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source: code/branches/ode/ode-0.9/OPCODE/Ice/IceMatrix3x3.h @ 216

Last change on this file since 216 was 216, checked in by mathiask, 16 years ago
[Physik] add ode-0.9
File size: 20.0 KB

Line
1	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
2	/**
3	* Contains code for 3x3 matrices.
4	* \file IceMatrix3x3.h
5	* \author Pierre Terdiman
6	* \date April, 4, 2000
7	*/
8	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
9
10	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
11	// Include Guard
12	#ifndef __ICEMATRIX3X3_H__
13	#define __ICEMATRIX3X3_H__
14
15	// Forward declarations
16	class Quat;
17
18	#define MATRIX3X3_EPSILON (1.0e-7f)
19
20	class ICEMATHS_API Matrix3x3
21	{
22	public:
23	//! Empty constructor
24	inline_ Matrix3x3() {}
25	//! Constructor from 9 values
26	inline_ Matrix3x3(float m00, float m01, float m02, float m10, float m11, float m12, float m20, float m21, float m22)
27	{
28	m[0][0] = m00; m[0][1] = m01; m[0][2] = m02;
29	m[1][0] = m10; m[1][1] = m11; m[1][2] = m12;
30	m[2][0] = m20; m[2][1] = m21; m[2][2] = m22;
31	}
32	//! Copy constructor
33	inline_ Matrix3x3(const Matrix3x3& mat) { CopyMemory(m, &mat.m, 9*sizeof(float)); }
34	//! Destructor
35	inline_ ~Matrix3x3() {}
36
37	//! Assign values
38	inline_ void Set(float m00, float m01, float m02, float m10, float m11, float m12, float m20, float m21, float m22)
39	{
40	m[0][0] = m00; m[0][1] = m01; m[0][2] = m02;
41	m[1][0] = m10; m[1][1] = m11; m[1][2] = m12;
42	m[2][0] = m20; m[2][1] = m21; m[2][2] = m22;
43	}
44
45	//! Sets the scale from a Point. The point is put on the diagonal.
46	inline_ void SetScale(const Point& p) { m[0][0] = p.x; m[1][1] = p.y; m[2][2] = p.z; }
47
48	//! Sets the scale from floats. Values are put on the diagonal.
49	inline_ void SetScale(float sx, float sy, float sz) { m[0][0] = sx; m[1][1] = sy; m[2][2] = sz; }
50
51	//! Scales from a Point. Each row is multiplied by a component.
52	inline_ void Scale(const Point& p)
53	{
54	m[0][0] = p.x; m[0][1] = p.x; m[0][2] *= p.x;
55	m[1][0] = p.y; m[1][1] = p.y; m[1][2] *= p.y;
56	m[2][0] = p.z; m[2][1] = p.z; m[2][2] *= p.z;
57	}
58
59	//! Scales from floats. Each row is multiplied by a value.
60	inline_ void Scale(float sx, float sy, float sz)
61	{
62	m[0][0] = sx; m[0][1] = sx; m[0][2] *= sx;
63	m[1][0] = sy; m[1][1] = sy; m[1][2] *= sy;
64	m[2][0] = sz; m[2][1] = sz; m[2][2] *= sz;
65	}
66
67	//! Copy from a Matrix3x3
68	inline_ void Copy(const Matrix3x3& source) { CopyMemory(m, source.m, 9*sizeof(float)); }
69
70	// Row-column access
71	//! Returns a row.
72	inline_ void GetRow(const udword r, Point& p) const { p.x = m[r][0]; p.y = m[r][1]; p.z = m[r][2]; }
73	//! Returns a row.
74	inline_ const Point& GetRow(const udword r) const { return (const Point)&m[r][0]; }
75	//! Returns a row.
76	inline_ Point& GetRow(const udword r) { return (Point)&m[r][0]; }
77	//! Sets a row.
78	inline_ void SetRow(const udword r, const Point& p) { m[r][0] = p.x; m[r][1] = p.y; m[r][2] = p.z; }
79	//! Returns a column.
80	inline_ void GetCol(const udword c, Point& p) const { p.x = m[0][c]; p.y = m[1][c]; p.z = m[2][c]; }
81	//! Sets a column.
82	inline_ void SetCol(const udword c, const Point& p) { m[0][c] = p.x; m[1][c] = p.y; m[2][c] = p.z; }
83
84	//! Computes the trace. The trace is the sum of the 3 diagonal components.
