Contents User Forum Source Index APIs by Task APIs by Level Data G3D::Matrix3 Class Reference 3x3 matrix. More... #include <Matrix3.h> List of all members. Public Member Functions void  deserialize (class BinaryInput &b) float  determinant () const void  eigenSolveSymmetric (float afEigenvalue[3], Vector3 akEigenvector[3]) const bool  fuzzyEq (const Matrix3 &b) const Vector3  getColumn (int iCol) const Vector3  getRow (int iRow) const Matrix3  inverse (float fTolerance=1e-06) const bool  inverse (Matrix3 &rkInverse, float fTolerance=1e-06) const bool  isOrthonormal () const   Matrix3 (const class Quat &q)   Matrix3 (float fEntry00, float fEntry01, float fEntry02, float fEntry10, float fEntry11, float fEntry12, float fEntry20, float fEntry21, float fEntry22)   Matrix3 (const Matrix3 &rkMatrix)   Matrix3 (const float aafEntry[3][3])   Matrix3 (class BinaryInput &b)   Matrix3 () Matrix3  operator * (float fScalar) const Vector3  operator * (const Vector3 &v) const Matrix3  operator * (const Matrix3 &rkMatrix) const Matrix3 &  operator *= (const Matrix3 &rkMatrix)   operator const float * () const   operator float * () bool  operator!= (const Matrix3 &rkMatrix) const Matrix3  operator+ (const Matrix3 &rkMatrix) const Matrix3 &  operator+= (const Matrix3 &rkMatrix) Matrix3  operator- () const Matrix3  operator- (const Matrix3 &rkMatrix) const Matrix3 &  operator-= (const Matrix3 &rkMatrix) Matrix3 &  operator= (const Matrix3 &rkMatrix) bool  operator== (const Matrix3 &rkMatrix) const const float *  operator[] (int iRow) const float *  operator[] (int iRow) void  orthonormalize () void  qDUDecomposition (Matrix3 &rkQ, Vector3 &rkD, Vector3 &rkU) const void  serialize (class BinaryOutput &b) const void  set (float fEntry00, float fEntry01, float fEntry02, float fEntry10, float fEntry11, float fEntry12, float fEntry20, float fEntry21, float fEntry22) void  setColumn (int iCol, const Vector3 &vector) void  setRow (int iRow, const Vector3 &vector) void  singularValueComposition (const Matrix3 &rkL, const Vector3 &rkS, const Matrix3 &rkR) void  singularValueDecomposition (Matrix3 &rkL, Vector3 &rkS, Matrix3 &rkR) const float  spectralNorm () const void  toAxisAngle (Vector3 &rkAxis, float &rfRadians) const bool  toEulerAnglesXYZ (float &rfYAngle, float &rfPAngle, float &rfRAngle) const bool  toEulerAnglesXZY (float &rfYAngle, float &rfPAngle, float &rfRAngle) const bool  toEulerAnglesYXZ (float &rfYAngle, float &rfPAngle, float &rfRAngle) const bool  toEulerAnglesYZX (float &rfYAngle, float &rfPAngle, float &rfRAngle) const bool  toEulerAnglesZXY (float &rfYAngle, float &rfPAngle, float &rfRAngle) const bool  toEulerAnglesZYX (float &rfYAngle, float &rfPAngle, float &rfRAngle) const std::string  toString () const Matrix3  transpose () const Static Public Member Functions static Matrix3  fromAxisAngle (const Vector3 &rkAxis, float fRadians) static Matrix3  fromEulerAnglesXYZ (float fYAngle, float fPAngle, float fRAngle) static Matrix3  fromEulerAnglesXZY (float fYAngle, float fPAngle, float fRAngle) static Matrix3  fromEulerAnglesYXZ (float fYAngle, float fPAngle, float fRAngle) static Matrix3  fromEulerAnglesYZX (float fYAngle, float fPAngle, float fRAngle) static Matrix3  fromEulerAnglesZXY (float fYAngle, float fPAngle, float fRAngle) static Matrix3  fromEulerAnglesZYX (float fYAngle, float fPAngle, float fRAngle) static const Matrix3 &  identity () static void  mul (const Matrix3 &A, const Matrix3 &B, Matrix3 &out) static void  tensorProduct (const Vector3 &rkU, const Vector3 &rkV, Matrix3 &rkProduct) static void  transpose (const Matrix3 &A, Matrix3 &out) static const Matrix3 &  zero () Static Public Attributes static const float  EPSILON Protected Member Functions bool  qLAlgorithm (float afDiag[3], float afSubDiag[3]) void  tridiagonal (float afDiag[3], float 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 float  