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etk/etk/math/Matrix3x3.cpp

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/** @file
* @author Edouard DUPIN
* @copyright 2011, Edouard DUPIN, all right reserved
* @license MPL v2.0 (see license file)
*/
#include <etk/math/Matrix3x3.hpp>
etk::Stream& etk::operator <<(etk::Stream& _os, const etk::Matrix3x3& _obj) {
_os << "{";
_os << _obj.m_mat[0] << ",";
_os << _obj.m_mat[1] << ",";
_os << _obj.m_mat[2] << ";";
_os << _obj.m_mat[3] << ",";
_os << _obj.m_mat[4] << ",";
_os << _obj.m_mat[5] << ";";
_os << _obj.m_mat[6] << ",";
_os << _obj.m_mat[7] << ",";
_os << _obj.m_mat[8] << "}";
return _os;
}
etk::Matrix3x3::Matrix3x3() {
m_mat[0] = 0.0f;
m_mat[1] = 0.0f;
m_mat[2] = 0.0f;
m_mat[3] = 0.0f;
m_mat[4] = 0.0f;
m_mat[5] = 0.0f;
m_mat[6] = 0.0f;
m_mat[7] = 0.0f;
m_mat[8] = 0.0f;
}
etk::Matrix3x3::Matrix3x3(float _value) {
m_mat[0] = _value;
m_mat[1] = _value;
m_mat[2] = _value;
m_mat[3] = _value;
m_mat[4] = _value;
m_mat[5] = _value;
m_mat[6] = _value;
m_mat[7] = _value;
m_mat[8] = _value;
}
etk::Matrix3x3::Matrix3x3(float _a1, float _a2, float _a3,
float _b1, float _b2, float _b3,
float _c1, float _c2, float _c3) {
m_mat[0] = _a1; m_mat[1] = _a2; m_mat[2] = _a3;
m_mat[3] = _b1; m_mat[4] = _b2; m_mat[5] = _b3;
m_mat[6] = _c1; m_mat[7] = _c2; m_mat[8] = _c3;
}
etk::Matrix3x3::Matrix3x3(const etk::Matrix3x3& _obj) {
m_mat[0] = _obj.m_mat[0];
m_mat[1] = _obj.m_mat[1];
m_mat[2] = _obj.m_mat[2];
m_mat[3] = _obj.m_mat[3];
m_mat[4] = _obj.m_mat[4];
m_mat[5] = _obj.m_mat[5];
m_mat[6] = _obj.m_mat[6];
m_mat[7] = _obj.m_mat[7];
m_mat[8] = _obj.m_mat[8];
}
void etk::Matrix3x3::setValue(float _a1, float _a2, float _a3,
float _b1, float _b2, float _b3,
float _c1, float _c2, float _c3) {
m_mat[0] = _a1; m_mat[1] = _a2; m_mat[2] = _a3;
m_mat[3] = _b1; m_mat[4] = _b2; m_mat[5] = _b3;
m_mat[6] = _c1; m_mat[7] = _c2; m_mat[8] = _c3;
}
void etk::Matrix3x3::setZero() {
m_mat[0] = 0.0f;
m_mat[1] = 0.0f;
m_mat[2] = 0.0f;
m_mat[3] = 0.0f;
m_mat[4] = 0.0f;
m_mat[5] = 0.0f;
m_mat[6] = 0.0f;
m_mat[7] = 0.0f;
m_mat[8] = 0.0f;
}
vec3 etk::Matrix3x3::getColumn(uint32_t _iii) const {
if (_iii == 0) {
return vec3(m_mat[0], m_mat[3], m_mat[6]);
} else if (_iii == 1) {
return vec3(m_mat[1], m_mat[4], m_mat[7]);
}
return vec3(m_mat[2], m_mat[5], m_mat[8]);
}
vec3 etk::Matrix3x3::getRow(uint32_t _iii) const {
if (_iii == 0) {
return vec3(m_mat[0], m_mat[1], m_mat[2]);
} else if (_iii == 1) {
return vec3(m_mat[3], m_mat[4], m_mat[5]);
}
return vec3(m_mat[6], m_mat[7], m_mat[8]);
}
etk::Matrix3x3 etk::Matrix3x3::getTranspose() const {
return etk::Matrix3x3(m_mat[0], m_mat[3], m_mat[6],
m_mat[1], m_mat[4], m_mat[7],
m_mat[2], m_mat[5], m_mat[8]);
}
