Home

nevrax.com

Nevrax.org

	News
	Mailing-list
	Documentation
	CVS
	Bugs
	License

Documentation

Main Page Namespace List Class Hierarchy Alphabetical List Compound List File List Namespace Members Compound Members File Members Related Pages Search

NLMISC::CMatrix Class Reference

A 4*4 Homogenous Matrix. More...

#include <matrix.h>

Collaboration diagram for NLMISC::CMatrix:

[legend]List of all members.

Public Types
enum	TRotOrder { XYZ, XZY, YXZ, YZX, ZXY, ZYX }
	Rotation Order. More...
Public Methods
Object
	CMatrix ()
	Constructor which init to identity(). More...
	CMatrix (const CMatrix &)
	Copy Constructor. More...
CMatrix&	operator= (const CMatrix &)
	operator=. More...
Sets
void	identity ()
	Reset the matrix to identity. More...
void	setRot (const CVector &i, const CVector &j, const CVector &k, bool hintNoScale=false)
	Explicit setup the Rotation/Scale matrix (base). More...
void	setRot (const float m33[9], bool hintNoScale=false)
	Explicit setup the Rotation/Scale matrix (base). More...
void	setRot (const CVector &v, TRotOrder ro)
	Explicit setup the Rotation matrix (base) as a Euler rotation matrix. More...
void	setRot (const CQuat &quat)
	Explicit setup the Rotation matrix (base) as a Quaternion rotation matrix. More...
void	setRot (const CMatrix &matrix)
	Explicit setup the Rotation/Scale matrix (base) with the rotation part of an other matrix. More...
void	setPos (const CVector &v)
	Explicit setup the Translation component. More...
void	movePos (const CVector &v)
	Explicit move the Translation component. More...
void	setProj (const float proj[4])
	Explicit setup the Projection component. More...
void	resetProj ()
	Reset the Projection component to 0 0 0 1. More...
void	set (const float m44[16])
	Explicit setup the 44 matrix.* More...
Gets.
void	getRot (CVector &i, CVector &j, CVector &k) const
	Get the Rotation/Scale matrix (base). More...
void	getRot (float m33[9]) const
	Get the Rotation/Scale matrix (base). More...
void	getRot (CQuat &quat) const
	Get the Rotation matrix (base). More...
CQuat	getRot () const
	Get the Rotation matrix (base). More...
void	getPos (CVector &v) const
	Get the Translation component. More...
CVector	getPos () const
	Get the Translation component. More...
void	getProj (float proj[4]) const
	Get the Projection component. More...
CVector	getI () const
	Get the I vector of the Rotation/Scale matrix (base). More...
CVector	getJ () const
	Get the J vector of the Rotation/Scale matrix (base). More...
CVector	getK () const
	Get the K vector of the Rotation/Scale matrix (base). More...
void	get (float m44[16]) const
	Get 44 matrix.* More...
const float*	get () const
	Get 44 matrix.* More...
3D Operations.
void	translate (const CVector &v)
	Apply a translation to the matrix. same as M=MT.* More...
void	rotateX (float a)
	Apply a rotation on axis X to the matrix. More...
void	rotateY (float a)
	Apply a rotation on axis Y to the matrix. More...
void	rotateZ (float a)
	Apply a rotation on axis Z to the matrix. More...
void	rotate (const CVector &v, TRotOrder ro)
	Apply a euler rotation. More...
void	rotate (const CQuat &quat)
	Apply a quaternion rotation. More...
void	scale (float f)
	Apply a uniform scale to the matrix. More...
void	scale (const CVector &scale)
	Apply a non-uniform scale to the matrix. More...
Matrix Operations.
CMatrix	operator * (const CMatrix &) const
CMatrix&	operator *= (const CMatrix &)
void	transpose3x3 ()
	transpose the rotation part only of the matrix (swap columns/lines). More...
void	transpose ()
	transpose the matrix (swap columns/lines). More...
void	invert ()
	Invert the matrix. More...
CMatrix	inverted () const
	Return the matrix inverted. More...
bool	normalize (TRotOrder pref)
	Normalize the matrix so that the rotation part is now an orthonormal basis, ie a rotation with no scale. More...

