[5673] | 1 | /*! |
---|
| 2 | * @file matrix.h |
---|
| 3 | * @brief Definition of a 3x3 matrix. |
---|
| 4 | */ |
---|
| 5 | |
---|
[5664] | 6 | #include <math.h> |
---|
[5673] | 7 | #include "vector.h" |
---|
[5662] | 8 | |
---|
| 9 | |
---|
| 10 | class Matrix |
---|
| 11 | { |
---|
[5663] | 12 | |
---|
[5662] | 13 | public: |
---|
[5692] | 14 | Matrix() : m11(0), m12(0), m13(0), m21(0), m22(0), m23(0), m31(0), m32(0), m33(0) { }; |
---|
| 15 | |
---|
[5663] | 16 | Matrix ( float m11, float m12, float m13, |
---|
| 17 | float m21, float m22, float m23, |
---|
| 18 | float m31, float m32, float m33 ) |
---|
| 19 | { |
---|
| 20 | this->m11 = m11; this->m12 = m12; this->m13 = m13; |
---|
| 21 | this->m21 = m21; this->m22 = m22; this->m23 = m23; |
---|
| 22 | this->m31 = m31; this->m32 = m32; this->m33 = m33; |
---|
[5664] | 23 | }; |
---|
[5694] | 24 | Matrix(const float m[3][3]) { |
---|
| 25 | this->m11 = m[0][0]; this->m12 = m[0][1]; this->m13 = m[0][2]; |
---|
| 26 | this->m21 = m[1][0]; this->m22 = m[1][1]; this->m23 = m[1][2]; |
---|
| 27 | this->m31 = m[2][0]; this->m32 = m[2][1]; this->m33 = m[2][2]; |
---|
| 28 | }; |
---|
[5663] | 29 | |
---|
[5665] | 30 | Matrix operator+ (const Matrix& m) const { |
---|
[5663] | 31 | return Matrix (this->m11 + m.m11, this->m12 + m.m12, this->m13 + m.m13, |
---|
| 32 | this->m21 + m.m21, this->m22 + m.m22, this->m23 + m.m23, |
---|
| 33 | this->m31 + m.m31, this->m32 + m.m32, this->m33 + m.m33); |
---|
| 34 | } |
---|
| 35 | |
---|
[5665] | 36 | Matrix operator- (const Matrix& m) const { |
---|
[5663] | 37 | return Matrix (this->m11 - m.m11, this->m12 - m.m12, this->m13 - m.m13, |
---|
| 38 | this->m21 - m.m21, this->m22 - m.m22, this->m23 - m.m23, |
---|
| 39 | this->m31 - m.m31, this->m32 - m.m32, this->m33 - m.m33); |
---|
| 40 | } |
---|
| 41 | |
---|
[5665] | 42 | Matrix operator* (float k) const { |
---|
[5663] | 43 | return Matrix(this->m11 - k, this->m12 - k, this->m13 - k, |
---|
| 44 | this->m21 - k, this->m22 - k, this->m23 - k, |
---|
| 45 | this->m31 - k, this->m32 - k, this->m33 - k); |
---|
| 46 | } |
---|
| 47 | |
---|
[5665] | 48 | Vector operator* (const Vector& v) const { |
---|
[5664] | 49 | return Vector (this->m11*v.x + this->m12*v.y + this->m13*v.z, |
---|
| 50 | this->m21*v.x + this->m22*v.y + this->m23*v.z, |
---|
| 51 | this->m31*v.x + this->m32*v.y + this->m33*v.z ); |
---|
| 52 | } |
---|
| 53 | |
---|
| 54 | |
---|
[5665] | 55 | Matrix getTransposed() const { |
---|
[5664] | 56 | return Matrix( this->m11, this->m21, this->m31, |
---|
| 57 | this->m12, this->m22, this->m32, |
---|
| 58 | this->m13, this->m23, this->m33); |
---|
| 59 | } |
---|
| 60 | |
---|
[5665] | 61 | void toVectors(Vector& m1, Vector& m2, Vector& m3) const { |
---|
[5664] | 62 | m1 = Vector(this->m11, this->m12, this->m13); |
---|
| 63 | m2 = Vector(this->m21, this->m22, this->m23); |
---|
| 64 | m3 = Vector(this->m31, this->m32, this->m33); |
---|
| 65 | } |
---|
| 66 | |
---|
[5675] | 67 | int getEigenValues(Vector& eigenVectors) const; |
---|
[5668] | 68 | void getEigenVectors(Vector& a, Vector& b, Vector& c) const; |
---|
[5664] | 69 | |
---|
| 70 | /// @todo optimize |
---|
| 71 | static Matrix identity() { return Matrix (1,0,0, 0,1,0, 0,0,1); } |
---|
| 72 | |
---|
[5663] | 73 | void debug() const; |
---|
| 74 | |
---|
| 75 | |
---|
| 76 | public: |
---|
[5662] | 77 | float m11; float m12; float m13; |
---|
| 78 | float m21; float m22; float m23; |
---|
| 79 | float m31; float m32; float m33; |
---|
| 80 | |
---|
| 81 | }; |
---|