Menge
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Matrix.h
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38 
44 #ifndef __MATRIX_H__
45 #define __MATRIX_H__
46 
47 #include "CoreConfig.h"
48 #include "vector.h"
49 #include <string.h>
50 #include <iostream>
51 
52 namespace Menge {
53 
54  namespace Math {
70  class MENGE_API Matrix4x4 {
71  public:
77  Matrix4x4();
78 
87  Matrix4x4( bool garbage ){} // DOESN'T initialize data
88 
92  void identity();
93 
103  inline float operator()( int row, int col ) const { return _matData[row][col]; }
104 
114  inline float & operator()( int row, int col ) { return _matData[row][col]; }
115 
125  void setRow( int row, float v0, float v1, float v2, float v3 = 1.f );
126 
134  void setRow( int row, const Vector3 & vec, float v3 = 1.f );
135 
150  void scale( const Vector3 & scale, Matrix4x4 & m );
151 
166  void scaleRight( const Vector3 & scale, Matrix4x4 & m );
167 
175  inline float trace() const {
176  return _matData[0][0] * _matData[1][1] * _matData[2][2] * _matData[3][3];
177  };
178 
186  inline float trace3x3() const {
187  return _matData[0][0] * _matData[1][1] * _matData[2][2];
188  };
189 
202  void translateRotation( const Vector3 & trans );
203 
216  void translateRotationLeft( const Vector3 & trans );
217 
226  void setDiagonal( float v0, float v1, float v2, float v3 = 1.f );
227 
234  void setDiagonal( const Vector3 & vec, float v3 = 1.f );
235 
245  void product( const Matrix4x4 & m1, const Matrix4x4 & m2 );
246 
258  void product3x3( const Matrix4x4 & m1, const Matrix4x4 & m2 );
259 
265  void setAsTranspose( Matrix4x4 & m1 );
266 
270  void transpose();
271 
279  friend Logger & operator << ( Logger & out, const Matrix4x4 & mat );
280 
286  inline float * getFlattened() { return _flatData; }
287 
288  private:
293  union {
294  float _flatData[16];
295  float _matData[4][4];
296  };
297  };
298 
302  extern MENGE_API Matrix4x4 IDENTITY4x4;
303  } // namespace Math
304 } // namespace Menge
305 #endif // __MATRIX_H__
float operator()(int row, int col) const
Index operation.
Definition: Matrix.h:103
The core namespace. All elements of Menge are contained in this namespace.
Definition: AgentGenerator.cpp:43
float & operator()(int row, int col)
Reference index operation.
Definition: Matrix.h:114
Logger & operator<<(Logger &out, const BFSM::PropertyOperand op)
Friend function for printing string versions of the PropertyOperand enum.
Definition: FSMEnumeration.cpp:43
Basic 4x4 matrix of floats.
Definition: Matrix.h:70
Sets up the proper compiler directives for platform and dll export/import.
Matrix4x4(bool garbage)
Non-initializing constructor.
Definition: Matrix.h:87
float trace3x3() const
Compute the trace of the upper-left 3x3 sub-matrix.
Definition: Matrix.h:186
An html logger - writes messages to a formatted html file.
Definition: Logger.h:59
The namespace for math primitives for simulation and visualization.
Collection of Vector2, Vector3, and constants for simple inclusion.
float trace() const
Compute the trace of the 4x4 matrix.
Definition: Matrix.h:175
float * getFlattened()
Get a pointer to the underlying data as a flat array.
Definition: Matrix.h:286