Ogre::Matrix3 Class Reference

A 3x3 matrix which can represent rotations around axes. More...

#include <OgreMatrix3.h>

List of all members.

Public Member Functions

 Matrix3 ()
 Default constructor.
 Matrix3 (const Real arr[3][3])
 Matrix3 (const Matrix3 &rkMatrix)
 Matrix3 (Real fEntry00, Real fEntry01, Real fEntry02, Real fEntry10, Real fEntry11, Real fEntry12, Real fEntry20, Real fEntry21, Real fEntry22)
Realoperator[] (size_t iRow) const
Vector3 GetColumn (size_t iCol) const
void SetColumn (size_t iCol, const Vector3 &vec)
void FromAxes (const Vector3 &xAxis, const Vector3 &yAxis, const Vector3 &zAxis)
Matrix3operator= (const Matrix3 &rkMatrix)
bool operator== (const Matrix3 &rkMatrix) const
bool operator!= (const Matrix3 &rkMatrix) const
Matrix3 operator+ (const Matrix3 &rkMatrix) const
Matrix3 operator- (const Matrix3 &rkMatrix) const
Matrix3 operator* (const Matrix3 &rkMatrix) const
Matrix3 operator- () const
Vector3 operator* (const Vector3 &rkVector) const
Matrix3 operator* (Real fScalar) const
Matrix3 Transpose () const
bool Inverse (Matrix3 &rkInverse, Real fTolerance=1e-06) const
Matrix3 Inverse (Real fTolerance=1e-06) const
Real Determinant () const
void SingularValueDecomposition (Matrix3 &rkL, Vector3 &rkS, Matrix3 &rkR) const
void SingularValueComposition (const Matrix3 &rkL, const Vector3 &rkS, const Matrix3 &rkR)
void Orthonormalize ()
void QDUDecomposition (Matrix3 &rkQ, Vector3 &rkD, Vector3 &rkU) const
Real SpectralNorm () const
void ToAxisAngle (Vector3 &rkAxis, Radian &rfAngle) const
void ToAxisAngle (Vector3 &rkAxis, Degree &rfAngle) const
void FromAxisAngle (const Vector3 &rkAxis, const Radian &fRadians)
bool ToEulerAnglesXYZ (Radian &rfYAngle, Radian &rfPAngle, Radian &rfRAngle) const
bool ToEulerAnglesXZY (Radian &rfYAngle, Radian &rfPAngle, Radian &rfRAngle) const
bool ToEulerAnglesYXZ (Radian &rfYAngle, Radian &rfPAngle, Radian &rfRAngle) const
bool ToEulerAnglesYZX (Radian &rfYAngle, Radian &rfPAngle, Radian &rfRAngle) const
bool ToEulerAnglesZXY (Radian &rfYAngle, Radian &rfPAngle, Radian &rfRAngle) const
bool ToEulerAnglesZYX (Radian &rfYAngle, Radian &rfPAngle, Radian &rfRAngle) const
void FromEulerAnglesXYZ (const Radian &fYAngle, const Radian &fPAngle, const Radian &fRAngle)
void FromEulerAnglesXZY (const Radian &fYAngle, const Radian &fPAngle, const Radian &fRAngle)
void FromEulerAnglesYXZ (const Radian &fYAngle, const Radian &fPAngle, const Radian &fRAngle)
void FromEulerAnglesYZX (const Radian &fYAngle, const Radian &fPAngle, const Radian &fRAngle)
void FromEulerAnglesZXY (const Radian &fYAngle, const Radian &fPAngle, const Radian &fRAngle)
void FromEulerAnglesZYX (const Radian &fYAngle, const Radian &fPAngle, const Radian &fRAngle)
void EigenSolveSymmetric (Real afEigenvalue[3], Vector3 akEigenvector[3]) const
bool hasScale () const
 Determines if this matrix involves a scaling.

