MOMENTUM_NAMESPACE::Matrix4x4 Class Reference

#include <Matrix4x4.h>

Public Member Functions
	Matrix4x4 ()
	Matrix4x4 (const EulerAngles &rotation, const Vec3 &translation=Vec3())
	Matrix4x4 (const Matrix4x4 &mat)
	Matrix4x4 (const Quat &rotation, const Vec3 &translation=Vec3())
	Matrix4x4 (double a00, double a01, double a02, double a03, double a10, double a11, double a12, double a13, double a20, double a21, double a22, double a23, double a30, double a31, double a32, double a33)
	Matrix4x4 (double const *const ptr)
	~Matrix4x4 ()
Matrix4x4	addTranslate (const Vec3 &t)
Matrix4x4	addTranslate (double tx, double ty, double tz)
EulerAngles	getAsEulerAngles () const
Quat	getAsQuat () const
Vec4	getCol (size_t col) const
Quat	getRotate () const
Vec4	getRow (size_t row) const
Vec3	getTranslate () const
Matrix4x4	inverse () const
bool	isFinite () const
bool	isIdentity () const
bool	isNaN () const
bool	isRigidTransformation () const
void	mult (const Matrix4x4 &, const Matrix4x4 &)
bool	operator!= (const Matrix4x4 &m) const
double &	operator() (size_t row, size_t col)
double	operator() (size_t row, size_t col) const
Matrix4x4	operator* (const Matrix4x4 &m) const
Vec3	operator* (const Vec3 &v) const
Vec4	operator* (const Vec4 &v) const
void	operator*= (const Matrix4x4 &other)
Matrix4x4	operator= (const Matrix4x4 &rhs)
bool	operator== (const Matrix4x4 &m) const
void	postMult (const Matrix4x4 &)
Vec3	postMult (const Vec3 &v) const
Vec4	postMult (const Vec4 &v) const
Matrix4x4	postMultTranslate (const Vec3 &v)
void	preMult (const Matrix4x4 &)
Vec3	preMult (const Vec3 &v) const
Vec4	preMult (const Vec4 &v) const
Matrix4x4	preMultTranslate (const Vec3 &v)
double *	ptr ()
const double *	ptr () const
Matrix4x4	set (const EulerAngles &e)
Matrix4x4	set (const Quat &q)
Matrix4x4	set (double a00, double a01, double a02, double a03, double a10, double a11, double a12, double a13, double a20, double a21, double a22, double a23, double a30, double a31, double a32, double a33)
Matrix4x4	set (double const *const ptr)
void	setCol (size_t col, const Vec4 &vec)
Matrix4x4	setIdentity ()
Matrix4x4	setRotate (const EulerAngles &euler)
Matrix4x4	setRotate (const Quat &q)
Matrix4x4	setRotate (const Vec3 &from, const Vec3 &to)
Matrix4x4	setRotate (double angle, const Vec3 &axis)
Matrix4x4	setRotate (double angle, double x, double y, double z)
Matrix4x4	setRotate (double angle1, const Vec3 &axis1, double angle2, const Vec3 &axis2, double angle3, const Vec3 &axis3)
void	setRow (size_t row, const Vec4 &vec)
Matrix4x4	setTranslate (const Vec3 &t)
Matrix4x4	setTranslate (double tx, double ty, double tz)
Vec3	transform3x3 (const Vec3 &vIn) const
Vec3	transform3x3Inv (const Vec3 &vIn) const
Matrix4x4	transpose () const
bool	valid () const

Static Public Member Functions
static Matrix4x4	crossMatrix (const Vec3 &vec)
static Matrix4x4	rotate (const Vec3 &from, const Vec3 &to)
static Matrix4x4	rotate (double angle, const Vec3 &axis)
static Matrix4x4	rotate (double angle, double x, double y, double z)
static Matrix4x4	rotate (double angle1, const Vec3 &axis1, double angle2, const Vec3 &axis2, double angle3, const Vec3 &axis3)
static Matrix4x4	translate (const Vec3 &dv)
static Matrix4x4	translate (double x, double y, double z)

Detailed Description

Matrix class for affine transformations.

