anki-3d-engine/src/Math/Mat3.h

#ifndef _MAT3_H_
#define _MAT3_H_

#include "Common.h"
#include "MathForwardDecls.h"


namespace M {


/// Mainly used for rotations. It includes many helpful member functions
class Mat3
{
	private:
		// data members
		union
		{
			float arr1[9];
			float arr2[3][3];
		};

	public:
		// accessors
		float& operator ()(const uint i, const uint j);
		const float& operator ()(const uint i, const uint j) const;
		float& operator [](const uint i);
		const float& operator [](const uint i) const;
		// constructors & distructors
		explicit Mat3() {};
		explicit Mat3(float f);
		explicit Mat3(float m00, float m01, float m02, float m10, float m11, float m12, float m20, float m21, float m22);
		explicit Mat3(float arr []);
		         Mat3(const Mat3& b);
		explicit Mat3(const Quat& q); ///< @ref Quat to @ref Mat3. 12 muls, 12 adds
		explicit Mat3(const Euler& eu);
		explicit Mat3(const Axisang& axisang);
		// ops with mat3
		Mat3  operator + (const Mat3& b) const;
		Mat3& operator +=(const Mat3& b);
		Mat3  operator - (const Mat3& b) const;
		Mat3& operator -=(const Mat3& b);
		Mat3  operator * (const Mat3& b) const; ///< 27 muls, 18 adds
		Mat3& operator *=(const Mat3& b);
		Mat3  operator / (const Mat3& b) const;
		Mat3& operator /=(const Mat3& b);
		// ops with float
		Mat3  operator + (float f) const;
		Mat3& operator +=(float f);
		Mat3  operator - (float f) const;
		Mat3& operator -=(float f);
		Mat3  operator * (float f) const;
		Mat3& operator *=(float f);
		Mat3  operator / (float f) const;
		Mat3& operator /=(float f);
		// ops with others
		Vec3  operator * (const Vec3& b) const;  ///< 9 muls, 6 adds
		// comparision
		bool operator ==(const Mat3& b) const;
		bool operator !=(const Mat3& b) const;
		// other
		void  setRows(const Vec3& a, const Vec3& b, const Vec3& c);
		void  setRow(const uint i, const Vec3& v);
		void  getRows(Vec3& a, Vec3& b, Vec3& c) const;
		Vec3  getRow(const uint i) const;
		void  setColumns(const Vec3& a, const Vec3& b, const Vec3& c);
		void  setColumn(const uint i, const Vec3& v);
		void  getColumns(Vec3& a, Vec3& b, Vec3& c) const;
		Vec3  getColumn(const uint i) const;
		Vec3  getXAxis() const;
		Vec3  getYAxis() const;
		Vec3  getZAxis() const;
		void  setXAxis(const Vec3& v3);
		void  setYAxis(const Vec3& v3);
		void  setZAxis(const Vec3& v3);
		void  setRotationX(float rad);
		void  setRotationY(float rad);
		void  setRotationZ(float rad);
		void  rotateXAxis(float rad); ///< It rotates "this" in the axis defined by the rotation AND not the world axis
		void  rotateYAxis(float rad);
		void  rotateZAxis(float rad);
		void  transpose();
		Mat3  getTransposed() const;
		void  reorthogonalize();
		void  print() const;
		float getDet() const;
		void  invert();
		Mat3  getInverse() const;
		void  setIdentity();
		static const Mat3& getZero();
		static const Mat3& getIdentity();		
};


// other operators
extern Mat3 operator +(float f, const Mat3& m3);
extern Mat3 operator -(float f, const Mat3& m3);
extern Mat3 operator *(float f, const Mat3& m3);
extern Mat3 operator /(float f, const Mat3& m3);
extern ostream& operator<<(ostream& s, const Mat3& m);


} // end namespace


#include "Mat3.inl.h"


#endif