Bart Janssens
Simple Vector Library 1.5 http://www.cs.cmu.edu/~ajw/doc/svl.html
Diff: Mat3.h
- Revision:
- 0:785cff1e5a7c
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Mat3.h Mon Jan 04 15:19:10 2016 +0000
@@ -0,0 +1,226 @@
+/*
+ File: Mat3.h
+
+ Function: Defines a 3 x 3 matrix.
+
+ Author(s): Andrew Willmott
+
+ Copyright: (c) 1995-2001, Andrew Willmott
+*/
+
+#ifndef __Mat3__
+#define __Mat3__
+
+#include "Vec3.h"
+
+
+// --- Mat3 Class -------------------------------------------------------------
+
+
+class Vec4;
+
+class Mat3
+{
+public:
+
+ // Constructors
+
+ Mat3();
+ Mat3(Real a, Real b, Real c,
+ Real d, Real e, Real f,
+ Real g, Real h, Real i);
+ Mat3(const Mat3 &m);
+ Mat3(ZeroOrOne k);
+ Mat3(Block k);
+
+ // Accessor functions
+
+ Int Rows() const { return(3); };
+ Int Cols() const { return(3); };
+
+ Vec3 &operator [] (Int i);
+ const Vec3 &operator [] (Int i) const;
+
+ Real *Ref() const; // Return pointer to data
+
+ // Assignment operators
+
+ Mat3 &operator = (const Mat3 &m);
+ Mat3 &operator = (ZeroOrOne k);
+ Mat3 &operator = (Block k);
+ Mat3 &operator += (const Mat3 &m);
+ Mat3 &operator -= (const Mat3 &m);
+ Mat3 &operator *= (const Mat3 &m);
+ Mat3 &operator *= (Real s);
+ Mat3 &operator /= (Real s);
+
+ // Comparison operators
+
+ Bool operator == (const Mat3 &m) const; // M == N?
+ Bool operator != (const Mat3 &m) const; // M != N?
+
+ // Arithmetic operators
+
+ Mat3 operator + (const Mat3 &m) const; // M + N
+ Mat3 operator - (const Mat3 &m) const; // M - N
+ Mat3 operator - () const; // -M
+ Mat3 operator * (const Mat3 &m) const; // M * N
+ Mat3 operator * (Real s) const; // M * s
+ Mat3 operator / (Real s) const; // M / s
+
+ // Initialisers
+
+ Void MakeZero(); // Zero matrix
+ Void MakeDiag(Real k = vl_one); // I
+ Void MakeBlock(Real k = vl_one); // all elts = k
+
+ // Vector Transforms
+
+ Mat3& MakeRot(const Vec3 &axis, Real theta);
+ Mat3& MakeRot(const Vec4 &q); // Rotate by quaternion
+ Mat3& MakeScale(const Vec3 &s);
+
+ // Homogeneous Transforms
+
+ Mat3& MakeHRot(Real theta); // Rotate by theta rads
+ Mat3& MakeHScale(const Vec2 &s); // Scale by s
+ Mat3& MakeHTrans(const Vec2 &t); // Translation by t
+
+ // Private...
+
+protected:
+
+ Vec3 row[3];
+};
+
+
+// --- Matrix operators -------------------------------------------------------
+
+inline Vec3 &operator *= (Vec3 &v, const Mat3 &m); // v *= m
+inline Vec3 operator * (const Mat3 &m, const Vec3 &v); // m * v
+inline Vec3 operator * (const Vec3 &v, const Mat3 &m); // v * m
+inline Mat3 operator * (const Real s, const Mat3 &m); // s * m
+
+Mat3 trans(const Mat3 &m); // Transpose
+Real trace(const Mat3 &m); // Trace
+Mat3 adj(const Mat3 &m); // Adjoint
+Real det(const Mat3 &m); // Determinant
+Mat3 inv(const Mat3 &m); // Inverse
+Mat3 oprod(const Vec3 &a, const Vec3 &b); // Outer product
+
+// The xform functions help avoid dependence on whether row or column
+// vectors are used to represent points and vectors.
