Kaim::Matrix3x3f Class Reference

#include <matrix3x3f.h>

Class Description

Matrix3x3f is defined as 3 Transformed Unit Vectors:

• X = Matrix.Transform({1,0,0})
• Y = Matrix.Transform({0,1,0})
• Z = Matrix.Transform({0,0,1}) There is no operator*(), ie you cannot write M1*M2 or M*V. This is on purpose, this allows to avoid the VectorAsRow/VectorAsColumn confusion. Instead use M.Transform(V) and child_global = parent_global.Transform(child_local) which does not suffer from interpretation. When using ostream << matrix, vector X, Y and Z are written as rows.

Examples:

Init
	Matrix3x3f ()
	Set Identity. More...
	Matrix3x3f (KyFloat32 Xx, KyFloat32 Xy, KyFloat32 Xz, KyFloat32 Yx, KyFloat32 Yy, KyFloat32 Yz, KyFloat32 Zx, KyFloat32 Zy, KyFloat32 Zz)
	{Xx,Xy,Xz}=Matrix.Transform({1,0,0}), {Yx,Yy,Yz}=Matrix.Transform({0,1,0}), {Zx,Zy,Zz}=Matrix.Transform({0,0,1}) More...
	Matrix3x3f (const Vec3f &X_, const Vec3f &Y_, const Vec3f &Z_)
	X=Matrix.Transform({1,0,0}), Y=Matrix.Transform({0,1,0}), Z=Matrix.Transform({0,0,1}) More...
	Matrix3x3f (const Vec3f &axis, KyFloat32 angleRad)
	Set Matrix as the CCW rotation around axis. More...
void	SetIdentity ()
void	Set (KyFloat32 Xx, KyFloat32 Xy, KyFloat32 Xz, KyFloat32 Yx, KyFloat32 Yy, KyFloat32 Yz, KyFloat32 Zx, KyFloat32 Zy, KyFloat32 Zz)
	{Xx,Xy,Xz}=Matrix.Transform({1,0,0}), {Yx,Yy,Yz}=Matrix.Transform({0,1,0}), {Zx,Zy,Zz}=Matrix.Transform({0,0,1}) More...
void	Set (const Vec3f &X_, const Vec3f &Y_, const Vec3f &Z_)
	X=Matrix.Transform({1,0,0}), Y=Matrix.Transform({0,1,0}), Z=Matrix.Transform({0,0,1}) More...
void	SetRotation (const Vec3f &axis, KyFloat32 angleInRadian)
	Set Matrix as the CCW rotation around axis. More...
void	SetYawPitchRoll (KyFloat32 yawInRadian, KyFloat32 pitchInRadian, KyFloat32 rollInRadian)
	Return yawRot.Transform(pitchRot.Transform(rollRot)) where yawRot around Z, pitchRot around X, rollRot around Y. More...

Main interface
const Vec3f &	Axis (KyUInt32 index) const
	Axis(0) return M.X, Axis(1) return M.Y, Axis(2) return M.Z. More...
Vec3f &	Axis (KyUInt32 index)
	Axis(0) return M.X, Axis(1) return M.Y, Axis(2) return M.Z. More...
Vec3f	Transform (const Vec3f &to_transform) const
	return transformed Vec3f More...
Matrix3x3f	Transform (const Matrix3x3f &to_transform) const
	return transformed to_transform More...
void	Transform (const Vec3f &to_transform, Vec3f &transformed) const
	Transform Vec3f transformed. More...
void	Transform (const Matrix3x3f &to_transform, Matrix3x3f &transformed) const
	Transform Matric3x3f transformed. More...
bool	operator== (const Matrix3x3f &other) const
bool	operator!= (const Matrix3x3f &other) const

Static methods
static Matrix3x3f	Identity ()
static Matrix3x3f	YawPitchRoll (KyFloat32 yawInRadian, KyFloat32 pitchInRadian, KyFloat32 rollInRadian)
	Return yawRot.Transform(pitchRot.Transform(rollRot)) where yawRot around Z, pitchRot around X, rollRot around Y. More...
static Matrix3x3f	Rotation (const Vec3f &axis, KyFloat32 angleInRadian)
	Return Matrix as the rotation around axis. More...

Data
Vec3f	X
	Matrix.Transfrom(Vec3f(1,0,0)) More...
Vec3f	Y
	Matrix.Transfrom(Vec3f(0,1,0)) More...
Vec3f	Z
	Matrix.Transfrom(Vec3f(0,0,1)) More...

Constructor & Destructor Documentation

Kaim::Matrix3x3f::Matrix3x3f ( )

inline

Set Identity.

