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00001 //***************************************************************************** 00011 //***************************************************************************** 00012 00013 #if (_MSC_VER > 1000) || defined(SGI_COMPILER) 00014 #pragma once 00015 #endif 00016 00017 #ifndef __XSIMATRIX3_H__ 00018 #define __XSIMATRIX3_H__ 00019 00020 #include "sicppsdk.h" 00021 00022 namespace XSI { 00023 namespace MATH { 00024 00025 class CVector3; 00026 class CQuaternion; 00027 00028 //***************************************************************************** 00050 //***************************************************************************** 00051 class SICPPSDKDECL CMatrix3 00052 { 00053 public: 00054 00056 SICPPSDK_INLINE CMatrix3(); 00057 00069 SICPPSDK_INLINE CMatrix3(double in_d00, double in_d01, double in_d02, 00070 double in_d10, double in_d11, double in_d12, 00071 double in_d20, double in_d21, double in_d22); 00072 00076 SICPPSDK_INLINE CMatrix3( const CMatrix3& in_matrix3); 00077 00079 SICPPSDK_INLINE ~CMatrix3(); 00080 00084 SICPPSDK_INLINE CMatrix3 & operator=( const CMatrix3 & in_matrix3 ); 00085 00086 00092 SICPPSDK_INLINE CMatrix3 & operator*=(const CMatrix3 & in_matrix3 ); 00093 00099 CVector3& operator[](const short& in_sIndex); 00100 00104 SICPPSDK_INLINE CMatrix3& SetIdentity(); 00105 00109 bool InvertInPlace(); 00110 00115 bool Invert(const CMatrix3& in_matrix3); 00116 00120 bool TransposeInverseInPlace(); 00121 00127 bool TransposeInverse(const CMatrix3& in_matrix3); 00128 00131 SICPPSDK_INLINE void TransposeInPlace(); 00132 00136 SICPPSDK_INLINE void Transpose(const CMatrix3& in_matrix3); 00137 00143 SICPPSDK_INLINE CMatrix3& MulInPlace(const CMatrix3& in_matrix3); 00144 00151 SICPPSDK_INLINE CMatrix3& Mul(const CMatrix3& in_matrix3A, const CMatrix3& in_matrix3B); 00152 00164 SICPPSDK_INLINE void Get( double& io_d00, double& io_d01, double& io_d02, 00165 double& io_d10, double& io_d11, double& io_d12, 00166 double& io_d20, double& io_d21, double& io_d22) const; 00167 00168 00180 SICPPSDK_INLINE void Set( double in_d00, double in_d01, double in_d02, 00181 double in_d10, double in_d11, double in_d12, 00182 double in_d20, double in_d21, double in_d22); 00183 00187 SICPPSDK_INLINE void Set(const double in_dVal[3][3]); 00188 00194 SICPPSDK_INLINE double GetValue(short in_sRow,short in_sCol )const; 00195 00201 SICPPSDK_INLINE void SetValue(short in_sRow, short in_sCol, double in_dVal ); 00202 00207 CMatrix3& SetFromQuaternion( const CQuaternion& in_quaternion ); 00208 00212 CQuaternion GetQuaternion(void)const; 00213 00219 bool EpsilonEquals 00220 ( 00221 const CMatrix3& in_matrix3, 00222 double in_dEpsilon 00223 ) const; 00224 00229 SICPPSDK_INLINE bool Equals(const CMatrix3& in_matrix3) const; 00235 SICPPSDK_INLINE bool operator ==(const CMatrix3 & in_matrix3 ) const; 00236 00242 SICPPSDK_INLINE bool operator !