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math::matrix4 Class Reference

A 4x4 matrix. More...

#include <matrix.h>

Inheritance diagram for math::matrix4:

[legend]Collaboration diagram for math::matrix4:

[legend]List of all members.

Public Methods
	matrix4 (void)
	Default Constructor.
	matrix4 (real_t d00, real_t d01, real_t d02, real_t d10, real_t d11, real_t d12, real_t d20, real_t d21, real_t d22)
	Rotation Set Constructor. More...
	matrix4 (real_t d00, real_t d01, real_t d02, real_t d03, real_t d10, real_t d11, real_t d12, real_t d13, real_t d20, real_t d21, real_t d22, real_t d23, real_t d30, real_t d31, real_t d32, real_t d33)
	Full Matrix Constructor. More...
	matrix4 (const math::matrix4 &m)
	Copy Constructor.
virtual	~matrix4 (void)
	Destructor.
math::matrix4 &	operator= (const math::matrix4 &m)
	Assignment Operator.
	operator const real_t * (void) const
	Cast operator to real_t*. More...
void	set (real_t d00, real_t d01, real_t d02, real_t d10, real_t d11, real_t d12, real_t d20, real_t d21, real_t d22)
	Sets rotation part of matrix. More...
void	set (real_t d00, real_t d01, real_t d02, real_t d03, real_t d10, real_t d11, real_t d12, real_t d13, real_t d20, real_t d21, real_t d22, real_t d23, real_t d30, real_t d31, real_t d32, real_t d33)
	Sets the matrix. More...
void	set (unsigned int row, unsigned int col, real_t x)
	Set the element at row, col to x. More...
real_t	operator() (unsigned int row, unsigned int col) const
	Get the element at row, col. More...
real_t &	operator() (unsigned int row, unsigned int col)
	Return a reference to the element at row, col. More...
math::vector3	operator * (const math::vector3 &v) const
	Matrix Vector Mulitplication. More...
math::matrix4	operator * (const math::matrix4 &rhs) const
	Matrix Multiplication.
math::matrix4	operator+ (const math::matrix4 &rhs) const
	Matrix Addition.
math::matrix4	operator- (const math::matrix4 &rhs) const
	Matrix Subtraction.
void	transpose (void)
	Transposes the matrix. More...
void	set_identity ()
	Sets the matirx to the identity matrix. More...
void	from_angle_axis (real_t radians, const math::vector3 &axis)
	Creates a rotation matrix given around an arbitrary axis. More...
math::matrix4	get_inverted_rotation (void) const
	Computes the inverse of the rotation matrix. More...
void	set_translation (const math::vector3 &trans)
	Sets the translation part of the matrix. More...
math::vector3	get_translation (void) const
	Returns a vector describing the translation part of the matrix.
Static Public Attributes
const math::matrix4	IDENTITY
	The identity matrix. More...
const math::matrix4	ZERO
	The zero matrix. More...
Protected Attributes
real_t	m_data [4][4]
	Actual matrix data.
Friends
math::vector3	operator * (const math::vector3 &v, const math::matrix4 &m)
	Vector Matrix Mulitplication. More...
std::ostream &	operator<< (std::ostream &o, const math::matrix4 &m)
	stream output operator.

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Detailed Description

A 4x4 matrix.

A 4x4 matrix in row major format:

Where

Note:

Some graphics libraries like OpenGL expect matrices in column major format. To convert the matirx to column major format, call transpose() before sending the matrix to OpenGL functions such as glMultMatrix()

Definition at line 38 of file matrix.h.

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Constructor & Destructor Documentation

math::matrix4::matrix4 (  real_t    d00, real_t    d01, real_t    d02, real_t    d10, real_t    d11, real_t    d12, real_t    d20, real_t    d21, real_t    d22 )

Rotation Set Constructor. Sets the matrix as follows: Reimplemented in gl::matrix4. Definition at line 28 of file matrix.cpp. References m_data, and real_t.

math::matrix4::matrix4 (  real_t    d00, real_t    d01, real_t    d02, real_t    d03, real_t    d10, real_t    d11, real_t    d12, real_t    d13, real_t    d20, real_t    d21, real_t    d22, real_t    d23, real_t    d30, real_t    d31, real_t    d32, real_t    d33 )

Full Matrix Constructor. Sets the matrix as follows: Reimplemented in gl::matrix4. Definition at line 55 of file matrix.cpp. References m_data, and real_t.

