T >

void SLMat3< T >::transpose

Transposes the matrix.

◆ transposed()

template<class T >

SLMat3< T > SLMat3< T >::transposed

Returns the transposed of the matrix and leaves the itself unchanged.

Member Data Documentation

◆ _m

template<class T >

T SLMat3< T >::_m[9]

The documentation for this class was generated from the following file:

SLMat3.h

Public Member Functions

Static Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ SLMat3() [1/7]

◆ SLMat3() [2/7]

◆ SLMat3() [3/7]

◆ SLMat3() [4/7]

◆ SLMat3() [5/7]

◆ SLMat3() [6/7]

◆ SLMat3() [7/7]

Member Function Documentation

◆ det()

◆ fromEulerAnglesXYZ()

◆ fromEulerAnglesZXZ()

◆ fromEulerAnglesZYX()

◆ identity()

◆ invert()

◆ inverted()

◆ m() [1/3]

◆ m() [2/3]

◆ m() [3/3]

◆ operator const T *()

◆ operator T*()

◆ operator()() [1/2]

◆ operator()() [2/2]

◆ operator*() [1/3]

◆ operator*() [2/3]

◆ operator*() [3/3]

◆ operator*=() [1/2]

◆ operator*=() [2/2]

◆ operator+()

◆ operator-()

◆ operator/()

◆ operator/=()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ print()

◆ rotation() [1/3]

◆ rotation() [2/3]

◆ rotation() [3/3]

◆ scale() [1/3]

◆ scale() [2/3]

◆ scale() [3/3]

◆ setMatrix() [1/4]

◆ setMatrix() [2/4]

◆ setMatrix() [3/4]

◆ setMatrix() [4/4]

◆ swap()

◆ toAngleAxis()

◆ toEulerAnglesXYZ()

◆ toEulerAnglesZYX()

◆ trace()

◆ transpose()

◆ transposed()

Member Data Documentation

◆ _m