Translations are stored in the last row. The last column will be assumed to be [0 0 0 1]' in all operations, even if it is set to something else.

Constructor & Destructor Documentation

Matrix4x4() [1/6]

MOMENTUM_NAMESPACE::Matrix4x4::Matrix4x4

(

)

Creates a new matrix, initialized to be an identity matrix.

Matrix4x4() [2/6]

MOMENTUM_NAMESPACE::Matrix4x4::Matrix4x4

(

const Matrix4x4 &

mat

)

Copy constructor.

Matrix4x4() [3/6]

MOMENTUM_NAMESPACE::Matrix4x4::Matrix4x4

(

double const *const

ptr

)

Create a matrix from a vector of 16 reals.

Matrix4x4() [4/6]

MOMENTUM_NAMESPACE::Matrix4x4::Matrix4x4	(	const Quat &	rotation,
		const Vec3 &	translation = Vec3()
	)

Create a matrix from a quaternion.

Matrix4x4() [5/6]

MOMENTUM_NAMESPACE::Matrix4x4::Matrix4x4	(	const EulerAngles &	rotation,
		const Vec3 &	translation = Vec3()
	)

Create a matrix from Euler angles.

Matrix4x4() [6/6]

MOMENTUM_NAMESPACE::Matrix4x4::Matrix4x4	(	double	a00,
		double	a01,
		double	a02,
		double	a03,
		double	a10,
		double	a11,
		double	a12,
		double	a13,
		double	a20,
		double	a21,
		double	a22,
		double	a23,
		double	a30,
		double	a31,
		double	a32,
		double	a33
	)

Create a matrix from 16 double scalars.

~Matrix4x4()

MOMENTUM_NAMESPACE::Matrix4x4::~Matrix4x4

(

)

Destructor.

Member Function Documentation

addTranslate() [1/2]

Matrix4x4 MOMENTUM_NAMESPACE::Matrix4x4::addTranslate

(

const Vec3 &

t

)

addTranslate() [2/2]

Matrix4x4 MOMENTUM_NAMESPACE::Matrix4x4::addTranslate	(	double	tx,
		double	ty,
		double	tz
	)

crossMatrix()

Matrix4x4 MOMENTUM_NAMESPACE::Matrix4x4::crossMatrix ( const Vec3 &  vec )

static

Generates a new matrix of a specific type.

getAsEulerAngles()

EulerAngles MOMENTUM_NAMESPACE::Matrix4x4::getAsEulerAngles

(

)

const

getAsQuat()

Quat MOMENTUM_NAMESPACE::Matrix4x4::getAsQuat

(

)

const

Returns

a quaternion of the rotation part of this matrix (real part > 0 by convention)

getCol()

Vec4 MOMENTUM_NAMESPACE::Matrix4x4::getCol

(

size_t

col

)

const

getRotate()

Quat MOMENTUM_NAMESPACE::Matrix4x4::getRotate

(

)

const

getRow()

Vec4 MOMENTUM_NAMESPACE::Matrix4x4::getRow

(

size_t

row

)

const

getTranslate()

Vec3 MOMENTUM_NAMESPACE::Matrix4x4::getTranslate

(

)

const

inverse()

Matrix4x4 MOMENTUM_NAMESPACE::Matrix4x4::inverse

(

)

const

Matrix inverse.