void etk::Matrix3x3::transpose() {
float tmp = m_mat[1];
m_mat[1] = m_mat[3];
m_mat[3] = tmp;
tmp = m_mat[2];
m_mat[2] = m_mat[6];
m_mat[6] = tmp;
tmp = m_mat[5];
m_mat[5] = m_mat[7];
m_mat[7] = tmp;
}
float etk::Matrix3x3::determinant() const {
return m_mat[0]*(m_mat[4]*m_mat[8]-m_mat[7]*m_mat[5])
- m_mat[1]*(m_mat[3]*m_mat[8]-m_mat[6]*m_mat[5])
+ m_mat[2]*(m_mat[3]*m_mat[7]-m_mat[6]*m_mat[4]);
}
float etk::Matrix3x3::getTrace() const {
return (m_mat[0] + m_mat[4] + m_mat[8]);
}
void etk::Matrix3x3::setIdentity() {
m_mat[0] = 1.0; m_mat[1] = 0.0; m_mat[2] = 0.0;
m_mat[3] = 0.0; m_mat[4] = 1.0; m_mat[5] = 0.0;
m_mat[6] = 0.0; m_mat[7] = 0.0; m_mat[8] = 1.0;
}
etk::Matrix3x3 etk::Matrix3x3::identity() {
return etk::Matrix3x3(1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0);
}
etk::Matrix3x3 etk::Matrix3x3::zero() {
return etk::Matrix3x3(0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0);
}
void etk::Matrix3x3::absolute() {
m_mat[0] = std::abs(m_mat[0]);
m_mat[1] = std::abs(m_mat[1]);
m_mat[2] = std::abs(m_mat[2]);
m_mat[3] = std::abs(m_mat[3]);
m_mat[4] = std::abs(m_mat[4]);
m_mat[5] = std::abs(m_mat[5]);
m_mat[6] = std::abs(m_mat[6]);
m_mat[7] = std::abs(m_mat[7]);
m_mat[8] = std::abs(m_mat[8]);
}
etk::Matrix3x3 etk::Matrix3x3::getAbsolute() const {
return etk::Matrix3x3(std::abs(m_mat[0]), std::abs(m_mat[1]), std::abs(m_mat[2]),
std::abs(m_mat[3]), std::abs(m_mat[4]), std::abs(m_mat[5]),
std::abs(m_mat[6]), std::abs(m_mat[7]), std::abs(m_mat[8]));
}
const etk::Matrix3x3& etk::Matrix3x3::operator= (const etk::Matrix3x3& _obj ) {
for(int32_t iii=0; iii<3*3 ; ++iii) {
m_mat[iii] = _obj.m_mat[iii];
}
return *this;
}
bool etk::Matrix3x3::operator== (const etk::Matrix3x3& _obj) const {
for(int32_t iii=0; iii<3*3 ; ++iii) {
if(m_mat[iii] != _obj.m_mat[iii]) {
return false;
}
}
return true;
}
bool etk::Matrix3x3::operator!= (const etk::Matrix3x3& _obj) const {
for(int32_t iii=0; iii<3*3 ; ++iii) {
if(m_mat[iii] != _obj.m_mat[iii]) {
return true;
}
}
return false;
}
const etk::Matrix3x3& etk::Matrix3x3::operator+= (const etk::Matrix3x3& _obj) {
for(int32_t iii=0; iii<3*3 ; ++iii) {
m_mat[iii] += _obj.m_mat[iii];
}
return *this;
}
etk::Matrix3x3 etk::Matrix3x3::operator+ (const etk::Matrix3x3& _obj) const {
etk::Matrix3x3 tmpp(*this);
tmpp += _obj;
return tmpp;
}
const etk::Matrix3x3& etk::Matrix3x3::operator-= (const etk::Matrix3x3& _obj) {
for(int32_t iii=0; iii<3*3 ; ++iii) {
m_mat[iii] -= _obj.m_mat[iii];
}
return *this;
}
etk::Matrix3x3 etk::Matrix3x3::operator- (const etk::Matrix3x3& _obj) const {
etk::Matrix3x3 tmpp(*this);
tmpp -= _obj;
return tmpp;
}
const etk::Matrix3x3& etk::Matrix3x3::operator *= (const etk::Matrix3x3& _obj) {
float a1 = m_mat[0]*_obj.m_mat[0] + m_mat[1]*_obj.m_mat[3] + m_mat[2]*_obj.m_mat[6];