85	inline_ float Trace() const { return m[0][0] + m[1][1] + m[2][2]; }
86	//! Clears the matrix.
87	inline_ void Zero() { ZeroMemory(&m, sizeof(m)); }
88	//! Sets the identity matrix.
89	inline_ void Identity() { Zero(); m[0][0] = m[1][1] = m[2][2] = 1.0f; }
90	//! Checks for identity
91	inline_ bool IsIdentity() const
92	{
93	if(IR(m[0][0])!=IEEE_1_0) return false;
94	if(IR(m[0][1])!=0) return false;
95	if(IR(m[0][2])!=0) return false;
96
97	if(IR(m[1][0])!=0) return false;
98	if(IR(m[1][1])!=IEEE_1_0) return false;
99	if(IR(m[1][2])!=0) return false;
100
101	if(IR(m[2][0])!=0) return false;
102	if(IR(m[2][1])!=0) return false;
103	if(IR(m[2][2])!=IEEE_1_0) return false;
104
105	return true;
106	}
107
108	//! Checks matrix validity
109	inline_ BOOL IsValid() const
110	{
111	for(udword j=0;j<3;j++)
112	{
113	for(udword i=0;i<3;i++)
114	{
115	if(!IsValidFloat(m[j][i])) return FALSE;
116	}
117	}
118	return TRUE;
119	}
120
121	//! Makes a skew-symmetric matrix (a.k.a. Star(*) Matrix)
122	//! [ 0.0 -a.z a.y ]
123	//! [ a.z 0.0 -a.x ]
124	//! [ -a.y a.x 0.0 ]
125	//! This is also called a "cross matrix" since for any vectors A and B,
126	//! A^B = Skew(A) * B = - B * Skew(A);
127	inline_ void SkewSymmetric(const Point& a)
128	{
129	m[0][0] = 0.0f;
130	m[0][1] = -a.z;
131	m[0][2] = a.y;
132
133	m[1][0] = a.z;
134	m[1][1] = 0.0f;
135	m[1][2] = -a.x;
136
137	m[2][0] = -a.y;
138	m[2][1] = a.x;
139	m[2][2] = 0.0f;
140	}
141
142	//! Negates the matrix
143	inline_ void Neg()
144	{
145	m[0][0] = -m[0][0]; m[0][1] = -m[0][1]; m[0][2] = -m[0][2];
146	m[1][0] = -m[1][0]; m[1][1] = -m[1][1]; m[1][2] = -m[1][2];
147	m[2][0] = -m[2][0]; m[2][1] = -m[2][1]; m[2][2] = -m[2][2];
148	}
149
150	//! Neg from another matrix
151	inline_ void Neg(const Matrix3x3& mat)
152	{
153	m[0][0] = -mat.m[0][0]; m[0][1] = -mat.m[0][1]; m[0][2] = -mat.m[0][2];
154	m[1][0] = -mat.m[1][0]; m[1][1] = -mat.m[1][1]; m[1][2] = -mat.m[1][2];
155	m[2][0] = -mat.m[2][0]; m[2][1] = -mat.m[2][1]; m[2][2] = -mat.m[2][2];
156	}
157
158	//! Add another matrix
159	inline_ void Add(const Matrix3x3& mat)
160	{
161	m[0][0] += mat.m[0][0]; m[0][1] += mat.m[0][1]; m[0][2] += mat.m[0][2];
162	m[1][0] += mat.m[1][0]; m[1][1] += mat.m[1][1]; m[1][2] += mat.m[1][2];
163	m[2][0] += mat.m[2][0]; m[2][1] += mat.m[2][1]; m[2][2] += mat.m[2][2];
164	}
165
166	//! Sub another matrix
167	inline_ void Sub(const Matrix3x3& mat)
168	{
169	m[0][0] -= mat.m[0][0]; m[0][1] -= mat.m[0][1]; m[0][2] -= mat.m[0][2];
170	m[1][0] -= mat.m[1][0]; m[1][1] -= mat.m[1][1]; m[1][2] -= mat.m[1][2];