Returns

the inverse

isFinite()

bool MOMENTUM_NAMESPACE::Matrix4x4::isFinite

(

)

const

Returns

true if all the elements are non-NaN and non-inf

isIdentity()

bool MOMENTUM_NAMESPACE::Matrix4x4::isIdentity

(

)

const

Returns

true if the matrix is identity.

isNaN()

bool MOMENTUM_NAMESPACE::Matrix4x4::isNaN

(

)

const

Returns

true if the matrix is a valid one.

isRigidTransformation()

bool MOMENTUM_NAMESPACE::Matrix4x4::isRigidTransformation

(

)

const

Returns

true if the matrix is rigid transformation.

mult()

void MOMENTUM_NAMESPACE::Matrix4x4::mult	(	const Matrix4x4 &	lhs,
		const Matrix4x4 &	rhs
	)

operator!=()

bool MOMENTUM_NAMESPACE::Matrix4x4::operator!=

(

const Matrix4x4 &

m

)

const

operator()() [1/2]

double & MOMENTUM_NAMESPACE::Matrix4x4::operator()	(	size_t	row,
		size_t	col
	)

operator()() [2/2]

double MOMENTUM_NAMESPACE::Matrix4x4::operator()	(	size_t	row,
		size_t	col
	)		const

operator*() [1/3]

Matrix4x4 MOMENTUM_NAMESPACE::Matrix4x4::operator*

(

const Matrix4x4 &

m

)

const

operator*() [2/3]

Vec3 MOMENTUM_NAMESPACE::Matrix4x4::operator*

(

const Vec3 &

v

)

const

operator*() [3/3]

Vec4 MOMENTUM_NAMESPACE::Matrix4x4::operator*

(

const Vec4 &

v

)

const

operator*=()

void MOMENTUM_NAMESPACE::Matrix4x4::operator*=

(

const Matrix4x4 &

other

)

operator=()

Matrix4x4 MOMENTUM_NAMESPACE::Matrix4x4::operator=

(

const Matrix4x4 &

rhs

)

operator==()

bool MOMENTUM_NAMESPACE::Matrix4x4::operator==

(

const Matrix4x4 &

m

)

const

postMult() [1/3]

void MOMENTUM_NAMESPACE::Matrix4x4::postMult

(

const Matrix4x4 &

other

)

postMult() [2/3]

Vec3 MOMENTUM_NAMESPACE::Matrix4x4::postMult

(

const Vec3 &

v

)

const

postMult() [3/3]

Vec4 MOMENTUM_NAMESPACE::Matrix4x4::postMult

(

const Vec4 &

v

)

const

postMultTranslate()

Matrix4x4 MOMENTUM_NAMESPACE::Matrix4x4::postMultTranslate

(

const Vec3 &

v

)

preMult() [1/3]

void MOMENTUM_NAMESPACE::Matrix4x4::preMult

(

const Matrix4x4 &

other

)

preMult() [2/3]

Vec3 MOMENTUM_NAMESPACE::Matrix4x4::preMult

(

const Vec3 &

v

)

const

preMult() [3/3]

Vec4 MOMENTUM_NAMESPACE::Matrix4x4::preMult

(

const Vec4 &

v

)

const

preMultTranslate()

Matrix4x4 MOMENTUM_NAMESPACE::Matrix4x4::preMultTranslate

(

const Vec3 &

v

)

ptr() [1/2]

double * MOMENTUM_NAMESPACE::Matrix4x4::ptr

(

)

ptr() [2/2]

const double * MOMENTUM_NAMESPACE::Matrix4x4::ptr

(

)

const

rotate() [1/4]

Matrix4x4 MOMENTUM_NAMESPACE::Matrix4x4::rotate ( const Vec3 &  from, const Vec3 &  to  )

static

rotate() [2/4]

Matrix4x4 MOMENTUM_NAMESPACE::Matrix4x4::rotate ( double  angle, const Vec3 &  axis  )

static

rotate() [3/4]

Matrix4x4 MOMENTUM_NAMESPACE::Matrix4x4::rotate ( double  angle, double  x, double  y, double  z  )

static

rotate() [4/4]

Matrix4x4 MOMENTUM_NAMESPACE::Matrix4x4::rotate ( double  angle1, const Vec3 &  axis1, double  angle2, const Vec3 &  axis2, double  angle3, const Vec3 &  axis3  )

static

set() [1/4]

Matrix4x4 MOMENTUM_NAMESPACE::Matrix4x4::set

(

const EulerAngles &

e

)

set() [2/4]