Static Public Member Functions

static void TensorProduct (const Vector3 &rkU, const Vector3 &rkV, Matrix3 &rkProduct)

Static Public Attributes

static const Real EPSILON
static const Matrix3 ZERO
static const Matrix3 IDENTITY

Protected Member Functions

void Tridiagonal (Real afDiag[3], Real afSubDiag[3])
bool QLAlgorithm (Real afDiag[3], Real afSubDiag[3])

Static Protected Member Functions

static void Bidiagonalize (Matrix3 &kA, Matrix3 &kL, Matrix3 &kR)
static void GolubKahanStep (Matrix3 &kA, Matrix3 &kL, Matrix3 &kR)
static Real MaxCubicRoot (Real afCoeff[3])

Protected Attributes

Real m [3][3]

Static Protected Attributes

static const Real ms_fSvdEpsilon
static const unsigned int ms_iSvdMaxIterations

Friends

class Matrix4
_OgreExport friend Vector3 operator* (const Vector3 &rkVector, const Matrix3 &rkMatrix)
_OgreExport friend Matrix3 operator* (Real fScalar, const Matrix3 &rkMatrix)


Detailed Description

A 3x3 matrix which can represent rotations around axes.

Note:
All the code is adapted from the Wild Magic 0.2 Matrix library (http://www.geometrictools.com/).
The coordinate system is assumed to be right-handed.

Definition at line 63 of file OgreMatrix3.h.


Constructor & Destructor Documentation

Ogre::Matrix3::Matrix3 (  ) 

Default constructor.

Note:
It does NOT initialize the matrix for efficiency.

Definition at line 70 of file OgreMatrix3.h.

Ogre::Matrix3::Matrix3 ( const Real  arr[3][3]  )  [explicit]

Definition at line 71 of file OgreMatrix3.h.

Ogre::Matrix3::Matrix3 ( const Matrix3 rkMatrix  ) 

Definition at line 75 of file OgreMatrix3.h.

References m.

Ogre::Matrix3::Matrix3 ( Real  fEntry00,
Real  fEntry01,
Real  fEntry02,
Real  fEntry10,
Real  fEntry11,
Real  fEntry12,
Real  fEntry20,
Real  fEntry21,
Real  fEntry22 
)

Definition at line 79 of file OgreMatrix3.h.


Member Function Documentation

Real* Ogre::Matrix3::operator[] ( size_t  iRow  )  const

Definition at line 95 of file OgreMatrix3.h.

Vector3 Ogre::Matrix3::GetColumn ( size_t  iCol  )  const

void Ogre::Matrix3::SetColumn ( size_t  iCol,
const Vector3 vec 
)

void Ogre::Matrix3::FromAxes ( const Vector3 xAxis,
const Vector3 yAxis,
const Vector3 zAxis 
)

Matrix3& Ogre::Matrix3::operator= ( const Matrix3 rkMatrix  ) 

Definition at line 108 of file OgreMatrix3.h.

References m.

bool Ogre::Matrix3::operator== ( const Matrix3 rkMatrix  )  const

bool Ogre::Matrix3::operator!= ( const Matrix3 rkMatrix  )  const

Definition at line 114 of file OgreMatrix3.h.

References Ogre::operator==().

Matrix3 Ogre::Matrix3::operator+ ( const Matrix3 rkMatrix  )  const

Matrix3 Ogre::Matrix3::operator- ( const Matrix3 rkMatrix  )  const

Matrix3 Ogre::Matrix3::operator* ( const Matrix3 rkMatrix  )  const

Matrix3 Ogre::Matrix3::operator- (  )  const

Vector3 Ogre::Matrix3::operator* ( const Vector3 rkVector  )  const

Matrix3 Ogre::Matrix3::operator* ( Real  fScalar  )  const

Matrix3 Ogre::Matrix3::Transpose (  )  const

bool Ogre::Matrix3::Inverse ( Matrix3 rkInverse,
Real  fTolerance = 1e-06 
) const

Matrix3 Ogre::Matrix3::Inverse ( Real  fTolerance = 1e-06  )  const

Real Ogre::Matrix3::Determinant (  )  const

void Ogre::Matrix3::SingularValueDecomposition ( Matrix3 rkL,
Vector3 rkS,
Matrix3 rkR 
) const

void Ogre::Matrix3::SingularValueComposition ( const Matrix3 rkL,
const Vector3 rkS,
const Matrix3 rkR 
)

void Ogre::Matrix3::Orthonormalize (  ) 

void Ogre::Matrix3::QDUDecomposition ( Matrix3 rkQ,
Vector3 rkD,
Vector3 rkU 
) const

Real Ogre::Matrix3::SpectralNorm (  )  const

void Ogre::Matrix3::ToAxisAngle ( Vector3 rkAxis,
Radian rfAngle 
) const

void Ogre::Matrix3::ToAxisAngle ( Vector3 rkAxis,
Degree rfAngle 
) const

Definition at line 161 of file OgreMatrix3.h.