CVector	mulVector (const CVector &v) const
	Multiply a normal. ie v.w=0 so the Translation component doesn't affect result. Projection doesn't affect result. More...
CVector	mulPoint (const CVector &v) const
	Multiply a point. ie v.w=1 so the Translation component do affect result. Projection doesn't affect result. More...
CVector	operator * (const CVector &v) const
	Multiply a point. See also: mulPoint(). More...
CVectorH	operator * (const CVectorH& v) const
	Multiply with an homogenous vector. More...
Misc
void	serial (IStream &f)
bool	hasScalePart () const
	return true if the matrix has a scale part (by scale(), by multiplication etc...). More...
bool	hasProjectionPart () const
	return true if the matrix has a projection part (by setProj(), by multiplication etc...). More...
Static Public Attributes
const CMatrix	Identity
	The identity matrix. Same as CMatrix(). More...
Private Methods
void	fastInvert33 (CMatrix &ret) const
bool	slowInvert33 (CMatrix &ret) const
bool	slowInvert44 (CMatrix &ret) const
float&	mat (sint i, sint j)
const float&	mat (sint i, sint j) const
void	getCofactIndex (sint i, sint &l1, sint &l2, sint &l3) const
bool	hasRot () const
bool	hasTrans () const
bool	hasProj () const
bool	hasAll () const
void	testExpandRot () const
void	testExpandTrans () const
void	testExpandProj () const
Private Attributes
float	M [16]
float	Scale33
uint32	StateBit
Friends
CPlane	operator * (const CPlane &p, const CMatrix &m)
	Plane (line vector) multiplication. More...

Detailed Description

A 4*4 Homogenous Matrix.

This is a column matrix, so operations like: v1=A*B*C*v0; applies C first , then B, then A to vector v0.
Since it is a column matrix, the first column is the I vector of the base, 2nd is J, 3th is K.
4th column vector is T, the translation vector.

Angle orientation are: Xaxis: YtoZ. Yaxis: ZtoX. Zaxis: XtoY.

This matrix keep a matrix state to improve Matrix, vector and plane computing (matrix inversion, vector multiplication...). The internal matrix know if:

matrix is identity
matrix has a translation component
matrix has a rotation component
matrix has a uniform scale component (scale which is the same along the 3 axis)
matrix has a non-uniform scale component
matrix has a projection component (4th line of the matrix is not 0 0 0 1).

An example of improvement is that CMatrix::operator *(const CVector &v) return v if the matrix is identity.

By default, a matrix is identity. But for a performance view, this is just a StateBit=0...

Author(s):: Lionel Berenguier , Nevrax France

Date:: 2000

Definition at line 66 of file matrix.h.

Member Enumeration Documentation

enum NLMISC::CMatrix::TRotOrder

Rotation Order.

Enumeration values:

XYZ

XZY

YXZ

YZX

ZXY

ZYX

Definition at line 70 of file matrix.h.

Constructor & Destructor Documentation

NLMISC::CMatrix::CMatrix ( ) [inline]

Constructor which init to identity().

Definition at line 88 of file matrix.h.

NLMISC::CMatrix::CMatrix ( const CMatrix & m )

Copy Constructor.

Definition at line 161 of file matrix.cpp.

Member Function Documentation

void NLMISC::CMatrix::fastInvert33 ( CMatrix & ret ) const [private]

Definition at line 957 of file matrix.cpp.

const float * NLMISC::CMatrix::get ( ) const

Get 4*4 matrix.

Returns:
the matrix's 4*4 column matrix (4x4 matrix stored in column-major order as 16 consecutive values)

Definition at line 471 of file matrix.cpp.

void NLMISC::CMatrix::get ( float m44[16] ) const

Get 4*4 matrix.

Parameters:

m44 the matrix's 4*4 column matrix (4x4 matrix stored in column-major order as 16 consecutive values)

Definition at line 462 of file matrix.cpp.

void NLMISC::CMatrix::getCofactIndex ( sint i,

sint & l1,

sint & l2,

sint & l3 ) const [inline, private]

Definition at line 328 of file matrix.h.

CVector NLMISC::CMatrix::getI ( ) const

Get the I vector of the Rotation/Scale matrix (base).

Definition at line 438 of file matrix.cpp.
Referenced by NL3D::CQuadTree::selectSegment().

CVector NLMISC::CMatrix::getJ ( ) const

Get the J vector of the Rotation/Scale matrix (base).

Definition at line 446 of file matrix.cpp.
Referenced by NL3D::CQuadTree::selectRay(), and NL3D::CQuadTree::selectSegment().

CVector NLMISC::CMatrix::getK ( void ) const

Get the K vector of the Rotation/Scale matrix (base).

