fork download
copy 
  1. #include <math.h>
  2. #include "Matrix3D.h"
  3. class Matrix3D
  4. {
  5. public:
  6.     float x [3][3];
  7.  
  8.     Matrix3D () {}
  9.     Matrix3D ( float );
  10.     Matrix3D ( const Matrix3D& );
  11.     Matrix3D ( float d1, float d2, float d3 );
  12.     Matrix3D ( const Vector3D& c1, const Vector3D& c2, const Vector3D& c3 );
  13.  
  14.     Matrix3D& operator =  ( const Matrix3D& );
  15.     Matrix3D& operator =  ( float );
  16.     Matrix3D& operator += ( const Matrix3D& );
  17.     Matrix3D& operator -= ( const Matrix3D& );
  18.     Matrix3D& operator *= ( const Matrix3D& );
  19.     Matrix3D& operator *= ( float );
  20.     Matrix3D& operator /= ( float );
  21.  
  22.     const float * operator [] ( int i ) const
  23.     {
  24.         return & x[i][0];
  25.     }
  26.  
  27.     float * operator [] ( int i )
  28.     {
  29.         return & x[i][0];
  30.     }
  31.  
  32.     Matrix3D&   invert    ();
  33.     Matrix3D&   transpose ();
  34.     float       det       () const;
  35.  
  36.     Matrix3D    inverse () const
  37.     {
  38.         return Matrix3D ( *this ).invert ();
  39.     }
  40.  
  41.     void getHomMatrix ( float * matrix ) const;
  42.     void getHomMatrix ( float * matrix, const Vector3D& offs ) const;
  43.  
  44.     static  Matrix3D    identity ();
  45.     static  Matrix3D    scale    ( const Vector3D& );
  46.     static  Matrix3D    rotateX  ( float );
  47.     static  Matrix3D    rotateY  ( float );
  48.     static  Matrix3D    rotateZ  ( float );
  49.     static  Matrix3D    rotate   ( const Vector3D&, float );
  50.     static  Matrix3D    rotate   ( float yaw, float pitch, float roll );
  51.     static  Matrix3D    mirrorX  ();
  52.     static  Matrix3D    mirrorY  ();
  53.     static  Matrix3D    mirrorZ  ();
  54.  
  55.     friend Matrix3D operator + ( const Matrix3D&, const Matrix3D& );
  56.     friend Matrix3D operator - ( const Matrix3D&, const Matrix3D& );
  57.     friend Matrix3D operator * ( const Matrix3D&, const Matrix3D& );
  58.     friend Matrix3D operator * ( const Matrix3D&, float );
  59.     friend Matrix3D operator * ( float, const Matrix3D& );
  60. };
  61.  
  62. Matrix3D :: Matrix3D ( float a )
  63. {
  64.     x [0][1] = x [0][2] = x [1][0] =
  65.     x [1][2] = x [2][0] = x [2][1] = 0;
  66.     x [0][0] = x [1][1] = x [2][2] = a;
  67. }
  68. Matrix3D :: Matrix3D ( const Matrix3D& a )
  69. {
  70.     x [0][0] = a.x [0][0];
  71.     x [0][1] = a.x [0][1];
  72.     x [0][2] = a.x [0][2];
  73.     x [1][0] = a.x [1][0];
  74.     x [1][1] = a.x [1][1];
  75.     x [1][2] = a.x [1][2];
  76.     x [2][0] = a.x [2][0];
  77.     x [2][1] = a.x [2][1];
  78.     x [2][2] = a.x [2][2];
  79. }
  80. Matrix3D :: Matrix3D ( const Vector3D& c1, const Vector3D& c2, const Vector3D& c3 )
  81. {
  82.     x [0][0] = c1.x;
  83.     x [0][1] = c2.x;
  84.     x [0][2] = c3.x;
  85.  
  86.     x [1][0] = c1.y;
  87.     x [1][1] = c2.y;
  88.     x [1][2] = c3.y;
  89.  
  90.     x [2][0] = c1.z;
  91.     x [2][1] = c2.z;
  92.     x [2][2] = c3.z;
  93. }
  94.  
  95. Matrix3D& Matrix3D :: operator = ( const Matrix3D& a )
  96. {
  97.     x [0][0] = a.x [0][0];
  98.     x [0][1] = a.x [0][1];
  99.     x [0][2] = a.x [0][2];
  100.     x [1][0] = a.x [1][0];
  101.     x [1][1] = a.x [1][1];
  102.     x [1][2] = a.x [1][2];
  103.     x [2][0] = a.x [2][0];
  104.     x [2][1] = a.x [2][1];
  105.     x [2][2] = a.x [2][2];
  106.  