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Member Function Documentation

void math::matrix4::from_angle_axis (  real_t    radians, const math::vector3 &    axis )

Creates a rotation matrix given around an arbitrary axis. Given an axis and an angle, this method will create and set this matrix as the rotation matrix that describes the rotation around the axis by angle. Note: Rotations are right-handed. Parameters: radians  A real number in radians. axis  A unit length vector describing the axis to rotate around. Definition at line 247 of file matrix.cpp. References m_data, real_t, math::vector3::x, math::vector3::y, and math::vector3::z.

math::matrix4 math::matrix4::get_inverted_rotation (  void    )  const

Computes the inverse of the rotation matrix. Inverts the rotation part of this matrix. Note: All translation, scaling, etc. info is lost in the matrix. This method only inverts the rotation part of the matrix. Returns: A new matrix containing the inverted rotation of this matrix. Definition at line 280 of file matrix.cpp. References math::equals, IDENTITY, m_data, and real_t.

math::vector3 math::matrix4::operator * (  const math::vector3 &    v )  const

Matrix Vector Mulitplication. Multiplies the matrix m by vector v. The operation is defined as: Definition at line 163 of file matrix.cpp. References m_data, math::vector3::x, math::vector3::y, and math::vector3::z.

math::matrix4::operator const real_t * (  void    )  const [inline]

Cast operator to real_t*. Returns: A read-only pointer to the internal matrix data. Definition at line 126 of file matrix.h.

real_t& math::matrix4::operator() (  unsigned int    row, unsigned int    col )  [inline]

Return a reference to the element at row, col. Note: abort( ) may be called if row or col is not one of 0, 1, 2, or 3. Definition at line 196 of file matrix.h. References real_t.

real_t math::matrix4::operator() (  unsigned int    row, unsigned int    col )  const [inline]

Get the element at row, col. Note: abort( ) may be called if row or col is not one of 0, 1, 2, or 3. Definition at line 186 of file matrix.h. References real_t.

void math::matrix4::set (  unsigned int    row, unsigned int    col, real_t    x )  [inline]

Set the element at row, col to x. Note: abort( ) may be called if row or col is not one of 0, 1, 2, or 3. Definition at line 176 of file matrix.h. References real_t.

void math::matrix4::set (  real_t    d00, real_t    d01, real_t    d02, real_t    d03, real_t    d10, real_t    d11, real_t    d12, real_t    d13, real_t    d20, real_t    d21, real_t    d22, real_t    d23, real_t    d30, real_t    d31, real_t    d32, real_t    d33 )

Sets the matrix. Sets the matrix as follows: Definition at line 134 of file matrix.cpp. References m_data, and real_t.

void math::matrix4::set (  real_t    d00, real_t    d01, real_t    d02, real_t    d10, real_t    d11, real_t    d12, real_t    d20, real_t    d21, real_t    d22 )

Sets rotation part of matrix. Sets the matrix as follows: Definition at line 106 of file matrix.cpp. References m_data, and real_t. Referenced by math::quaternion::get_rotation_matrix, and math::quaternion::get_transposed_rotation_matrix.

void math::matrix4::set_identity (    )  [inline]

Sets the matirx to the identity matrix. Sets the matrix to: Definition at line 255 of file matrix.h. References IDENTITY.

void math::matrix4::set_translation (  const math::vector3 &    trans )  [inline]

Sets the translation part of the matrix. Sets the matrix as follows: Note: This method does not add to existing translations. This method sets the translation part of the matrix. Parameters: trans  A vector describing the new translation. Definition at line 292 of file matrix.h. References math::vector3::x, math::vector3::y, and math::vector3::z.

void math::matrix4::transpose (  void    )

Transposes the matrix. Sets the matrix to . Definition at line 221 of file matrix.cpp. References m_data, and math::swap.

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Friends And Related Function Documentation

math::vector3 operator * (  const math::vector3 &    v, const math::matrix4 &    m )  [friend]

Vector Matrix Mulitplication. Multiplies the vector v by the matrix m. The operation is defined as: Definition at line 232 of file matrix.cpp.

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Member Data Documentation

const math::matrix4 math::matrix4::IDENTITY [static]

The identity matrix. The identity matrix is defined as: Referenced by get_inverted_rotation, and set_identity.

const math::matrix4 math::matrix4::ZERO [static]

The zero matrix. The zero matrix is defined as:

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