171	m[2][0] -= mat.m[2][0]; m[2][1] -= mat.m[2][1]; m[2][2] -= mat.m[2][2];
172	}
173	//! Mac
174	inline_ void Mac(const Matrix3x3& a, const Matrix3x3& b, float s)
175	{
176	m[0][0] = a.m[0][0] + b.m[0][0] * s;
177	m[0][1] = a.m[0][1] + b.m[0][1] * s;
178	m[0][2] = a.m[0][2] + b.m[0][2] * s;
179
180	m[1][0] = a.m[1][0] + b.m[1][0] * s;
181	m[1][1] = a.m[1][1] + b.m[1][1] * s;
182	m[1][2] = a.m[1][2] + b.m[1][2] * s;
183
184	m[2][0] = a.m[2][0] + b.m[2][0] * s;
185	m[2][1] = a.m[2][1] + b.m[2][1] * s;
186	m[2][2] = a.m[2][2] + b.m[2][2] * s;
187	}
188	//! Mac
189	inline_ void Mac(const Matrix3x3& a, float s)
190	{
191	m[0][0] += a.m[0][0] * s; m[0][1] += a.m[0][1] * s; m[0][2] += a.m[0][2] * s;
192	m[1][0] += a.m[1][0] * s; m[1][1] += a.m[1][1] * s; m[1][2] += a.m[1][2] * s;
193	m[2][0] += a.m[2][0] * s; m[2][1] += a.m[2][1] * s; m[2][2] += a.m[2][2] * s;
194	}
195
196	//! this = A * s
197	inline_ void Mult(const Matrix3x3& a, float s)
198	{
199	m[0][0] = a.m[0][0] * s; m[0][1] = a.m[0][1] * s; m[0][2] = a.m[0][2] * s;
200	m[1][0] = a.m[1][0] * s; m[1][1] = a.m[1][1] * s; m[1][2] = a.m[1][2] * s;
201	m[2][0] = a.m[2][0] * s; m[2][1] = a.m[2][1] * s; m[2][2] = a.m[2][2] * s;
202	}
203
204	inline_ void Add(const Matrix3x3& a, const Matrix3x3& b)
205	{
206	m[0][0] = a.m[0][0] + b.m[0][0]; m[0][1] = a.m[0][1] + b.m[0][1]; m[0][2] = a.m[0][2] + b.m[0][2];
207	m[1][0] = a.m[1][0] + b.m[1][0]; m[1][1] = a.m[1][1] + b.m[1][1]; m[1][2] = a.m[1][2] + b.m[1][2];
208	m[2][0] = a.m[2][0] + b.m[2][0]; m[2][1] = a.m[2][1] + b.m[2][1]; m[2][2] = a.m[2][2] + b.m[2][2];
209	}
210
211	inline_ void Sub(const Matrix3x3& a, const Matrix3x3& b)
212	{
213	m[0][0] = a.m[0][0] - b.m[0][0]; m[0][1] = a.m[0][1] - b.m[0][1]; m[0][2] = a.m[0][2] - b.m[0][2];
214	m[1][0] = a.m[1][0] - b.m[1][0]; m[1][1] = a.m[1][1] - b.m[1][1]; m[1][2] = a.m[1][2] - b.m[1][2];
215	m[2][0] = a.m[2][0] - b.m[2][0]; m[2][1] = a.m[2][1] - b.m[2][1]; m[2][2] = a.m[2][2] - b.m[2][2];
216	}
217
218	//! this = a * b
219	inline_ void Mult(const Matrix3x3& a, const Matrix3x3& b)
220	{
221	m[0][0] = a.m[0][0] * b.m[0][0] + a.m[0][1] * b.m[1][0] + a.m[0][2] * b.m[2][0];
222	m[0][1] = a.m[0][0] * b.m[0][1] + a.m[0][1] * b.m[1][1] + a.m[0][2] * b.m[2][1];
223	m[0][2] = a.m[0][0] * b.m[0][2] + a.m[0][1] * b.m[1][2] + a.m[0][2] * b.m[2][2];
224	m[1][0] = a.m[1][0] * b.m[0][0] + a.m[1][1] * b.m[1][0] + a.m[1][2] * b.m[2][0];
225	m[1][1] = a.m[1][0] * b.m[0][1] + a.m[1][1] * b.m[1][1] + a.m[1][2] * b.m[2][1];