maxCubicRoot (float afCoeff[3]) Static Protected Attributes static const float  ms_fSvdEpsilon static const int  ms_iSvdMaxIterations Friends Matrix3  operator * (int fScalar, const Matrix3 &rkMatrix) Matrix3  operator * (float fScalar, const Matrix3 &rkMatrix) Matrix3  operator * (double fScalar, const Matrix3 &rkMatrix) Vector3  operator * (const Vector3 &rkVector, const Matrix3 &rkMatrix) Detailed Description 3x3 matrix. Do not subclass. Constructor & Destructor Documentation G3D::Matrix3::Matrix3 (  )  [inline] Initial values are undefined for performance. See also Matrix3::zero(), Matrix3::identity(), Matrix3::fromAxisAngle, etc. G3D::Matrix3::Matrix3 ( class BinaryInput &  b  )  G3D::Matrix3::Matrix3 ( const float  aafEntry[3][3]  )  G3D::Matrix3::Matrix3 ( const Matrix3 &  rkMatrix  )  G3D::Matrix3::Matrix3 ( float  fEntry00, float  fEntry01, float  fEntry02, float  fEntry10, float  fEntry11, float  fEntry12, float  fEntry20, float  fEntry21, float  fEntry22   ) G3D::Matrix3::Matrix3 ( const class Quat &  q  )  Constructs a matrix from a quaternion. Referenced Code: Graphics Gems II, p. 351--354 Referenced Code: Implementation from Watt and Watt, pg 362 Member Function Documentation static void G3D::Matrix3::bidiagonalize ( Matrix3 &  kA, Matrix3 &  kL, Matrix3 &  kR   ) [static, protected] void G3D::Matrix3::deserialize ( class BinaryInput &  b  )  float G3D::Matrix3::determinant (  )  const void G3D::Matrix3::eigenSolveSymmetric ( float  afEigenvalue[3], Vector3  akEigenvector[3]   ) const eigensolver, matrix must be symmetric static Matrix3 G3D::Matrix3::fromAxisAngle ( const Vector3 &  rkAxis, float  fRadians   ) [static] static Matrix3 G3D::Matrix3::fromEulerAnglesXYZ ( float  fYAngle, float  fPAngle, float  fRAngle   ) [static] static Matrix3 G3D::Matrix3::fromEulerAnglesXZY ( float  fYAngle, float  fPAngle, float  fRAngle   ) [static] static Matrix3 G3D::Matrix3::fromEulerAnglesYXZ ( float  fYAngle, float  fPAngle, float  fRAngle   ) [static] static Matrix3 G3D::Matrix3::fromEulerAnglesYZX ( float  fYAngle, float  fPAngle, float  fRAngle   ) [static] static Matrix3 G3D::Matrix3::fromEulerAnglesZXY ( float  fYAngle, float  fPAngle, float  fRAngle   ) [static] static Matrix3 G3D::Matrix3::fromEulerAnglesZYX ( float  fYAngle, float  fPAngle, float  fRAngle   ) [static] bool G3D::Matrix3::fuzzyEq ( const Matrix3 &  b  )  const Vector3 G3D::Matrix3::getColumn ( int  iCol  )  const Vector3 G3D::Matrix3::getRow ( int  iRow  )  const static void G3D::Matrix3::golubKahanStep ( Matrix3 &  kA, Matrix3 &  kL, Matrix3 &  kR   ) [static, protected] static const Matrix3& G3D::Matrix3::identity (  )  [static] Matrix3 G3D::Matrix3::inverse ( float  fTolerance = 1e-06  )  const bool G3D::Matrix3::inverse ( Matrix3 &  rkInverse, float  fTolerance = 1e-06   ) const bool G3D::Matrix3::isOrthonormal (  )  const Returns true if the rows and column L2 norms are 1.0 and the rows are orthogonal. static float G3D::Matrix3::maxCubicRoot ( float  afCoeff[3]  )  [static, protected] static void G3D::Matrix3::mul ( const Matrix3 &  A, const Matrix3 &  B, Matrix3 &  out   ) [inline, static] Optimized implementation of out = A * B. It is safe (but slow) to call with A, B, and out possibly pointer equal to one another. Matrix3 G3D::Matrix3::operator * ( float  fScalar  )  const matrix * scalar Vector3 G3D::Matrix3::operator * ( const Vector3 &  v  )  const [inline] matrix * vector [3x3 * 3x1 = 3x1] Matrix3 G3D::Matrix3::operator * ( const Matrix3 &  rkMatrix  )  const Matrix-matrix multiply. Matrix3& G3D::Matrix3::operator *= ( const Matrix3 &  rkMatrix  )  G3D::Matrix3::operator const float * (  )  const [inline] G3D::Matrix3::operator float * (  )  [inline] bool G3D::Matrix3::operator!