Matrix4x4 MOMENTUM_NAMESPACE::Matrix4x4::set

(

const Quat &

q

)

set() [3/4]

Matrix4x4 MOMENTUM_NAMESPACE::Matrix4x4::set	(	double	a00,
		double	a01,
		double	a02,
		double	a03,
		double	a10,
		double	a11,
		double	a12,
		double	a13,
		double	a20,
		double	a21,
		double	a22,
		double	a23,
		double	a30,
		double	a31,
		double	a32,
		double	a33
	)

set() [4/4]

Matrix4x4 MOMENTUM_NAMESPACE::Matrix4x4::set

(

double const *const

ptr

)

• set(arg) sets the entire matrix, overwriting all previous values.
• setRotate(arg) sets the rotational part of the matrix, leaving the translation intact.
• setTranslate(arg) sets the translational part, without affecting the rotation.
• setIdentity() creates the identity matrix

They all return a reference to the updated matrix, enabling chained commands. E.g: matrix.setRotate(q).setTranslate(pos)

setCol()

void MOMENTUM_NAMESPACE::Matrix4x4::setCol	(	size_t	col,
		const Vec4 &	vec
	)

setIdentity()

Matrix4x4 MOMENTUM_NAMESPACE::Matrix4x4::setIdentity

(

)

setRotate() [1/6]

Matrix4x4 MOMENTUM_NAMESPACE::Matrix4x4::setRotate

(

const EulerAngles &

euler

)

setRotate() [2/6]

Matrix4x4 MOMENTUM_NAMESPACE::Matrix4x4::setRotate

(

const Quat &

q

)

setRotate() [3/6]

Matrix4x4 MOMENTUM_NAMESPACE::Matrix4x4::setRotate	(	const Vec3 &	from,
		const Vec3 &	to
	)

setRotate() [4/6]

Matrix4x4 MOMENTUM_NAMESPACE::Matrix4x4::setRotate	(	double	angle,
		const Vec3 &	axis
	)

setRotate() [5/6]

Matrix4x4 MOMENTUM_NAMESPACE::Matrix4x4::setRotate	(	double	angle,
		double	x,
		double	y,
		double	z
	)

setRotate() [6/6]

Matrix4x4 MOMENTUM_NAMESPACE::Matrix4x4::setRotate	(	double	angle1,
		const Vec3 &	axis1,
		double	angle2,
		const Vec3 &	axis2,
		double	angle3,
		const Vec3 &	axis3
	)

setRow()

void MOMENTUM_NAMESPACE::Matrix4x4::setRow	(	size_t	row,
		const Vec4 &	vec
	)

Set the row of the matrix,.

Parameters

row	must be between [0..3]
vec	- value of the row

setTranslate() [1/2]

Matrix4x4 MOMENTUM_NAMESPACE::Matrix4x4::setTranslate

(

const Vec3 &

t

)

setTranslate() [2/2]

Matrix4x4 MOMENTUM_NAMESPACE::Matrix4x4::setTranslate	(	double	tx,
		double	ty,
		double	tz
	)

transform3x3()

Vec3 MOMENTUM_NAMESPACE::Matrix4x4::transform3x3

(

const Vec3 &

vIn

)

const

transform3x3Inv()

Vec3 MOMENTUM_NAMESPACE::Matrix4x4::transform3x3Inv

(

const Vec3 &

vIn

)

const

translate() [1/2]

Matrix4x4 MOMENTUM_NAMESPACE::Matrix4x4::translate ( const Vec3 &  dv )

static

translate() [2/2]

Matrix4x4 MOMENTUM_NAMESPACE::Matrix4x4::translate ( double  x, double  y, double  z  )

static

transpose()

Matrix4x4 MOMENTUM_NAMESPACE::Matrix4x4::transpose

(

)

const

Returns

the transpose

valid()

bool MOMENTUM_NAMESPACE::Matrix4x4::valid

(

)

const

Returns

true if the matrix does not contain any NaN values