226	m[1][2] = a.m[1][0] * b.m[0][2] + a.m[1][1] * b.m[1][2] + a.m[1][2] * b.m[2][2];
227	m[2][0] = a.m[2][0] * b.m[0][0] + a.m[2][1] * b.m[1][0] + a.m[2][2] * b.m[2][0];
228	m[2][1] = a.m[2][0] * b.m[0][1] + a.m[2][1] * b.m[1][1] + a.m[2][2] * b.m[2][1];
229	m[2][2] = a.m[2][0] * b.m[0][2] + a.m[2][1] * b.m[1][2] + a.m[2][2] * b.m[2][2];
230	}
231
232	//! this = transpose(a) * b
233	inline_ void MultAtB(const Matrix3x3& a, const Matrix3x3& b)
234	{
235	m[0][0] = a.m[0][0] * b.m[0][0] + a.m[1][0] * b.m[1][0] + a.m[2][0] * b.m[2][0];
236	m[0][1] = a.m[0][0] * b.m[0][1] + a.m[1][0] * b.m[1][1] + a.m[2][0] * b.m[2][1];
237	m[0][2] = a.m[0][0] * b.m[0][2] + a.m[1][0] * b.m[1][2] + a.m[2][0] * b.m[2][2];
238	m[1][0] = a.m[0][1] * b.m[0][0] + a.m[1][1] * b.m[1][0] + a.m[2][1] * b.m[2][0];
239	m[1][1] = a.m[0][1] * b.m[0][1] + a.m[1][1] * b.m[1][1] + a.m[2][1] * b.m[2][1];
240	m[1][2] = a.m[0][1] * b.m[0][2] + a.m[1][1] * b.m[1][2] + a.m[2][1] * b.m[2][2];
241	m[2][0] = a.m[0][2] * b.m[0][0] + a.m[1][2] * b.m[1][0] + a.m[2][2] * b.m[2][0];
242	m[2][1] = a.m[0][2] * b.m[0][1] + a.m[1][2] * b.m[1][1] + a.m[2][2] * b.m[2][1];
243	m[2][2] = a.m[0][2] * b.m[0][2] + a.m[1][2] * b.m[1][2] + a.m[2][2] * b.m[2][2];
244	}
245
246	//! this = a * transpose(b)
247	inline_ void MultABt(const Matrix3x3& a, const Matrix3x3& b)
248	{
249	m[0][0] = a.m[0][0] * b.m[0][0] + a.m[0][1] * b.m[0][1] + a.m[0][2] * b.m[0][2];
250	m[0][1] = a.m[0][0] * b.m[1][0] + a.m[0][1] * b.m[1][1] + a.m[0][2] * b.m[1][2];
251	m[0][2] = a.m[0][0] * b.m[2][0] + a.m[0][1] * b.m[2][1] + a.m[0][2] * b.m[2][2];
252	m[1][0] = a.m[1][0] * b.m[0][0] + a.m[1][1] * b.m[0][1] + a.m[1][2] * b.m[0][2];
253	m[1][1] = a.m[1][0] * b.m[1][0] + a.m[1][1] * b.m[1][1] + a.m[1][2] * b.m[1][2];
254	m[1][2] = a.m[1][0] * b.m[2][0] + a.m[1][1] * b.m[2][1] + a.m[1][2] * b.m[2][2];
255	m[2][0] = a.m[2][0] * b.m[0][0] + a.m[2][1] * b.m[0][1] + a.m[2][2] * b.m[0][2];
256	m[2][1] = a.m[2][0] * b.m[1][0] + a.m[2][1] * b.m[1][1] + a.m[2][2] * b.m[1][2];
257	m[2][2] = a.m[2][0] * b.m[2][0] + a.m[2][1] * b.m[2][1] + a.m[2][2] * b.m[2][2];
258	}
259
260	//! Makes a rotation matrix mapping vector "from" to vector "to".
261	Matrix3x3& FromTo(const Point& from, const Point& to);
262
263	//! Set a rotation matrix around the X axis.
264	//! 1 0 0
265	//! RX = 0 cx sx
266	//! 0 -sx cx
267	void RotX(float angle);
268	//! Set a rotation matrix around the Y axis.
269	//! cy 0 -sy
270	//! RY = 0 1 0
271	//! sy 0 cy
272	void RotY(float angle);
273	//! Set a rotation matrix around the Z axis.