=(const CMatrix3 & in_matrix3 ) const; 00243 00244 private: 00245 double m_dMat[3][3]; 00246 }; 00247 00248 //inline functions 00249 SICPPSDK_INLINE CMatrix3::CMatrix3() 00250 { 00251 m_dMat[0][0] = 0.0; 00252 m_dMat[0][1] = 0.0; 00253 m_dMat[0][2] = 0.0; 00254 m_dMat[1][0] = 0.0; 00255 m_dMat[1][1] = 0.0; 00256 m_dMat[1][2] = 0.0; 00257 m_dMat[2][0] = 0.0; 00258 m_dMat[2][1] = 0.0; 00259 m_dMat[2][2] = 0.0; 00260 } 00261 00262 SICPPSDK_INLINE CMatrix3::CMatrix3 00263 ( 00264 double in_d00, double in_d01, double in_d02, 00265 double in_d10, double in_d11, double in_d12, 00266 double in_d20, double in_d21, double in_d22 00267 ) 00268 { 00269 m_dMat[0][0] = in_d00; 00270 m_dMat[0][1] = in_d01; 00271 m_dMat[0][2] = in_d02; 00272 m_dMat[1][0] = in_d10; 00273 m_dMat[1][1] = in_d11; 00274 m_dMat[1][2] = in_d12; 00275 m_dMat[2][0] = in_d20; 00276 m_dMat[2][1] = in_d21; 00277 m_dMat[2][2] = in_d22; 00278 } 00279 00280 SICPPSDK_INLINE CMatrix3::CMatrix3(const CMatrix3& in_matrix3) 00281 { 00282 m_dMat[0][0] = in_matrix3.m_dMat[0][0]; 00283 m_dMat[0][1] = in_matrix3.m_dMat[0][1]; 00284 m_dMat[0][2] = in_matrix3.m_dMat[0][2]; 00285 m_dMat[1][0] = in_matrix3.m_dMat[1][0]; 00286 m_dMat[1][1] = in_matrix3.m_dMat[1][1]; 00287 m_dMat[1][2] = in_matrix3.m_dMat[1][2]; 00288 m_dMat[2][0] = in_matrix3.m_dMat[2][0]; 00289 m_dMat[2][1] = in_matrix3.m_dMat[2][1]; 00290 m_dMat[2][2] = in_matrix3.m_dMat[2][2]; 00291 } 00292 00293 SICPPSDK_INLINE CMatrix3::~CMatrix3() 00294 {} 00295 00296 SICPPSDK_INLINE CMatrix3& CMatrix3::operator=( const CMatrix3 & in_matrix3 ) 00297 { 00298 Set(in_matrix3.m_dMat); 00299 return *this; 00300 } 00301 00302 SICPPSDK_INLINE CMatrix3& CMatrix3::operator *=(const CMatrix3& in_matrix3) 00303 { 00304 return MulInPlace(in_matrix3); 00305 } 00306 00307 SICPPSDK_INLINE CMatrix3& CMatrix3::SetIdentity() 00308 { 00309 m_dMat[0][0] = 1.0; 00310 m_dMat[0][1] = 0.0; 00311 m_dMat[0][2] = 0.0; 00312 m_dMat[1][0] = 0.0; 00313 m_dMat[1][1] = 1.0; 00314 m_dMat[1][2] = 0.0; 00315 m_dMat[2][0] = 0.0; 00316 m_dMat[2][1] = 0.0; 00317 m_dMat[2][2] = 1.0; 00318 return *this; 00319 } 00320 00321 SICPPSDK_INLINE void CMatrix3::TransposeInPlace() 00322 { 00323 Transpose(*this); 00324 } 00325 00326 SICPPSDK_INLINE void CMatrix3::Transpose(const CMatrix3& in_matrix3) 00327 { 00328 double dTempMat[3][3]; 00329 00330 for(int nR=0; nR<3; nR++) 00331 for(int nC=0; nC<3; nC++) 00332 dTempMat[nR][nC] = in_matrix3.m_dMat[nC][nR]; 00333 00334 Set(dTempMat); 00335 } 00336 00337 SICPPSDK_INLINE CMatrix3& CMatrix3::MulInPlace(const CMatrix3& in_matrix3) 00338 { 00339 return Mul(*this,in_matrix3); 00340 } 00341 00342 SICPPSDK_INLINE CMatrix3& CMatrix3::Mul 00343 ( 00344 const CMatrix3& in_matrix3A, 00345 const CMatrix3& in_matrix3B 00346 ) 00347 { 00348 double dTempMat[3][3]; 00349 00350 for(int nR=0; nR<3; nR++) 00351 for(int nC=0; nC<3; nC++) 00352 dTempMat[nR][nC] = 00353 in_matrix3A.m_dMat[nR][0] * in_matrix3B.m_dMat[0][nC] + 00354 in_matrix3A.m_dMat[nR][1] * in_matrix3B.m_dMat[1][nC] + 00355 in_matrix3A.m_dMat[nR][2] * in_matrix3B.m_dMat[2][nC]; 00356 00357 Set(dTempMat); 00358 return *this; 00359 } 00360 