Definition at line 454 of file matrix.cpp.
Referenced by NL3D::CQuadTree::selectRay(), and NL3D::CQuadTree::selectSegment().

CVector NLMISC::CMatrix::getPos ( void ) const

Get the Translation component.

Returns:
the matrix's translation vector.

Definition at line 412 of file matrix.cpp.
Referenced by NL3D::ITravCameraScene::update().

void NLMISC::CMatrix::getPos ( CVector & v ) const

Get the Translation component.

Parameters:

v the matrix's translation vector.

Definition at line 404 of file matrix.cpp.

void NLMISC::CMatrix::getProj ( float proj[4] ) const

Get the Projection component.

Parameters:

proj the matrix's projection vector.

Definition at line 420 of file matrix.cpp.

CQuat NLMISC::CMatrix::getRot ( ) const [inline]

Get the Rotation matrix (base).

Parameters:

quat the return quaternion.

Definition at line 179 of file matrix.h.

void NLMISC::CMatrix::getRot ( CQuat & quat ) const

Get the Rotation matrix (base).

Parameters:

quat the return quaternion.

Definition at line 1377 of file matrix.cpp.

void NLMISC::CMatrix::getRot ( float m33[9] ) const

Get the Rotation/Scale matrix (base).

Parameters:

m33 the matrix's 3*3 column rotation matrix. (3x3 matrix stored in column-major order as 9 consecutive values)

Definition at line 372 of file matrix.cpp.

void NLMISC::CMatrix::getRot ( CVector & i,

CVector & j,

CVector & k ) const

Get the Rotation/Scale matrix (base).

Parameters:

i The matrix's I vector of the cartesian base.

j The matrix's J vector of the cartesian base.

k The matrix's K vector of the cartesian base.

Definition at line 356 of file matrix.cpp.

bool NLMISC::CMatrix::hasAll ( ) const [inline, private]

Definition at line 114 of file matrix.cpp.

bool NLMISC::CMatrix::hasProj ( ) const [inline, private]

Definition at line 110 of file matrix.cpp.

bool NLMISC::CMatrix::hasProjectionPart ( ) const

return true if the matrix has a projection part (by setProj(), by multiplication etc...).

Definition at line 95 of file matrix.cpp.

bool NLMISC::CMatrix::hasRot ( ) const [inline, private]

Definition at line 102 of file matrix.cpp.

bool NLMISC::CMatrix::hasScalePart ( ) const

return true if the matrix has a scale part (by scale(), by multiplication etc...).

Definition at line 91 of file matrix.cpp.

bool NLMISC::CMatrix::hasTrans ( ) const [inline, private]

Definition at line 106 of file matrix.cpp.

void NLMISC::CMatrix::identity ( )

Reset the matrix to identity.

Definition at line 200 of file matrix.cpp.
Referenced by NL3D::CQuadGrid::CQuadGrid(), NL3D::CQuadTree::CQuadTree(), NL3D::ITravCameraScene::ITravCameraScene(), NL3D::CQuadTree::selectRay(), and NL3D::CQuadTree::selectSegment().

void NLMISC::CMatrix::invert ( )

Invert the matrix.
if the matrix can't be inverted, it is set to identity.
Definition at line 904 of file matrix.cpp.
Referenced by CTrackKeyFramerTCB< CKeyTCBQuat,NLMISC::CAngleAxis >::compile().

CMatrix NLMISC::CMatrix::inverted ( ) const

Return the matrix inverted.
if the matrix can't be inverted, identity is returned.
Definition at line 1078 of file matrix.cpp.
Referenced by NL3D::ITravCameraScene::update().

const float & NLMISC::CMatrix::mat ( sint i,

sint j ) const [inline, private]

Definition at line 323 of file matrix.h.

float & NLMISC::CMatrix::mat ( sint i,

sint j ) [inline, private]

Definition at line 318 of file matrix.h.

void NLMISC::CMatrix::movePos ( const CVector & v )

Explicit move the Translation component.

Parameters:

v a vector to move the translation vector.

Definition at line 276 of file matrix.cpp.

CVector NLMISC::CMatrix::mulPoint ( const CVector & v ) const

Multiply a point. ie v.w=1 so the Translation component do affect result. Projection doesn't affect result.

Definition at line 1250 of file matrix.cpp.

CVector NLMISC::CMatrix::mulVector ( const CVector & v ) const

Multiply a normal. ie v.w=0 so the Translation component doesn't affect result. Projection doesn't affect result.