  107.     return *this;
  108. }
  109.  
  110. Matrix3D& Matrix3D :: operator = ( float a )
  111. {
  112.     x [0][1] = x [0][2] = x [1][0] =
  113.     x [1][2] = x [2][0] = x [2][1] = 0.0;
  114.     x [0][0] = x [1][1] = x [2][2] = a;
  115.  
  116.     return *this;
  117. }
  118.  
  119. Matrix3D& Matrix3D :: operator += ( const Matrix3D& a )
  120. {
  121.     x [0][0] += a.x [0][0];
  122.     x [0][1] += a.x [0][1];
  123.     x [0][2] += a.x [0][2];
  124.     x [1][0] += a.x [1][0];
  125.     x [1][1] += a.x [1][1];
  126.     x [1][2] += a.x [1][2];
  127.     x [2][0] += a.x [2][0];
  128.     x [2][1] += a.x [2][1];
  129.     x [2][2] += a.x [2][2];
  130.  
  131.     return *this;
  132. }
  133.  
  134. Matrix3D& Matrix3D :: operator -= ( const Matrix3D& a )
  135. {
  136.     x [0][0] -=a.x [0][0];
  137.     x [0][1] -=a.x [0][1];
  138.     x [0][2] -=a.x [0][2];
  139.     x [1][0] -=a.x [1][0];
  140.     x [1][1] -=a.x [1][1];
  141.     x [1][2] -=a.x [1][2];
  142.     x [2][0] -=a.x [2][0];
  143.     x [2][1] -=a.x [2][1];
  144.     x [2][2] -=a.x [2][2];
  145.  
  146.     return *this;
  147. }
  148.  
  149. Matrix3D& Matrix3D :: operator *= ( const Matrix3D& a )
  150. {
  151.     Matrix3D c ( *this );
  152.  
  153.     x[0][0]=c.x[0][0]*a.x[0][0]+c.x[0][1]*a.x[1][0]+c.x[0][2]*a.x[2][0];
  154.     x[0][1]=c.x[0][0]*a.x[0][1]+c.x[0][1]*a.x[1][1]+c.x[0][2]*a.x[2][1];
  155.     x[0][2]=c.x[0][0]*a.x[0][2]+c.x[0][1]*a.x[1][2]+c.x[0][2]*a.x[2][2];
  156.     x[1][0]=c.x[1][0]*a.x[0][0]+c.x[1][1]*a.x[1][0]+c.x[1][2]*a.x[2][0];
  157.     x[1][1]=c.x[1][0]*a.x[0][1]+c.x[1][1]*a.x[1][1]+c.x[1][2]*a.x[2][1];
  158.     x[1][2]=c.x[1][0]*a.x[0][2]+c.x[1][1]*a.x[1][2]+c.x[1][2]*a.x[2][2];
  159.     x[2][0]=c.x[2][0]*a.x[0][0]+c.x[2][1]*a.x[1][0]+c.x[2][2]*a.x[2][0];
  160.     x[2][1]=c.x[2][0]*a.x[0][1]+c.x[2][1]*a.x[1][1]+c.x[2][2]*a.x[2][1];
  161.     x[2][2]=c.x[2][0]*a.x[0][2]+c.x[2][1]*a.x[1][2]+c.x[2][2]*a.x[2][2];
  162.  
  163.     return *this;
  164. }
  165.  
  166. Matrix3D& Matrix3D :: operator *= ( float a )
  167. {
  168.     x [0][0] *= a;
  169.     x [0][1] *= a;
  170.     x [0][2] *= a;
  171.     x [1][0] *= a;
  172.     x [1][1] *= a;
  173.     x [1][2] *= a;
  174.     x [2][0] *= a;
  175.     x [2][1] *= a;
  176.     x [2][2] *= a;
  177.  
  178.     return *this;
  179. }
  180.  
  181. Matrix3D& Matrix3D :: operator /= ( float a )
  182. {
  183.     x [0][0] /= a;
  184.     x [0][1] /= a;
  185.     x [0][2] /= a;
  186.     x [1][0] /= a;
  187.     x [1][1] /= a;
  188.     x [1][2] /= a;
  189.     x [2][0] /= a;
  190.     x [2][1] /= a;
  191.     x [2][2] /= a;
  192.  
  193.     return *this;
  194. };
  195.  
