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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)
Real * operator[] (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)
Matrix3 & operator= (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

Static Public Member Functions

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

Static Public Attributes

const Real EPSILON
const Matrix3 ZERO
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

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

Protected Attributes

Real m [3][3]

Static Protected Attributes

const Real ms_fSvdEpsilon
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 59 of file OgreMatrix3.h.

Constructor & Destructor Documentation

Ogre::Matrix3::Matrix3 (   ) 
 

Default constructor.

Note:
It does NOT initialize the matrix for efficiency.

Definition at line 66 of file OgreMatrix3.h.

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

Definition at line 67 of file OgreMatrix3.h.

References Ogre::Real.

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

Definition at line 71 of file OgreMatrix3.h.

References m, and Ogre::Real.

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

Definition at line 75 of file OgreMatrix3.h.

References Ogre::Real.

Member Function Documentation

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

Real Ogre::Matrix3::Determinant (   )  const
 

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

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

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

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
) 
 

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

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

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

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

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

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

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

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

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

Definition at line 110 of file OgreMatrix3.h.

References Ogre::operator==().

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

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

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

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

Definition at line 104 of file OgreMatrix3.h.

References m, and Ogre::Real.

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

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

Definition at line 91 of file OgreMatrix3.h.

References Ogre::Real.

void Ogre::Matrix3::Orthonormalize (   ) 
 

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

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

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

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

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

Real Ogre::Matrix3::SpectralNorm (   )  const
 

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

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

Definition at line 157 of file OgreMatrix3.h.

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

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
 

Matrix3 Ogre::Matrix3::Transpose (   )  const
 

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

Friends And Related Function Documentation

friend class Matrix4 [friend]
 

Definition at line 299 of file OgreMatrix3.h.

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

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

Member Data Documentation

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

Definition at line 276 of file OgreMatrix3.h.

const Matrix3 Ogre::Matrix3::IDENTITY [static]
 

Definition at line 278 of file OgreMatrix3.h.

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

Definition at line 296 of file OgreMatrix3.h.

Referenced by Ogre::Matrix4::extract3x3Matrix(), Matrix3(), Ogre::Matrix4::operator=(), and operator=().

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

Definition at line 286 of file OgreMatrix3.h.

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

Definition at line 287 of file OgreMatrix3.h.

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

Definition at line 277 of file OgreMatrix3.h.

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

Copyright © 2000-2005 by The OGRE Team
Creative Commons License
This work is licensed under a Creative Commons Attribution-ShareAlike 2.5 License.
Last modified Sun Mar 12 14:40:02 2006