float b1 = m_mat[3]*_obj.m_mat[0] + m_mat[4]*_obj.m_mat[3] + m_mat[5]*_obj.m_mat[6];
float c1 = m_mat[6]*_obj.m_mat[0] + m_mat[7]*_obj.m_mat[3] + m_mat[8]*_obj.m_mat[6];
float a2 = m_mat[0]*_obj.m_mat[1] + m_mat[1]*_obj.m_mat[4] + m_mat[2]*_obj.m_mat[7];
float b2 = m_mat[3]*_obj.m_mat[1] + m_mat[4]*_obj.m_mat[4] + m_mat[5]*_obj.m_mat[7];
float c2 = m_mat[6]*_obj.m_mat[1] + m_mat[7]*_obj.m_mat[4] + m_mat[8]*_obj.m_mat[7];
m_mat[2] = m_mat[0]*_obj.m_mat[2] + m_mat[1]*_obj.m_mat[5] + m_mat[2]*_obj.m_mat[8];
m_mat[5] = m_mat[3]*_obj.m_mat[2] + m_mat[4]*_obj.m_mat[5] + m_mat[5]*_obj.m_mat[8];
m_mat[8] = m_mat[6]*_obj.m_mat[2] + m_mat[7]*_obj.m_mat[5] + m_mat[8]*_obj.m_mat[8];
m_mat[0] = a1;
m_mat[3] = b1;
m_mat[6] = c1;
m_mat[1] = a2;
m_mat[4] = b2;
m_mat[7] = c2;
return *this;
}
etk::Matrix3x3 etk::Matrix3x3::operator * (const etk::Matrix3x3& _obj) const {
etk::Matrix3x3 tmp(*this);
tmp *= _obj;
return tmp;
}
vec3 etk::Matrix3x3::operator * (const vec3& _point) const {
return vec3(_point.x()*m_mat[0] + _point.y()*m_mat[1] + _point.z()*m_mat[2],
_point.x()*m_mat[3] + _point.y()*m_mat[4] + _point.z()*m_mat[5],
_point.x()*m_mat[6] + _point.y()*m_mat[7] + _point.z()*m_mat[8]);
}
const etk::Matrix3x3& etk::Matrix3x3::operator *= (float _value) {
m_mat[0] *= _value;
m_mat[1] *= _value;
m_mat[2] *= _value;
m_mat[3] *= _value;
m_mat[4] *= _value;
m_mat[5] *= _value;
m_mat[6] *= _value;
m_mat[7] *= _value;
m_mat[8] *= _value;
return *this;
}
etk::Matrix3x3 etk::Matrix3x3::operator * (float _value) const {
etk::Matrix3x3 tmp(*this);
tmp *= _value;
return tmp;
}
void etk::Matrix3x3::inverse() {
*this = getInverse();
}
etk::Matrix3x3 etk::Matrix3x3::getInverse() const {
float det = determinant();
//assert(std::abs(det) > MACHINE_EPSILON);
float invDet = 1.0f / det;
return etk::Matrix3x3( (m_mat[4]*m_mat[8]-m_mat[7]*m_mat[5]),
-(m_mat[1]*m_mat[8]-m_mat[7]*m_mat[2]),
(m_mat[1]*m_mat[5]-m_mat[2]*m_mat[4]),
-(m_mat[3]*m_mat[8]-m_mat[6]*m_mat[5]),
(m_mat[0]*m_mat[8]-m_mat[6]*m_mat[2]),
-(m_mat[0]*m_mat[5]-m_mat[3]*m_mat[2]),
(m_mat[3]*m_mat[7]-m_mat[6]*m_mat[4]),
-(m_mat[0]*m_mat[7]-m_mat[6]*m_mat[1]),
(m_mat[0]*m_mat[4]-m_mat[1]*m_mat[3]))* invDet;
}
etk::Matrix3x3 etk::Matrix3x3::computeSkewSymmetricMatrixForCrossProduct(const vec3& vector) {
return etk::Matrix3x3( 0.0f , -vector.z(), vector.y(),
vector.z(), 0.0f , -vector.x(),
-vector.y(), vector.x(), 0.0f);
}
etk::Matrix3x3 operator-(const etk::Matrix3x3& _matrix) {
return etk::Matrix3x3(-_matrix.m_mat[0], -_matrix.m_mat[1], -_matrix.m_mat[2],
-_matrix.m_mat[3], -_matrix.m_mat[4], -_matrix.m_mat[5],
-_matrix.m_mat[6], -_matrix.m_mat[7], -_matrix.m_mat[8]);
}
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