  196. float   Matrix3D :: det () const
  197. {
  198.     return x [0][0]*(x [1][1]*x [2][2]-x [1][2]*x [2][1]) -
  199.            x [0][1]*(x [1][0]*x [2][2]-x [1][2]*x [2][0]) +
  200.            x [0][2]*(x [1][0]*x [2][1]-x [1][1]*x [2][0]);
  201. }
  202.  
  203. Matrix3D&   Matrix3D :: invert ()
  204. {
  205.  
  206.     float    det;
  207.     Matrix3D a;
  208.                     // compute a determinant
  209.     det = x [0][0]*(x [1][1]*x [2][2]-x [1][2]*x [2][1]) -
  210.           x [0][1]*(x [1][0]*x [2][2]-x [1][2]*x [2][0]) +
  211.           x [0][2]*(x [1][0]*x [2][1]-x [1][1]*x [2][0]);
  212.  
  213.     a.x [0][0] = (x [1][1]*x [2][2]-x [1][2]*x [2][1]) / det;
  214.     a.x [0][1] = (x [0][2]*x [2][1]-x [0][1]*x [2][2]) / det;
  215.     a.x [0][2] = (x [0][1]*x [1][2]-x [0][2]*x [1][1]) / det;
  216.     a.x [1][0] = (x [1][2]*x [2][0]-x [1][0]*x [2][2]) / det;
  217.     a.x [1][1] = (x [0][0]*x [2][2]-x [0][2]*x [2][0]) / det;
  218.     a.x [1][2] = (x [0][2]*x [1][0]-x [0][0]*x [1][2]) / det;
  219.     a.x [2][0] = (x [1][0]*x [2][1]-x [1][1]*x [2][0]) / det;
  220.     a.x [2][1] = (x [0][1]*x [2][0]-x [0][0]*x [2][1]) / det;
  221.     a.x [2][2] = (x [0][0]*x [1][1]-x [0][1]*x [1][0]) / det;
  222.  
  223.     return *this = a;
  224. }
  225.  
  226. Matrix3D&   Matrix3D :: transpose ()
  227. {
  228.     Matrix3D a;
  229.  
  230.     a.x [0][0] = x [0][0];
  231.     a.x [0][1] = x [1][0];
  232.     a.x [0][2] = x [2][0];
  233.     a.x [1][0] = x [0][1];
  234.     a.x [1][1] = x [1][1];
  235.     a.x [1][2] = x [2][1];
  236.     a.x [2][0] = x [0][2];
  237.     a.x [2][1] = x [1][2];
  238.     a.x [2][2] = x [2][2];
  239.  
  240.     return *this = a;
  241. }
  242.  
  243. Matrix3D operator + ( const Matrix3D& a, const Matrix3D& b )
  244. {
  245.     Matrix3D c;
  246.  
  247.     c.x [0][0] = a.x [0][0] + b.x [0][0];
  248.     c.x [0][1] = a.x [0][1] + b.x [0][1];
  249.     c.x [0][2] = a.x [0][2] + b.x [0][2];
  250.     c.x [1][0] = a.x [1][0] + b.x [1][0];
  251.     c.x [1][1] = a.x [1][1] + b.x [1][1];
  252.     c.x [1][2] = a.x [1][2] + b.x [1][2];
  253.     c.x [2][0] = a.x [2][0] + b.x [2][0];
  254.     c.x [2][1] = a.x [2][1] + b.x [2][1];
  255.     c.x [2][2] = a.x [2][2] + b.x [2][2];
  256.  
  257.     return c;
  258. }
  259.  
  260. Matrix3D operator - ( const Matrix3D& a, const Matrix3D& b )
  261. {
  262.     Matrix3D c;
  263.  
  264.     c.x [0][0] = a.x [0][0] - b.x [0][0];
  265.     c.x [0][1] = a.x [0][1] - b.x [0][1];
  266.     c.x [0][2] = a.x [0][2] - b.x [0][2];
  267.     c.x [1][0] = a.x [1][0] - b.x [1][0];
  268.     c.x [1][1] = a.x [1][1] - b.x [1][1];
  269.     c.x [1][2] = a.x [1][2] - b.x [1][2];
  270.     c.x [2][0] = a.x [2][0] - b.x [2][0];
  271.     c.x [2][1] = a.x [2][1] - b.x [2][1];
  272.     c.x [2][2] = a.x [2][2] - b.x [2][2];
  273.  
  274.     return c;
  275. }
  276.  