+inline Vec3 xform(const Mat3 &m, const Vec3 &v); // Transform of v by m
+inline Vec2 xform(const Mat3 &m, const Vec2 &v); // Hom. xform of v by m
+inline Mat3 xform(const Mat3 &m, const Mat3 &n); // Xform v -> m(n(v))
+
+//std::ostream &operator << (std::ostream &s, const Mat3 &m);
+//std::istream &operator >> (std::istream &s, Mat3 &m);
+
+void printMat3(const Mat3 &m);
+
+
+// --- Inlines ----------------------------------------------------------------
+
+inline Mat3::Mat3()
+{
+}
+
+inline Vec3 &Mat3::operator [] (Int i)
+{
+ CheckRange(i, 0, 3, "(Mat3::[i]) index out of range");
+ return(row[i]);
+}
+
+inline const Vec3 &Mat3::operator [] (Int i) const
+{
+ CheckRange(i, 0, 3, "(Mat3::[i]) index out of range");
+ return(row[i]);
+}
+
+inline Real *Mat3::Ref() const
+{
+ return((Real *) row);
+}
+
+inline Mat3::Mat3(ZeroOrOne k)
+{
+ MakeDiag(k);
+}
+
+inline Mat3::Mat3(Block k)
+{
+ MakeBlock((ZeroOrOne) k);
+}
+
+inline Mat3 &Mat3::operator = (ZeroOrOne k)
+{
+ MakeDiag(k);
+
+ return(SELF);
+}
+
+inline Mat3 &Mat3::operator = (Block k)
+{
+ MakeBlock((ZeroOrOne) k);
+
+ return(SELF);
+}
+
+inline Mat3 operator * (const Real s, const Mat3 &m)
+{
+ return(m * s);
+}
+
+inline Vec3 operator * (const Mat3 &m, const Vec3 &v)
+{
+ Vec3 result;
+
+ result[0] = v[0] * m[0][0] + v[1] * m[0][1] + v[2] * m[0][2];
+ result[1] = v[0] * m[1][0] + v[1] * m[1][1] + v[2] * m[1][2];
+ result[2] = v[0] * m[2][0] + v[1] * m[2][1] + v[2] * m[2][2];
+
+ return(result);
+}
+
+inline Vec3 operator * (const Vec3 &v, const Mat3 &m)
+{
+ Vec3 result;
+
+ result[0] = v[0] * m[0][0] + v[1] * m[1][0] + v[2] * m[2][0];
+ result[1] = v[0] * m[0][1] + v[1] * m[1][1] + v[2] * m[2][1];
+ result[2] = v[0] * m[0][2] + v[1] * m[1][2] + v[2] * m[2][2];
+
+ return(result);
+}
+
+inline Vec3 &operator *= (Vec3 &v, const Mat3 &m)
+{
+ Real t0, t1;
+
+ t0 = v[0] * m[0][0] + v[1] * m[1][0] + v[2] * m[2][0];
+ t1 = v[0] * m[0][1] + v[1] * m[1][1] + v[2] * m[2][1];
+ v[2] = v[0] * m[0][2] + v[1] * m[1][2] + v[2] * m[2][2];
+ v[0] = t0;
+ v[1] = t1;
+
+ return(v);
+}
+
+#ifdef VL_ROW_ORIENT
+inline Vec2 xform(const Mat3 &m, const Vec2 &v)
+{ return(proj(Vec3(v, 1.0) * m)); }
+inline Vec3 xform(const Mat3 &m, const Vec3 &v)
+{ return(v * m); }
+inline Mat3 xform(const Mat3 &m, const Mat3 &n)
+{ return(n * m); }
+#else
+inline Vec2 xform(const Mat3 &m, const Vec2 &v)
+{ return(proj(m * Vec3(v, 1.0))); }
+inline Vec3 xform(const Mat3 &m, const Vec3 &v)
+{ return(m * v); }
+inline Mat3 xform(const Mat3 &m, const Mat3 &n)
+{ return(m * n); }
+#endif
+
+#endif