void Ogre::Matrix3::FromAxisAngle ( const Vector3 rkAxis,
const Radian fRadians 
)

bool Ogre::Matrix3::ToEulerAnglesXYZ ( Radian rfYAngle,
Radian rfPAngle,
Radian rfRAngle 
) const

bool Ogre::Matrix3::ToEulerAnglesXZY ( Radian rfYAngle,
Radian rfPAngle,
Radian rfRAngle 
) const

bool Ogre::Matrix3::ToEulerAnglesYXZ ( Radian rfYAngle,
Radian rfPAngle,
Radian rfRAngle 
) const

bool Ogre::Matrix3::ToEulerAnglesYZX ( Radian rfYAngle,
Radian rfPAngle,
Radian rfRAngle 
) const

bool Ogre::Matrix3::ToEulerAnglesZXY ( Radian rfYAngle,
Radian rfPAngle,
Radian rfRAngle 
) const

bool Ogre::Matrix3::ToEulerAnglesZYX ( Radian rfYAngle,
Radian rfPAngle,
Radian rfRAngle 
) const

void Ogre::Matrix3::FromEulerAnglesXYZ ( const Radian fYAngle,
const Radian fPAngle,
const Radian fRAngle 
)

void Ogre::Matrix3::FromEulerAnglesXZY ( const Radian fYAngle,
const Radian fPAngle,
const Radian fRAngle 
)

void Ogre::Matrix3::FromEulerAnglesYXZ ( const Radian fYAngle,
const Radian fPAngle,
const Radian fRAngle 
)

void Ogre::Matrix3::FromEulerAnglesYZX ( const Radian fYAngle,
const Radian fPAngle,
const Radian fRAngle 
)

void Ogre::Matrix3::FromEulerAnglesZXY ( const Radian fYAngle,
const Radian fPAngle,
const Radian fRAngle 
)

void Ogre::Matrix3::FromEulerAnglesZYX ( const Radian fYAngle,
const Radian fPAngle,
const Radian fRAngle 
)

void Ogre::Matrix3::EigenSolveSymmetric ( Real  afEigenvalue[3],
Vector3  akEigenvector[3] 
) const

static void Ogre::Matrix3::TensorProduct ( const Vector3 rkU,
const Vector3 rkV,
Matrix3 rkProduct 
) [static]

bool Ogre::Matrix3::hasScale (  )  const

Determines if this matrix involves a scaling.

Definition at line 197 of file OgreMatrix3.h.

References Ogre::Math::RealEqual().

void Ogre::Matrix3::Tridiagonal ( Real  afDiag[3],
Real  afSubDiag[3] 
) [protected]

bool Ogre::Matrix3::QLAlgorithm ( Real  afDiag[3],
Real  afSubDiag[3] 
) [protected]

static void Ogre::Matrix3::Bidiagonalize ( Matrix3 kA,
Matrix3 kL,
Matrix3 kR 
) [static, protected]

static void Ogre::Matrix3::GolubKahanStep ( Matrix3 kA,
Matrix3 kL,
Matrix3 kR 
) [static, protected]

static Real Ogre::Matrix3::MaxCubicRoot ( Real  afCoeff[3]  )  [static, protected]


Friends And Related Function Documentation

friend class Matrix4 [friend]

Definition at line 237 of file OgreMatrix3.h.

_OgreExport friend Vector3 operator* ( const Vector3 rkVector,
const Matrix3 rkMatrix 
) [friend]

_OgreExport friend Matrix3 operator* ( Real  fScalar,
const Matrix3 rkMatrix 
) [friend]


Member Data Documentation

const Real Ogre::Matrix3::EPSILON [static]

Definition at line 214 of file OgreMatrix3.h.

const Matrix3 Ogre::Matrix3::ZERO [static]

Definition at line 215 of file OgreMatrix3.h.

Definition at line 216 of file OgreMatrix3.h.

const Real Ogre::Matrix3::ms_fSvdEpsilon [static, protected]

Definition at line 224 of file OgreMatrix3.h.

const unsigned int Ogre::Matrix3::ms_iSvdMaxIterations [static, protected]

Definition at line 225 of file OgreMatrix3.h.

Real Ogre::Matrix3::m[3][3] [protected]


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

Copyright © 2008 Torus Knot Software Ltd
Creative Commons License
This work is licensed under a Creative Commons Attribution-ShareAlike 2.5 License.
Last modified Sun Sep 27 22:04:08 2009