274	//! cz sz 0
275	//! RZ = -sz cz 0
276	//! 0 0 1
277	void RotZ(float angle);
278	//! cy sx.sy -sy.cx
279	//! RY.RX 0 cx sx
280	//! sy -sx.cy cx.cy
281	void RotYX(float y, float x);
282
283	//! Make a rotation matrix about an arbitrary axis
284	Matrix3x3& Rot(float angle, const Point& axis);
285
286	//! Transpose the matrix.
287	void Transpose()
288	{
289	IR(m[1][0]) ^= IR(m[0][1]); IR(m[0][1]) ^= IR(m[1][0]); IR(m[1][0]) ^= IR(m[0][1]);
290	IR(m[2][0]) ^= IR(m[0][2]); IR(m[0][2]) ^= IR(m[2][0]); IR(m[2][0]) ^= IR(m[0][2]);
291	IR(m[2][1]) ^= IR(m[1][2]); IR(m[1][2]) ^= IR(m[2][1]); IR(m[2][1]) ^= IR(m[1][2]);
292	}
293
294	//! this = Transpose(a)
295	void Transpose(const Matrix3x3& a)
296	{
297	m[0][0] = a.m[0][0]; m[0][1] = a.m[1][0]; m[0][2] = a.m[2][0];
298	m[1][0] = a.m[0][1]; m[1][1] = a.m[1][1]; m[1][2] = a.m[2][1];
299	m[2][0] = a.m[0][2]; m[2][1] = a.m[1][2]; m[2][2] = a.m[2][2];
300	}
301
302	//! Compute the determinant of the matrix. We use the rule of Sarrus.
303	float Determinant() const
304	{
305	return (m[0][0]m[1][1]m[2][2] + m[0][1]m[1][2]m[2][0] + m[0][2]m[1][0]m[2][1])
306	- (m[2][0]m[1][1]m[0][2] + m[2][1]m[1][2]m[0][0] + m[2][2]m[1][0]m[0][1]);
307	}
308	/*
309	//! Compute a cofactor. Used for matrix inversion.
310	float CoFactor(ubyte row, ubyte column) const
311	{
312	static sdword gIndex[3+2] = { 0, 1, 2, 0, 1 };
313	return (m[gIndex[row+1]][gIndex[column+1]]m[gIndex[row+2]][gIndex[column+2]] - m[gIndex[row+2]][gIndex[column+1]]m[gIndex[row+1]][gIndex[column+2]]);
314	}
315	*/
316	//! Invert the matrix. Determinant must be different from zero, else matrix can't be inverted.
317	Matrix3x3& Invert()
318	{
319	float Det = Determinant(); // Must be !=0
320	float OneOverDet = 1.0f / Det;
321
322	Matrix3x3 Temp;
323	Temp.m[0][0] = +(m[1][1] * m[2][2] - m[2][1] * m[1][2]) * OneOverDet;
324	Temp.m[1][0] = -(m[1][0] * m[2][2] - m[2][0] * m[1][2]) * OneOverDet;
325	Temp.m[2][0] = +(m[1][0] * m[2][1] - m[2][0] * m[1][1]) * OneOverDet;
326	Temp.m[0][1] = -(m[0][1] * m[2][2] - m[2][1] * m[0][2]) * OneOverDet;
327	Temp.m[1][1] = +(m[0][0] * m[2][2] - m[2][0] * m[0][2]) * OneOverDet;
328	Temp.m[2][1] = -(m[0][0] * m[2][1] - m[2][0] * m[0][1]) * OneOverDet;
329	Temp.m[0][2] = +(m[0][1] * m[1][2] - m[1][1] * m[0][2]) * OneOverDet;
330	Temp.m[1][2] = -(m[0][0] * m[1][2] - m[1][0] * m[0][2]) * OneOverDet;
331	Temp.m[2][2] = +(m[0][0] * m[1][1] - m[1][0] * m[0][1]) * OneOverDet;
332
333	*this = Temp;
334
335	return *this;
336	}
337
338	Matrix3x3& Normalize();
339
340	//! this = exp(a)
341	Matrix3x3& Exp(const Matrix3x3& a);
342
343	void FromQuat(const Quat &q);
344	void FromQuatL2(const Quat &q, float l2);
345
346	// Arithmetic operators
347	//! Operator for Matrix3x3 Plus = Matrix3x3 + Matrix3x3;