Definition at line 1233 of file matrix.cpp.
Referenced by NL3D::CPSUtil::transformAABBox(), and NL3D::ITravCameraScene::update().

bool NLMISC::CMatrix::normalize ( TRotOrder ro )

Normalize the matrix so that the rotation part is now an orthonormal basis, ie a rotation with no scale.
NB: projection part and translation part are not modified.
Parameters:

pref the preference axis order to normalize. ZYX means that K direction will be kept, and the plane JK will be used to lead the I vector.

Returns:
false if One of the vector basis is null. true otherwise.

Definition at line 1159 of file matrix.cpp.
Referenced by NL3D::CQuadTree::selectRay(), and NL3D::CQuadTree::selectSegment().

CVectorH NLMISC::CMatrix::operator * ( const CVectorH & v ) const

Multiply with an homogenous vector.

Definition at line 1279 of file matrix.cpp.

CVector NLMISC::CMatrix::operator * ( const CVector & v ) const [inline]

Multiply a point.
See also:
mulPoint().

Definition at line 285 of file matrix.h.

CMatrix NLMISC::CMatrix::operator * ( const CMatrix & m ) const

Definition at line 728 of file matrix.cpp.

CMatrix & NLMISC::CMatrix::operator *= ( const CMatrix & m )

Definition at line 896 of file matrix.cpp.

CMatrix & NLMISC::CMatrix::operator= ( const CMatrix & m )

operator=.

Definition at line 166 of file matrix.cpp.

void NLMISC::CMatrix::resetProj ( )

Reset the Projection component to 0 0 0 1.

Definition at line 309 of file matrix.cpp.

void NLMISC::CMatrix::rotate ( const CQuat & quat )

Apply a quaternion rotation.

Definition at line 662 of file matrix.cpp.

void NLMISC::CMatrix::rotate ( const CVector & v,

TRotOrder ro )

Apply a euler rotation.

Parameters:

v a vector of 3 angle (in radian), giving rotation around each axis (x,y,z)

ro the order of transformation applied. if ro==XYZ, then the transform is M=M*Rx*Ry*Rz

Definition at line 644 of file matrix.cpp.

void NLMISC::CMatrix::rotateX ( float a )

Apply a rotation on axis X to the matrix.
same as M=M*Rx
Parameters:

a angle (in radian).

Definition at line 524 of file matrix.cpp.

void NLMISC::CMatrix::rotateY ( float a )

Apply a rotation on axis Y to the matrix.
same as M=M*Ry
Parameters:

a angle (in radian).

Definition at line 564 of file matrix.cpp.

void NLMISC::CMatrix::rotateZ ( float a )

Apply a rotation on axis Z to the matrix.
same as M=M*Rz
Parameters:

a angle (in radian).

Definition at line 604 of file matrix.cpp.

void NLMISC::CMatrix::scale ( const CVector & v )

Apply a non-uniform scale to the matrix.

Definition at line 695 of file matrix.cpp.

void NLMISC::CMatrix::scale ( float f )

Apply a uniform scale to the matrix.

Definition at line 670 of file matrix.cpp.

void NLMISC::CMatrix::serial ( IStream & f )

Definition at line 1450 of file matrix.cpp.

void NLMISC::CMatrix::set ( const float m44[16] )

Explicit setup the 4*4 matrix.
Avoid it. It implies low compute since no check is done on rotation matrix to see what type of matrix it is (identity, rotation, scale, uniform scale). BUT check are made to see if it has translation or projection components.
Parameters:

m44 the 4*4 column matrix (4x4 matrix stored in column-major order as 16 consecutive values)

Definition at line 320 of file matrix.cpp.

void NLMISC::CMatrix::setPos ( const CVector & v )

Explicit setup the Translation component.
v==Null is tested to see if the matrix now have a translation component.
Parameters:

v the translation vector.

Definition at line 261 of file matrix.cpp.

void NLMISC::CMatrix::setProj ( const float proj[4] )

Explicit setup the Projection component.
Proj is tested to see if the matrix now have a projection component.
Parameters:

proj the 4th line of the matrix. Set it to 0 0 0 1 to reset it to default.

Definition at line 291 of file matrix.cpp.

void NLMISC::CMatrix::setRot ( const CMatrix & matrix )

Explicit setup the Rotation/Scale matrix (base) with the rotation part of an other matrix.