  277. Matrix3D operator * ( const Matrix3D& a, const Matrix3D& b )
  278. {
  279.     Matrix3D c ( a );
  280.  
  281.     c.x[0][0]=a.x[0][0]*b.x[0][0]+a.x[0][1]*b.x[1][0]+a.x[0][2]*b.x[2][0];
  282.     c.x[0][1]=a.x[0][0]*b.x[0][1]+a.x[0][1]*b.x[1][1]+a.x[0][2]*b.x[2][1];
  283.     c.x[0][2]=a.x[0][0]*b.x[0][2]+a.x[0][1]*b.x[1][2]+a.x[0][2]*b.x[2][2];
  284.     c.x[1][0]=a.x[1][0]*b.x[0][0]+a.x[1][1]*b.x[1][0]+a.x[1][2]*b.x[2][0];
  285.     c.x[1][1]=a.x[1][0]*b.x[0][1]+a.x[1][1]*b.x[1][1]+a.x[1][2]*b.x[2][1];
  286.     c.x[1][2]=a.x[1][0]*b.x[0][2]+a.x[1][1]*b.x[1][2]+a.x[1][2]*b.x[2][2];
  287.     c.x[2][0]=a.x[2][0]*b.x[0][0]+a.x[2][1]*b.x[1][0]+a.x[2][2]*b.x[2][0];
  288.     c.x[2][1]=a.x[2][0]*b.x[0][1]+a.x[2][1]*b.x[1][1]+a.x[2][2]*b.x[2][1];
  289.     c.x[2][2]=a.x[2][0]*b.x[0][2]+a.x[2][1]*b.x[1][2]+a.x[2][2]*b.x[2][2];
  290.  
  291.     return c;
  292. }
  293.  
  294. Matrix3D operator * ( const Matrix3D& a, float b )
  295. {
  296.     Matrix3D c ( a );
  297.  
  298.     return (c *= b);
  299. }
  300.  
  301. Matrix3D operator * ( float b, const Matrix3D& a )
  302. {
  303.     Matrix3D c ( a );
  304.  
  305.     return (c *= b);
  306. }
  307.  
  308. Matrix3D    Matrix3D :: identity ()
  309. {
  310.     return Matrix3D ( 1 );
  311. }
  312.  
  313. Matrix3D Matrix3D :: scale ( const Vector3D& v )
  314. {
  315.     Matrix3D a ( 1 );
  316.  
  317.     a.x [0][0] = v.x;
  318.     a.x [1][1] = v.y;
  319.     a.x [2][2] = v.z;
  320.  
  321.     return a;
  322. }
  323.  
  324. Matrix3D Matrix3D :: rotateX ( float angle )
  325. {
  326.     Matrix3D a ( 1 );
  327.     float    cosine = (float)cos ( angle );
  328.     float    sine   = (float)sin ( angle );
  329.  
  330.     a.x [1][1] = cosine;
  331.     a.x [1][2] = sine;
  332.     a.x [2][1] = -sine;
  333.     a.x [2][2] = cosine;
  334.  
  335.     return a;
  336. }
  337.  
  338. Matrix3D Matrix3D :: rotateY ( float angle )
  339. {
  340.     Matrix3D a ( 1 );
  341.     float    cosine = (float)cos ( angle );
  342.     float    sine   = (float)sin ( angle );
  343.  
  344.     a.x [0][0] = cosine;
  345.     a.x [0][2] = -sine;
  346.     a.x [2][0] = sine;
  347.     a.x [2][2] = cosine;
  348.  
  349.     return a;
  350. }
  351.  
  352. Matrix3D Matrix3D :: rotateZ ( float angle )
  353. {
  354.     Matrix3D a ( 1 );
  355.     float    cosine = (float)cos ( angle );
  356.     float    sine   = (float)sin ( angle );
  357.  
  358.     a.x [0][0] = cosine;
  359.     a.x [0][1] = sine;
  360.     a.x [1][0] = -sine;
  361.     a.x [1][1] = cosine;
  362.  
  363.     return a;
  364. }
  365.  
  366. Matrix3D Matrix3D :: rotate ( const Vector3D& v, float angle )
  367. {
  368.     Matrix3D a;
  369.     float    cosine = (float)cos ( angle );
  370.     float    sine   = (float)sin ( angle );
  371.  