348	inline_ Matrix3x3 operator+(const Matrix3x3& mat) const
349	{
350	return Matrix3x3(
351	m[0][0] + mat.m[0][0], m[0][1] + mat.m[0][1], m[0][2] + mat.m[0][2],
352	m[1][0] + mat.m[1][0], m[1][1] + mat.m[1][1], m[1][2] + mat.m[1][2],
353	m[2][0] + mat.m[2][0], m[2][1] + mat.m[2][1], m[2][2] + mat.m[2][2]);
354	}
355
356	//! Operator for Matrix3x3 Minus = Matrix3x3 - Matrix3x3;
357	inline_ Matrix3x3 operator-(const Matrix3x3& mat) const
358	{
359	return Matrix3x3(
360	m[0][0] - mat.m[0][0], m[0][1] - mat.m[0][1], m[0][2] - mat.m[0][2],
361	m[1][0] - mat.m[1][0], m[1][1] - mat.m[1][1], m[1][2] - mat.m[1][2],
362	m[2][0] - mat.m[2][0], m[2][1] - mat.m[2][1], m[2][2] - mat.m[2][2]);
363	}
364
365	//! Operator for Matrix3x3 Mul = Matrix3x3 * Matrix3x3;
366	inline_ Matrix3x3 operator*(const Matrix3x3& mat) const
367	{
368	return Matrix3x3(
369	m[0][0]mat.m[0][0] + m[0][1]mat.m[1][0] + m[0][2]*mat.m[2][0],
370	m[0][0]mat.m[0][1] + m[0][1]mat.m[1][1] + m[0][2]*mat.m[2][1],
371	m[0][0]mat.m[0][2] + m[0][1]mat.m[1][2] + m[0][2]*mat.m[2][2],
372
373	m[1][0]mat.m[0][0] + m[1][1]mat.m[1][0] + m[1][2]*mat.m[2][0],
374	m[1][0]mat.m[0][1] + m[1][1]mat.m[1][1] + m[1][2]*mat.m[2][1],
375	m[1][0]mat.m[0][2] + m[1][1]mat.m[1][2] + m[1][2]*mat.m[2][2],
376
377	m[2][0]mat.m[0][0] + m[2][1]mat.m[1][0] + m[2][2]*mat.m[2][0],
378	m[2][0]mat.m[0][1] + m[2][1]mat.m[1][1] + m[2][2]*mat.m[2][1],
379	m[2][0]mat.m[0][2] + m[2][1]mat.m[1][2] + m[2][2]*mat.m[2][2]);
380	}
381
382	//! Operator for Point Mul = Matrix3x3 * Point;
383	inline_ Point operator*(const Point& v) const { return Point(GetRow(0)\|v, GetRow(1)\|v, GetRow(2)\|v); }
384
385	//! Operator for Matrix3x3 Mul = Matrix3x3 * float;
386	inline_ Matrix3x3 operator*(float s) const
387	{
388	return Matrix3x3(
389	m[0][0]s, m[0][1]s, m[0][2]*s,
390	m[1][0]s, m[1][1]s, m[1][2]*s,
391	m[2][0]s, m[2][1]s, m[2][2]*s);
392	}
393
394	//! Operator for Matrix3x3 Mul = float * Matrix3x3;
395	inline_ friend Matrix3x3 operator*(float s, const Matrix3x3& mat)
396	{
397	return Matrix3x3(
398	smat.m[0][0], smat.m[0][1], s*mat.m[0][2],
399	smat.m[1][0], smat.m[1][1], s*mat.m[1][2],
400	smat.m[2][0], smat.m[2][1], s*mat.m[2][2]);
401	}
402
403	//! Operator for Matrix3x3 Div = Matrix3x3 / float;
404	inline_ Matrix3x3 operator/(float s) const
405	{
406	if (s) s = 1.0f / s;
407	return Matrix3x3(
408	m[0][0]s, m[0][1]s, m[0][2]*s,
409	m[1][0]s, m[1][1]s, m[1][2]*s,
410	m[2][0]s, m[2][1]s, m[2][2]*s);
411	}
412
413	//! Operator for Matrix3x3 Div = float / Matrix3x3;
414	inline_ friend Matrix3x3 operator/(float s, const Matrix3x3& mat)
415	{
416	return Matrix3x3(
417	s/mat.m[0][0], s/mat.m[0][1], s/mat.m[0][2],
418	s/mat.m[1][0], s/mat.m[1][1], s/mat.m[1][2],
