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92 lines
3.0 KiB
C++
92 lines
3.0 KiB
C++
//##################################################################################################
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//
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// Custom Visualization Core library
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// Copyright (C) 2011-2012 Ceetron AS
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//
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// This library is free software: you can redistribute it and/or modify
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// it under the terms of the GNU General Public License as published by
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// the Free Software Foundation, either version 3 of the License, or
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// (at your option) any later version.
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//
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// This library is distributed in the hope that it will be useful, but WITHOUT ANY
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// WARRANTY; without even the implied warranty of MERCHANTABILITY or
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// FITNESS FOR A PARTICULAR PURPOSE.
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//
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// See the GNU General Public License at <<http://www.gnu.org/licenses/gpl.html>>
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// for more details.
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//
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//##################################################################################################
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#pragma once
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#include "cvfSystem.h"
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#include "cvfVector3.h"
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namespace cvf {
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//==================================================================================================
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//
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// Template matrix class for 3x3 matrices
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//
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//==================================================================================================
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template<typename S>
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class Matrix3
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{
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public:
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Matrix3();
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Matrix3(const Matrix3& other);
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Matrix3(S m00, S m01, S m02, S m10, S m11, S m12, S m20, S m21, S m22);
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template<typename T>
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explicit Matrix3(const Matrix3<T>& other);
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inline Matrix3& operator=(const Matrix3& rhs);
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bool equals(const Matrix3& mat) const;
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bool operator==(const Matrix3& rhs) const;
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bool operator!=(const Matrix3& rhs) const;
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void multiply(const Matrix3& mat);
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const Matrix3 operator*(const Matrix3& rhs) const;
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void setIdentity();
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bool isIdentity() const;
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void setZero();
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bool isZero() const;
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inline void setRowCol(int row, int col, S value);
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inline S rowCol(int row, int col) const;
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inline S& operator()(int row, int col);
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inline S operator()(int row, int col) const;
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bool invert();
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const Matrix3 getInverted(bool* pInvertible = NULL) const;
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S determinant() const;
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void transpose();
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inline const S* ptr() const;
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static Matrix3 fromRotation(Vector3<S> axis, S angle);
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public:
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static const Matrix3 IDENTITY; ///< Identity matrix
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static const Matrix3 ZERO; ///< Matrix with all zeros
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private:
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// Constants for accessing our internal array using standard matrix notation
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static const int e00 = 0; static const int e01 = 3; static const int e02 = 6;
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static const int e10 = 1; static const int e11 = 4; static const int e12 = 7;
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static const int e20 = 2; static const int e21 = 5; static const int e22 = 8;
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private:
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S m_v[9];
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};
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typedef Matrix3<float> Mat3f;
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typedef Matrix3<double> Mat3d;
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}
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#include "cvfMatrix3.inl"
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