matrix3x3f.h

Go to the documentation of this file.

/*
* Copyright 2015 Autodesk, Inc. All rights reserved.
* Use of this software is subject to the terms of the Autodesk license agreement and any attachments or Appendices thereto provided at the time of installation or download,
* or which otherwise accompanies this software in either electronic or hard copy form, or which is signed by you and accepted by Autodesk.
*/


// primary contact: LAPA - secondary contact: NOBODY
#ifndef Navigation_Matrix3x3f_H
#define Navigation_Matrix3x3f_H


#include "gwnavruntime/math/vec3f.h"


namespace Kaim
{


class Matrix3x3f
{
    KY_DEFINE_NEW_DELETE_OPERATORS(Stat_Default_Mem)

public:
    static Matrix3x3f Identity();

    enum Elements {
        xx = 0, xy, xz,
        yx,     yy, yz,
        zx,     zy, zz,
    };

    // ---------------------------------- Constructors ----------------------------------

    Matrix3x3f();
    Matrix3x3f(
        KyFloat32 v_xx, KyFloat32 v_xy, KyFloat32 v_xz,
        KyFloat32 v_yx, KyFloat32 v_yy, KyFloat32 v_yz,
        KyFloat32 v_zx, KyFloat32 v_zy, KyFloat32 v_zz);
    Matrix3x3f(const Vec3f& v_x, const Vec3f& v_y, const Vec3f& v_z);
    Matrix3x3f(const Vec3f& axis, KyFloat32 angleRad);


    void SetIdentity();
    void Set(
        KyFloat32 v_xx, KyFloat32 v_xy, KyFloat32 v_xz,
        KyFloat32 v_yx, KyFloat32 v_yy, KyFloat32 v_yz,
        KyFloat32 v_zx, KyFloat32 v_zy, KyFloat32 v_zz);
    void Set(const Vec3f& v_x, const Vec3f& v_y, const Vec3f& v_z);
    void SetRotation(const Vec3f& axis, KyFloat32 angleRad);

    const Vec3f& GetRow(KyUInt32 index) const;
          Vec3f& GetRow(KyUInt32 index);

    void Transform(const Vec3f& v, Vec3f& transformed) const;

    Vec3f      operator*(const Vec3f& v)           const;

    Matrix3x3f operator*(const Matrix3x3f& rhs)    const;

    bool       operator==(const Matrix3x3f& other) const;
    bool       operator!=(const Matrix3x3f& other) const;

    // ---------------------------------- Public Data Members ----------------------------------
public:
    KyFloat32 m[9];
};


KY_INLINE void SwapEndianness(Endianness::Target e, Matrix3x3f& self)
{
    for (int i = 0; i < 9; ++i)
        SwapEndianness(e, self.m[i]);
}

KY_INLINE Matrix3x3f::Matrix3x3f()
{
    SetIdentity();
}

KY_INLINE Matrix3x3f::Matrix3x3f(
    KyFloat32 v_xx, KyFloat32 v_xy, KyFloat32 v_xz,
    KyFloat32 v_yx, KyFloat32 v_yy, KyFloat32 v_yz,
    KyFloat32 v_zx, KyFloat32 v_zy, KyFloat32 v_zz)
{
    Set(v_xx, v_xy, v_xz,
        v_yx, v_yy, v_yz,
        v_zx, v_zy, v_zz);
}

KY_INLINE Matrix3x3f::Matrix3x3f(const Vec3f& v_x, const Vec3f& v_y, const Vec3f& v_z)
{
    Set(v_x, v_y, v_z);
}

KY_INLINE Matrix3x3f::Matrix3x3f(const Vec3f& axis, KyFloat32 angleRad)
{
    SetRotation(axis, angleRad);
}

KY_INLINE Matrix3x3f Matrix3x3f::Identity()
{
    return Matrix3x3f(
        1.0f, 0.0f, 0.0f,
        0.0f, 1.0f, 0.0f,
        0.0f, 0.0f, 1.0f);
}

KY_INLINE void Matrix3x3f::Set(
    KyFloat32 v_xx, KyFloat32 v_xy, KyFloat32 v_xz,
    KyFloat32 v_yx, KyFloat32 v_yy, KyFloat32 v_yz,
    KyFloat32 v_zx, KyFloat32 v_zy, KyFloat32 v_zz)
{
    m[xx] = v_xx; m[xy] = v_xy; m[xz] = v_xz;
    m[yx] = v_yx; m[yy] = v_yy; m[yz] = v_yz;
    m[zx] = v_zx; m[zy] = v_zy; m[zz] = v_zz;
}

KY_INLINE void Matrix3x3f::Set(const Vec3f& v_x, const Vec3f& v_y, const Vec3f& v_z)
{
    Set(v_x.x, v_x.y, v_x.z,
        v_y.x, v_y.y, v_y.z,
        v_z.x, v_z.y, v_z.z);
}

KY_INLINE void Matrix3x3f::SetIdentity()
{
    Set(1.0f, 0.0f, 0.0f,
        0.0f, 1.0f, 0.0f,
        0.0f, 0.0f, 1.0f);
}

KY_INLINE const Vec3f& Matrix3x3f::GetRow(KyUInt32 index) const
{
    KY_ASSERT(index < 3);
    return *(Vec3f*)(&m[xx] + index * 3);
}

KY_INLINE Vec3f& Matrix3x3f::GetRow(KyUInt32 index)
{
    KY_ASSERT(index < 3);
    return *(Vec3f*)(&m[xx] + index * 3);
}

KY_INLINE Vec3f Matrix3x3f::operator*(const Vec3f& v) const
{
    return Vec3f(
        m[xx] * v.x + m[yx] * v.y + m[zx] * v.z,
        m[xy] * v.x + m[yy] * v.y + m[zy] * v.z,
        m[xz] * v.x + m[yz] * v.y + m[zz] * v.z);
}

KY_INLINE void Matrix3x3f::Transform(const Vec3f& v, Vec3f& transformed) const
{
    transformed = *this * v;
}

KY_INLINE bool Matrix3x3f::operator==(const Matrix3x3f& other) const
{
    for (int i = 0; i < 9; ++i)
    if (m[i] != other.m[i])
        return false;
    return true;
}

KY_INLINE bool Matrix3x3f::operator != (const Matrix3x3f& other) const
{
    return !operator==(other);
}

} // namespace Kaim

#endif // Navigation_Matrix3x3f_H