419	s/mat.m[2][0], s/mat.m[2][1], s/mat.m[2][2]);
420	}
421
422	//! Operator for Matrix3x3 += Matrix3x3
423	inline_ Matrix3x3& operator+=(const Matrix3x3& mat)
424	{
425	m[0][0] += mat.m[0][0]; m[0][1] += mat.m[0][1]; m[0][2] += mat.m[0][2];
426	m[1][0] += mat.m[1][0]; m[1][1] += mat.m[1][1]; m[1][2] += mat.m[1][2];
427	m[2][0] += mat.m[2][0]; m[2][1] += mat.m[2][1]; m[2][2] += mat.m[2][2];
428	return *this;
429	}
430
431	//! Operator for Matrix3x3 -= Matrix3x3
432	inline_ Matrix3x3& operator-=(const Matrix3x3& mat)
433	{
434	m[0][0] -= mat.m[0][0]; m[0][1] -= mat.m[0][1]; m[0][2] -= mat.m[0][2];
435	m[1][0] -= mat.m[1][0]; m[1][1] -= mat.m[1][1]; m[1][2] -= mat.m[1][2];
436	m[2][0] -= mat.m[2][0]; m[2][1] -= mat.m[2][1]; m[2][2] -= mat.m[2][2];
437	return *this;
438	}
439
440	//! Operator for Matrix3x3 *= Matrix3x3
441	inline_ Matrix3x3& operator*=(const Matrix3x3& mat)
442	{
443	Point TempRow;
444
445	GetRow(0, TempRow);
446	m[0][0] = TempRow.xmat.m[0][0] + TempRow.ymat.m[1][0] + TempRow.z*mat.m[2][0];
447	m[0][1] = TempRow.xmat.m[0][1] + TempRow.ymat.m[1][1] + TempRow.z*mat.m[2][1];
448	m[0][2] = TempRow.xmat.m[0][2] + TempRow.ymat.m[1][2] + TempRow.z*mat.m[2][2];
449
450	GetRow(1, TempRow);
451	m[1][0] = TempRow.xmat.m[0][0] + TempRow.ymat.m[1][0] + TempRow.z*mat.m[2][0];
452	m[1][1] = TempRow.xmat.m[0][1] + TempRow.ymat.m[1][1] + TempRow.z*mat.m[2][1];
453	m[1][2] = TempRow.xmat.m[0][2] + TempRow.ymat.m[1][2] + TempRow.z*mat.m[2][2];
454
455	GetRow(2, TempRow);
456	m[2][0] = TempRow.xmat.m[0][0] + TempRow.ymat.m[1][0] + TempRow.z*mat.m[2][0];
457	m[2][1] = TempRow.xmat.m[0][1] + TempRow.ymat.m[1][1] + TempRow.z*mat.m[2][1];
458	m[2][2] = TempRow.xmat.m[0][2] + TempRow.ymat.m[1][2] + TempRow.z*mat.m[2][2];
459	return *this;
460	}
461
462	//! Operator for Matrix3x3 *= float
463	inline_ Matrix3x3& operator*=(float s)
464	{
465	m[0][0] = s; m[0][1] = s; m[0][2] *= s;
466	m[1][0] = s; m[1][1] = s; m[1][2] *= s;
467	m[2][0] = s; m[2][1] = s; m[2][2] *= s;
468	return *this;
469	}
470
471	//! Operator for Matrix3x3 /= float
472	inline_ Matrix3x3& operator/=(float s)
473	{
474	if (s) s = 1.0f / s;
475	m[0][0] = s; m[0][1] = s; m[0][2] *= s;
476	m[1][0] = s; m[1][1] = s; m[1][2] *= s;
477	m[2][0] = s; m[2][1] = s; m[2][2] *= s;
478	return *this;
479	}
480
481	// Cast operators
482	//! Cast a Matrix3x3 to a Matrix4x4.
483	operator Matrix4x4() const;
484	//! Cast a Matrix3x3 to a Quat.
485	operator Quat() const;
486
487	inline_ const Point& operator[](int row) const { return (const Point)&m[row][0]; }
488	inline_ Point& operator[](int row) { return (Point)&m[row][0]; }
489
490	public:
491
492	float m[3][3];
493	};
494
495	#endif // __ICEMATRIX3X3_H__
496

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