00361 SICPPSDK_INLINE void CMatrix3::Get 00362 ( 00363 double& io_d00, double& io_d01, double& io_d02, 00364 double& io_d10, double& io_d11, double& io_d12, 00365 double& io_d20, double& io_d21, double& io_d22 00366 ) const 00367 { 00368 00369 io_d00 = m_dMat[0][0]; 00370 io_d01 = m_dMat[0][1]; 00371 io_d02 = m_dMat[0][2]; 00372 io_d10 = m_dMat[1][0]; 00373 io_d11 = m_dMat[1][1]; 00374 io_d12 = m_dMat[1][2]; 00375 io_d20 = m_dMat[2][0]; 00376 io_d21 = m_dMat[2][1]; 00377 io_d22 = m_dMat[2][2]; 00378 00379 } 00380 00381 SICPPSDK_INLINE void CMatrix3::Set 00382 ( 00383 double in_d00, double in_d01, double in_d02, 00384 double in_d10, double in_d11, double in_d12, 00385 double in_d20, double in_d21, double in_d22 00386 ) 00387 { 00388 m_dMat[0][0] = in_d00; 00389 m_dMat[0][1] = in_d01; 00390 m_dMat[0][2] = in_d02; 00391 m_dMat[1][0] = in_d10; 00392 m_dMat[1][1] = in_d11; 00393 m_dMat[1][2] = in_d12; 00394 m_dMat[2][0] = in_d20; 00395 m_dMat[2][1] = in_d21; 00396 m_dMat[2][2] = in_d22; 00397 } 00398 00399 SICPPSDK_INLINE void CMatrix3::Set(const double in_dVal[3][3]) 00400 { 00401 m_dMat[0][0] = in_dVal[0][0]; 00402 m_dMat[0][1] = in_dVal[0][1]; 00403 m_dMat[0][2] = in_dVal[0][2]; 00404 m_dMat[1][0] = in_dVal[1][0]; 00405 m_dMat[1][1] = in_dVal[1][1]; 00406 m_dMat[1][2] = in_dVal[1][2]; 00407 m_dMat[2][0] = in_dVal[2][0]; 00408 m_dMat[2][1] = in_dVal[2][1]; 00409 m_dMat[2][2] = in_dVal[2][2]; 00410 } 00411 00412 SICPPSDK_INLINE double CMatrix3::GetValue(short in_sRow,short in_sCol ) const 00413 { 00414 bool l_bValidIndex = ( in_sRow >=0 && in_sCol >= 0 && 00415 in_sRow <=2 && in_sCol <= 2); 00416 assert(l_bValidIndex); 00417 00418 if(l_bValidIndex) 00419 { 00420 return m_dMat[in_sRow][in_sCol]; 00421 } 00422 return 0.0; 00423 } 00424 00425 SICPPSDK_INLINE void CMatrix3::SetValue(short in_sRow, short in_sCol, double in_dVal ) 00426 { 00427 bool l_bValidIndex = ( in_sRow >=0 && in_sCol >= 0 && 00428 in_sRow <=2 && in_sCol <= 2); 00429 assert(l_bValidIndex); 00430 00431 if(l_bValidIndex) 00432 { 00433 m_dMat[in_sRow][in_sCol] = in_dVal; 00434 } 00435 } 00436 00437 00438 00439 SICPPSDK_INLINE bool CMatrix3::Equals(const CMatrix3& in_matrix3) const 00440 { 00441 return (this == &in_matrix3) ? true : 00442 m_dMat[0][0] == in_matrix3.m_dMat[0][0] && 00443 m_dMat[0][1] == in_matrix3.m_dMat[0][1] && 00444 m_dMat[0][2] == in_matrix3.m_dMat[0][2] && 00445 m_dMat[1][0] == in_matrix3.m_dMat[1][0] && 00446 m_dMat[1][1] == in_matrix3.m_dMat[1][1] && 00447 m_dMat[1][2] == in_matrix3.m_dMat[1][2] && 00448 m_dMat[2][0] == in_matrix3.m_dMat[2][0] && 00449 m_dMat[2][1] == in_matrix3.m_dMat[2][1] && 00450 m_dMat[2][2] == in_matrix3.m_dMat[2][2]; 00451 } 00452 00453 SICPPSDK_INLINE bool CMatrix3::operator ==(const CMatrix3 & in_matrix3 ) const 00454 { 00455 return Equals( in_matrix3 ); 00456 } 00457 00458 SICPPSDK_INLINE bool CMatrix3::operator !=(const CMatrix3 & in_matrix3 ) const 00459 { 00460 return ! Equals( in_matrix3 ); 00461 } 00462 00463 00464 }; 00465 }; 00466 00467 #endif // __XSIMATRIX3_H__