  372.     a.x [0][0] = v.x *v.x + (1-v.x*v.x) * cosine;
  373.     a.x [0][1] = v.x *v.y * (1-cosine) + v.z * sine;
  374.     a.x [0][2] = v.x *v.z * (1-cosine) - v.y * sine;
  375.     a.x [1][0] = v.x *v.y * (1-cosine) - v.z * sine;
  376.     a.x [1][1] = v.y *v.y + (1-v.y*v.y) * cosine;
  377.     a.x [1][2] = v.y *v.z * (1-cosine) + v.x * sine;
  378.     a.x [2][0] = v.x *v.z * (1-cosine) + v.y * sine;
  379.     a.x [2][1] = v.y *v.z * (1-cosine) - v.x * sine;
  380.     a.x [2][2] = v.z *v.z + (1-v.z*v.z) * cosine;
  381.  
  382.     return a;
  383. }
  384.  
  385. Matrix3D Matrix3D :: rotate ( float yaw, float pitch, float roll )
  386. {
  387.     return  rotateZ ( roll ) * rotateY ( yaw ) * rotateX ( pitch );
  388. }
  389.  
  390.                     // build a homogenous matrix 
  391. void Matrix3D :: getHomMatrix ( float * matrix ) const
  392. {
  393.     if ( matrix == (float *) 0l )
  394.         return;
  395.  
  396.         // 1st row
  397.     matrix [ 0] = x [0][0];
  398.     matrix [ 1] = x [0][1];
  399.     matrix [ 2] = x [0][2];
  400.     matrix [ 3] = 0;
  401.  
  402.         // 2nd row
  403.     matrix [ 4] = x [1][0];
  404.     matrix [ 5] = x [1][1];
  405.     matrix [ 6] = x [1][2];
  406.     matrix [ 7] = 0;
  407.  
  408.         // 3rd row
  409.     matrix [ 8] = x [2][0];
  410.     matrix [ 9] = x [2][1];
  411.     matrix [10] = x [2][2];
  412.     matrix [11] = 0;
  413.  
  414.         // 4th row
  415.     matrix [12] = 0;
  416.     matrix [13] = 0;
  417.     matrix [14] = 0;
  418.     matrix [15] = 1;
  419. }
  420.  
  421. void Matrix3D :: getHomMatrix ( float * matrix, const Vector3D& offs ) const
  422. {
  423.     if ( matrix == (float *) 0l )
  424.         return;
  425.  
  426.         // 1st row
  427.     matrix [ 0] = x [0][0];
  428.     matrix [ 1] = x [0][1];
  429.     matrix [ 2] = x [0][2];
  430.     matrix [ 3] = 0;
  431.  
  432.         // 2nd row
  433.     matrix [ 4] = x [1][0];
  434.     matrix [ 5] = x [1][1];
  435.     matrix [ 6] = x [1][2];
  436.     matrix [ 7] = 0;
  437.  
  438.         // 3rd row
  439.     matrix [ 8] = x [2][0];
  440.     matrix [ 9] = x [2][1];
  441.     matrix [10] = x [2][2];
  442.     matrix [11] = 0;
  443.  
  444.         // 4th row
  445.     matrix [12] = offs.x;
  446.     matrix [13] = offs.y;
  447.     matrix [14] = offs.z;
  448.     matrix [15] = 1;
  449. }
  450.  
  451. Matrix3D Matrix3D :: mirrorX ()
  452. {
  453.     Matrix3D a ( 1 );
  454.  
  455.     a.x [0][0] = -1;
  456.  
  457.     return a;
  458. }
  459.  
  460. Matrix3D Matrix3D :: mirrorY ()
  461. {
  462.     Matrix3D a ( 1 );
  463.  
  464.     a.x [1][1] = -1;
  465.  
  466.     return a;
  467. }
  468.  
  469. Matrix3D Matrix3D :: mirrorZ ()
  470. {
  471.     Matrix3D a ( 1 );
  472.  
  473.     a.x [2][2] = -1;
  474.  
  475.     return a;
  476. }
Compilation error #stdin compilation error #stdout 0s 0KB
comments (?)
stdin
copy 
Standard input is empty
compilation info 
prog.cpp:2:22: fatal error: Matrix3D.h: No such file or directory
 #include "Matrix3D.h"
                      ^
compilation terminated.
stdout
copy 
Standard output is empty
https://ideone.com/Uusm8u
language:
C++ (gcc 8.3)
created:
6 years ago
visibility:
public

Share or Embed source code

Discover > Sphere Engine API

The brand new service which powers Ideone!

Discover > IDE Widget

Widget for compiling and running the source code in a web browser!