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MATRIX Class Reference

#include <matrix.h>

List of all members.

Public Methods

 MATRIX ()
 ~MATRIX ()
void LoadIdentity ()
void CopyMatrix (float m[16])
void MultMatrix (float m[16])
void MatrixInverse ()
void MatrixFromAxisAngle (VECTOR axis, float theta)
void QuatToMatrix (QUAT quat)

Public Attributes

float Element [16]

Constructor & Destructor Documentation

MATRIX::MATRIX (    ) 
 

Definition at line 7 of file matrix.cpp.

References LoadIdentity(). 

00008 {
00009     LoadIdentity();
00010 }

MATRIX::~MATRIX (    ) 
 

Definition at line 12 of file matrix.cpp. 

00013 {
00014 }

Member Function Documentation

void MATRIX::CopyMatrix (  float    m[16] ) 
 

Definition at line 39 of file matrix.cpp.

References Element.

Referenced by MatrixInverse(). 

00040 {
00041         Element[0 ] = m[0 ];
00042         Element[1 ] = m[1 ];
00043         Element[2 ] = m[2 ];
00044         Element[3 ] = m[3 ];
00045         Element[4 ] = m[4 ];
00046         Element[5 ] = m[5 ];
00047         Element[6 ] = m[6 ];
00048         Element[7 ] = m[7 ];
00049         Element[8 ] = m[8 ];
00050         Element[9 ] = m[9 ];
00051         Element[10] = m[10];
00052         Element[11] = m[11];
00053         Element[12] = m[12];
00054         Element[13] = m[13];
00055         Element[14] = m[14];
00056         Element[15] = m[15];
00057 }

void MATRIX::LoadIdentity (    ) 
 

Definition at line 16 of file matrix.cpp.

References Element.

Referenced by MATRIX(). 

00017 {
00018         Element[0]=1.0f;
00019         Element[1]=0.0f;
00020         Element[2]=0.0f;
00021         Element[3]=0.0f;
00022 
00023         Element[4]=0.0f;
00024         Element[5]=1.0f;
00025         Element[6]=0.0f;
00026         Element[7]=0.0f;
00027 
00028         Element[8]=0.0f;
00029         Element[9]=0.0f;
00030         Element[10]=1.0f;
00031         Element[11]=0.0f;
00032 
00033         Element[12]=0.0f;
00034         Element[13]=0.0f;
00035         Element[14]=0.0f;
00036         Element[15]=1.0f;
00037 }

void MATRIX::MatrixFromAxisAngle (  VECTOR    axis,
float    theta
) 
 

Definition at line 169 of file matrix.cpp.

References Element, QUAT::w, VECTOR::x, QUAT::x, VECTOR::y, QUAT::y, VECTOR::z, and QUAT::z. 

00170 {
00171         QUAT q;
00172         float halfTheta = theta * 0.5;
00173         float cosHalfTheta = cos(halfTheta);
00174         float sinHalfTheta = sin(halfTheta);
00175         float xs, ys, zs, wx, wy, wz, xx, xy, xz, yy, yz, zz;
00176         q.x = axis.x * sinHalfTheta;
00177         q.y = axis.y * sinHalfTheta;
00178         q.z = axis.z * sinHalfTheta;
00179         q.w = cosHalfTheta;
00180         xs = q.x * 2;  ys = q.y * 2;  zs = q.z * 2;
00181         wx = q.w * xs; wy = q.w * ys; wz = q.w * zs;
00182         xx = q.x * xs; xy = q.x * ys; xz = q.x * zs;
00183         yy = q.y * ys; yz = q.y * zs; zz = q.z * zs;
00184         Element[0] = 1 - (yy + zz);
00185         Element[1] = xy - wz;
00186         Element[2] = xz + wy;
00187         Element[4] = xy + wz;
00188         Element[5] = 1 - (xx + zz);
00189         Element[6] = yz - wx;
00190         Element[8] = xz - wy;
00191         Element[9] = yz + wx;
00192         Element[10] = 1 - (xx + yy);
00193         Element[12] = Element[13] = Element[14] = Element[3] = Element[7] = Element[11] = 0;
00194         Element[15] = 1;
00195 }

void MATRIX::MatrixInverse (    ) 
 

Definition at line 146 of file matrix.cpp.

References CopyMatrix(), and Element. 

00147  {
00148       MATRIX temp;
00149 
00150       temp.CopyMatrix(this->Element);
00151 
00152       Element[0 ] = temp.Element[0 ];
00153       Element[1 ] = temp.Element[4 ];
00154       Element[2 ] = temp.Element[8 ];
00155 
00156       Element[4 ] = temp.Element[1 ];
00157       Element[5 ] = temp.Element[5 ];
00158       Element[6 ] = temp.Element[9 ];
00159 
00160       Element[8 ] = temp.Element[2 ];
00161       Element[9 ] = temp.Element[6 ];
00162       Element[10] = temp.Element[10];
00163 
00164       Element[12] *= -1.0f;
00165       Element[13] *= -1.0f;
00166       Element[14] *= -1.0f;
00167 }

void MATRIX::MultMatrix (  float    m[16] ) 
 

void MATRIX::QuatToMatrix (  QUAT    quat ) 
 

Definition at line 197 of file matrix.cpp.

References Element, QUAT::w, QUAT::x, QUAT::y, and QUAT::z. 

00198 {
00199       float wx, wy, wz, xx, yy, yz, xy, xz, zz, x2, y2, z2;
00200       // calculate coefficients
00201       x2 = quat.x + quat.x;
00202       y2 = quat.y + quat.y;
00203       z2 = quat.z + quat.z;
00204       xx = quat.x * x2;
00205       xy = quat.x * y2;
00206       xz = quat.x * z2;
00207       yy = quat.y * y2;
00208       yz = quat.y * z2;
00209       zz = quat.z * z2;
00210       wx = quat.w * x2;
00211       wy = quat.w * y2;
00212       wz = quat.w * z2;
00213       Element[0] = 1.0 - (yy + zz);
00214       Element[1] = xy - wz;
00215       Element[2] = xz + wy;
00216       Element[3] = 0.0;
00217       Element[4] = xy + wz;
00218       Element[5] = 1.0 - (xx + zz);
00219       Element[6] = yz - wx;
00220       Element[7] = 0.0;
00221       Element[8] = xz - wy;
00222       Element[9] = yz + wx;
00223       Element[10] = 1.0 - (xx + yy);
00224       Element[11] = 0.0;
00225       Element[12] = 0;
00226       Element[13] = 0;
00227       Element[14] = 0;
00228       Element[15] = 1;
00229 }

Member Data Documentation

float MATRIX::Element[16]
 

Definition at line 22 of file matrix.h.

Referenced by CopyMatrix(), LoadIdentity(), MatrixFromAxisAngle(), MatrixInverse(), and QuatToMatrix().

The documentation for this class was generated from the following files:
Generated on Fri Dec 23 05:22:20 2005 for Template by doxygen1.2.15