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

#include <ParaMatrix3.h>

Public Member Functions
	Matrix3 ()
	Default constructor. More...

	Matrix3 (const float arr[3][3])

	Matrix3 (const Matrix3 &rkMatrix)

	Matrix3 (const Matrix4 &rkMatrix)

	Matrix3 (float fEntry00, float fEntry01, float fEntry02, float fEntry10, float fEntry11, float fEntry12, float fEntry20, float fEntry21, float fEntry22)

float *	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* (float fScalar) const

Matrix3	Transpose () const

bool	Inverse (Matrix3 &rkInverse, float fTolerance=1e-06) const

Matrix3	Inverse (float fTolerance=1e-06) const

float	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

float	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 (float afEigenvalue[3], Vector3 akEigenvector[3]) const

bool	hasScale () const
	Determines if this matrix involves a scaling. More...

void	RotX (float angle)
	Set a rotation matrix around the X axis. More...

void	RotY (float angle)
	Set a rotation matrix around the Y axis. More...

void	RotZ (float angle)
	Set a rotation matrix around the Z axis. More...

Static Public Member Functions
static void	TensorProduct (const Vector3 &rkU, const Vector3 &rkV, Matrix3 &rkProduct)

Public Attributes
union {
struct {
float _11

float _12

float _13

float _21

float _22

float _23

float _31

float _32

float _33

}

float m [3][3]

};

Static Public Attributes
static const float	EPSILON = 1e-06f

static const Matrix3	ZERO

static const Matrix3	IDENTITY

Protected Member Functions
void	Tridiagonal (float afDiag[3], float afSubDiag[3])

bool	QLAlgorithm (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 = 1e-04f

static const unsigned int	ms_iSvdMaxIterations = 32

Friends
class	Matrix4

Vector3	operator* (const Vector3 &rkVector, const Matrix3 &rkMatrix)

Matrix3	operator* (float 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.

Constructor & Destructor Documentation

§ Matrix3()

ParaEngine::Matrix3::Matrix3 ( )

inline

Default constructor.

Note: It does NOT initialize the matrix for efficiency.

Member Function Documentation

§ hasScale()

bool ParaEngine::Matrix3::hasScale ( ) const

inline

Determines if this matrix involves a scaling.

§ RotX()

void ParaEngine::Matrix3::RotX ( float angle )

Set a rotation matrix around the X axis.

1 0 0 RX = 0 cx sx 0 -sx cx

§ RotY()

void ParaEngine::Matrix3::RotY ( float angle )

Set a rotation matrix around the Y axis.

cy 0 -sy RY = 0 1 0 sy 0 cy

§ RotZ()

void ParaEngine::Matrix3::RotZ ( float angle )

Set a rotation matrix around the Z axis.

cz sz 0 RZ = -sz cz 0 0 0 1

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

Client/trunk/ParaEngineClient/math/ParaMatrix3.h
Client/trunk/ParaEngineClient/math/ParaMatrix3.cpp

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

Static Protected Member Functions

Static Protected Attributes

Friends