= ( const Matrix3 &  rkMatrix  )  const Matrix3 G3D::Matrix3::operator+ ( const Matrix3 &  rkMatrix  )  const Matrix3& G3D::Matrix3::operator+= ( const Matrix3 &  rkMatrix  )  Matrix3 G3D::Matrix3::operator- (  )  const Matrix3 G3D::Matrix3::operator- ( const Matrix3 &  rkMatrix  )  const Matrix3& G3D::Matrix3::operator-= ( const Matrix3 &  rkMatrix  )  Matrix3& G3D::Matrix3::operator= ( const Matrix3 &  rkMatrix  )  [inline] bool G3D::Matrix3::operator== ( const Matrix3 &  rkMatrix  )  const const float* G3D::Matrix3::operator[] ( int  iRow  )  const [inline] float* G3D::Matrix3::operator[] ( int  iRow  )  [inline] member access, allows use of construct mat[r][c] void G3D::Matrix3::orthonormalize (  )  Gram-Schmidt orthonormalization (applied to columns of rotation matrix). void G3D::Matrix3::qDUDecomposition ( Matrix3 &  rkQ, Vector3 &  rkD, Vector3 &  rkU   ) const orthogonal Q, diagonal D, upper triangular U stored as (u01,u02,u12) bool G3D::Matrix3::qLAlgorithm ( float  afDiag[3], float  afSubDiag[3]   ) [protected] void G3D::Matrix3::serialize ( class BinaryOutput &  b  )  const void G3D::Matrix3::set ( float  fEntry00, float  fEntry01, float  fEntry02, float  fEntry10, float  fEntry11, float  fEntry12, float  fEntry20, float  fEntry21, float  fEntry22   ) Sets all elements. void G3D::Matrix3::setColumn ( int  iCol, const Vector3 &  vector   ) void G3D::Matrix3::setRow ( int  iRow, const Vector3 &  vector   ) void G3D::Matrix3::singularValueComposition ( const Matrix3 &  rkL, const Vector3 &  rkS, const Matrix3 &  rkR   ) singular value decomposition void G3D::Matrix3::singularValueDecomposition ( Matrix3 &  rkL, Vector3 &  rkS, Matrix3 &  rkR   ) const singular value decomposition float G3D::Matrix3::spectralNorm (  )  const static void G3D::Matrix3::tensorProduct ( const Vector3 &  rkU, const Vector3 &  rkV, Matrix3 &  rkProduct   ) [static] void G3D::Matrix3::toAxisAngle ( Vector3 &  rkAxis, float &  rfRadians   ) const matrix must be orthonormal bool G3D::Matrix3::toEulerAnglesXYZ ( float &  rfYAngle, float &  rfPAngle, float &  rfRAngle   ) const The matrix must be orthonormal. The decomposition is yaw*pitch*roll where yaw is rotation about the Up vector, pitch is rotation about the right axis, and roll is rotation about the Direction axis. bool G3D::Matrix3::toEulerAnglesXZY ( float &  rfYAngle, float &  rfPAngle, float &  rfRAngle   ) const bool G3D::Matrix3::toEulerAnglesYXZ ( float &  rfYAngle, float &  rfPAngle, float &  rfRAngle   ) const bool G3D::Matrix3::toEulerAnglesYZX ( float &  rfYAngle, float &  rfPAngle, float &  rfRAngle   ) const bool G3D::Matrix3::toEulerAnglesZXY ( float &  rfYAngle, float &  rfPAngle, float &  rfRAngle   ) const bool G3D::Matrix3::toEulerAnglesZYX ( float &  rfYAngle, float &  rfPAngle, float &  rfRAngle   ) const std::string G3D::Matrix3::toString (  )  const Matrix3 G3D::Matrix3::transpose (  )  const static void G3D::Matrix3::transpose ( const Matrix3 &  A, Matrix3 &  out   ) [inline, static] Optimized implementation of out = A.transpose(). It is safe (but slow) to call with A and out possibly pointer equal to one another. Note that A.transpose() * v can be computed more efficiently as v * A. void G3D::Matrix3::tridiagonal ( float  afDiag[3], float  afSubDiag[3]   ) [protected] static const Matrix3& G3D::Matrix3::zero (  )  [static] Friends And Related Function Documentation Matrix3 operator * ( int  fScalar, const Matrix3 &  rkMatrix   ) [friend] Matrix3 operator * ( float  fScalar, const Matrix3 &  rkMatrix   ) [friend] Matrix3 operator * ( double  fScalar, const Matrix3 &  rkMatrix   ) [friend] scalar * matrix Vector3 operator * ( const Vector3 &  rkVector, const Matrix3 &  rkMatrix   ) [friend] vector * matrix [1x3 * 3x3 = 1x3] Member Data Documentation const float G3D::Matrix3::EPSILON [static] const float G3D::Matrix3::ms_fSvdEpsilon [static, protected] const int G3D::Matrix3::ms_iSvdMaxIterations [static, protected] The documentation for this class was generated from the following file: Matrix3.h Hosted by