Kaim::Matrix3x3f::Matrix3x3f ( KyFloat32  Xx, KyFloat32  Xy, KyFloat32  Xz, KyFloat32  Yx, KyFloat32  Yy, KyFloat32  Yz, KyFloat32  Zx, KyFloat32  Zy, KyFloat32  Zz  )

inline

{Xx,Xy,Xz}=Matrix.Transform({1,0,0}), {Yx,Yy,Yz}=Matrix.Transform({0,1,0}), {Zx,Zy,Zz}=Matrix.Transform({0,0,1})

Kaim::Matrix3x3f::Matrix3x3f ( const Vec3f &  X_, const Vec3f &  Y_, const Vec3f &  Z_  )

inline

X=Matrix.Transform({1,0,0}), Y=Matrix.Transform({0,1,0}), Z=Matrix.Transform({0,0,1})

Kaim::Matrix3x3f::Matrix3x3f ( const Vec3f &  axis, KyFloat32  angleRad  )

inline

Set Matrix as the CCW rotation around axis.

Member Function Documentation

const Vec3f & Kaim::Matrix3x3f::Axis ( KyUInt32  index ) const

inline

Axis(0) return M.X, Axis(1) return M.Y, Axis(2) return M.Z.

Vec3f & Kaim::Matrix3x3f::Axis ( KyUInt32  index )

inline

Axis(0) return M.X, Axis(1) return M.Y, Axis(2) return M.Z.

static Matrix3x3f Kaim::Matrix3x3f::Rotation ( const Vec3f &  axis, KyFloat32  angleInRadian  )

inlinestatic

Return Matrix as the rotation around axis.

void Kaim::Matrix3x3f::Set ( KyFloat32  Xx, KyFloat32  Xy, KyFloat32  Xz, KyFloat32  Yx, KyFloat32  Yy, KyFloat32  Yz, KyFloat32  Zx, KyFloat32  Zy, KyFloat32  Zz  )

inline

{Xx,Xy,Xz}=Matrix.Transform({1,0,0}), {Yx,Yy,Yz}=Matrix.Transform({0,1,0}), {Zx,Zy,Zz}=Matrix.Transform({0,0,1})

void Kaim::Matrix3x3f::Set ( const Vec3f &  X_, const Vec3f &  Y_, const Vec3f &  Z_  )

inline

X=Matrix.Transform({1,0,0}), Y=Matrix.Transform({0,1,0}), Z=Matrix.Transform({0,0,1})

void Kaim::Matrix3x3f::SetRotation	(	const Vec3f &	axis,
		KyFloat32	angleInRadian
	)

Set Matrix as the CCW rotation around axis.

Examples:

void Kaim::Matrix3x3f::SetYawPitchRoll	(	KyFloat32	yawInRadian,
		KyFloat32	pitchInRadian,
		KyFloat32	rollInRadian
	)

Return yawRot.Transform(pitchRot.Transform(rollRot)) where yawRot around Z, pitchRot around X, rollRot around Y.

roll>0 => "bank-right", pitch>0 => "look-up", yaw>0 => "turn-left"

Vec3f Kaim::Matrix3x3f::Transform ( const Vec3f &  to_transform ) const

inline

return transformed Vec3f

Examples:

Matrix3x3f Kaim::Matrix3x3f::Transform ( const Matrix3x3f &  to_transform ) const

inline

return transformed to_transform

void Kaim::Matrix3x3f::Transform ( const Vec3f &  to_transform, Vec3f &  transformed  ) const

inline

Transform Vec3f transformed.

void Kaim::Matrix3x3f::Transform ( const Matrix3x3f &  to_transform, Matrix3x3f &  transformed  ) const

inline

Transform Matric3x3f transformed.

static Matrix3x3f Kaim::Matrix3x3f::YawPitchRoll ( KyFloat32  yawInRadian, KyFloat32  pitchInRadian, KyFloat32  rollInRadian  )

inlinestatic

Return yawRot.Transform(pitchRot.Transform(rollRot)) where yawRot around Z, pitchRot around X, rollRot around Y.

roll>0 => "bank-right", pitch>0 => "look-up", yaw>0 => "turn-left"

Member Data Documentation

Vec3f Kaim::Matrix3x3f::X

Matrix.Transfrom(Vec3f(1,0,0))

Vec3f Kaim::Matrix3x3f::Y

Matrix.Transfrom(Vec3f(0,1,0))

Vec3f Kaim::Matrix3x3f::Z

Matrix.Transfrom(Vec3f(0,0,1))

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

• gwnavruntime/math/matrix3x3f.h
• gwnavruntime/math/matrix3x3f.cpp