Parameters:

matrix the matrix to copy rot part.

Definition at line 241 of file matrix.cpp.

void NLMISC::CMatrix::setRot ( const CQuat & quat )

Explicit setup the Rotation matrix (base) as a Quaternion rotation matrix.

Parameters:

quat a UNIT qauternion

Definition at line 1338 of file matrix.cpp.

void NLMISC::CMatrix::setRot ( const CVector & v,

TRotOrder ro )

Explicit setup the Rotation matrix (base) as a Euler rotation matrix.

Parameters:

v a vector of 3 angle (in radian), giving rotation around each axis (x,y,z)

ro the order of transformation applied. if ro==XYZ, then the transform is M=M*Rx*Ry*Rz

Definition at line 229 of file matrix.cpp.

void NLMISC::CMatrix::setRot ( const float m33[9],

bool hintNoScale = false )

Explicit setup the Rotation/Scale matrix (base).
Avoid it. It implies low compute since no check is done on m33 to see what type of matrix it is (identity, raotation, scale, uniform scale)
Parameters:

m33 the 3*3 column rotation matrix. (3x3 matrix stored in column-major order as 9 consecutive values)

hintNoScale set it to true if you are sure that your rot matrix is a pure rot matrix with no scale. If set to true and your rotation is not an orthonormal basis, unpredictable result are excepted.

Definition at line 218 of file matrix.cpp.

void NLMISC::CMatrix::setRot ( const CVector & i,

const CVector & j,

const CVector & k,

bool hintNoScale = false )

Explicit setup the Rotation/Scale matrix (base).
Avoid it. It implies low compute since no check is done on base to see what type of matrix it is (identity, rotation, scale, uniform scale...)
Parameters:

i The I vector of the cartesian base.

j The J vector of the cartesian base.

k The K vector of the cartesian base.

hintNoScale set it to true if you are sure that your rot matrix is a pure rot matrix with no scale. If set to true and your rotation is not an orthonormal basis, unpredictable result are excepted.

Definition at line 207 of file matrix.cpp.
Referenced by CTrackKeyFramerTCB< CKeyTCBQuat,NLMISC::CAngleAxis >::compile(), NL3D::CQuadTree::selectRay(), and NL3D::CQuadTree::selectSegment().

bool NLMISC::CMatrix::slowInvert33 ( CMatrix & ret ) const [private]

Definition at line 987 of file matrix.cpp.

bool NLMISC::CMatrix::slowInvert44 ( CMatrix & ret ) const [private]

Definition at line 1020 of file matrix.cpp.

void NLMISC::CMatrix::testExpandProj ( ) const [inline, private]

Definition at line 147 of file matrix.cpp.

void NLMISC::CMatrix::testExpandRot ( ) const [inline, private]

Definition at line 120 of file matrix.cpp.

void NLMISC::CMatrix::testExpandTrans ( ) const [inline, private]

Definition at line 134 of file matrix.cpp.

void NLMISC::CMatrix::translate ( const CVector & v )

Apply a translation to the matrix. same as M=M*T.

Parameters:

ro the RotOrder which show how to get the euler.

Returns:
one solution of Euler angle. A rotate() with this value and the RotOrder ro will give the same matrix.
Todo:
TODO.

Definition at line 491 of file matrix.cpp.

void NLMISC::CMatrix::transpose ( )

transpose the matrix (swap columns/lines).
NB: this transpose the 4*4 matrix entirely (even proj/translate part).
Definition at line 925 of file matrix.cpp.

void NLMISC::CMatrix::transpose3x3 ( )

transpose the rotation part only of the matrix (swap columns/lines).

Definition at line 912 of file matrix.cpp.

Friends And Related Function Documentation

CPlane operator * ( const CPlane & p,

const CMatrix & m ) [friend]

Plane (line vector) multiplication.

Definition at line 1298 of file matrix.cpp.

Member Data Documentation

const CMatrix NLMISC::CMatrix::Identity [static]

The identity matrix. Same as CMatrix().

Definition at line 39 of file matrix.cpp.

float NLMISC::CMatrix::M[16] [private]

Definition at line 309 of file matrix.h.

float NLMISC::CMatrix::Scale33 [private]

Definition at line 310 of file matrix.h.

uint32 NLMISC::CMatrix::StateBit [private]

Definition at line 311 of file matrix.h.

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

NLMISC::CMatrix Class Reference

Public Types

Public Methods

Static Public Attributes

Private Methods