urho3d/Source/Urho3D/Math/Matrix3.cpp

//
// Copyright (c) 2008-2019 the Urho3D project.
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
// THE SOFTWARE.
//

#include "../Precompiled.h"

#include "../Math/Matrix3.h"

#include <cstdio>

#include "../DebugNew.h"

namespace Urho3D
{

const Matrix3 Matrix3::ZERO(
    0.0f, 0.0f, 0.0f,
    0.0f, 0.0f, 0.0f,
    0.0f, 0.0f, 0.0f);

const Matrix3 Matrix3::IDENTITY;

Matrix3 Matrix3::Inverse() const
{
    float det = m00_ * m11_ * m22_ +
                m10_ * m21_ * m02_ +
                m20_ * m01_ * m12_ -
                m20_ * m11_ * m02_ -
                m10_ * m01_ * m22_ -
                m00_ * m21_ * m12_;

    float invDet = 1.0f / det;

    return Matrix3(
        (m11_ * m22_ - m21_ * m12_) * invDet,
        -(m01_ * m22_ - m21_ * m02_) * invDet,
        (m01_ * m12_ - m11_ * m02_) * invDet,
        -(m10_ * m22_ - m20_ * m12_) * invDet,
        (m00_ * m22_ - m20_ * m02_) * invDet,
        -(m00_ * m12_ - m10_ * m02_) * invDet,
        (m10_ * m21_ - m20_ * m11_) * invDet,
        -(m00_ * m21_ - m20_ * m01_) * invDet,
        (m00_ * m11_ - m10_ * m01_) * invDet
    );
}

String Matrix3::ToString() const
{
    char tempBuffer[MATRIX_CONVERSION_BUFFER_LENGTH];
    sprintf(tempBuffer, "%g %g %g %g %g %g %g %g %g", m00_, m01_, m02_, m10_, m11_, m12_, m20_, m21_, m22_);
    return String(tempBuffer);
}

void Matrix3::MakeRotationMatrix(float xAxis,float yAxis, float zAxis, Urho3D::AngleTypeEnum angleType)
{
    float xAxisInput = xAxis;
    float yAxisInput = yAxis;
    float zAxisInput = zAxis;
    if(angleType == RADIANS){
        xAxisInput = Urho3D::toDegrees(xAxisInput);
        yAxisInput = Urho3D::toDegrees(yAxisInput);
        zAxisInput = Urho3D::toDegrees(zAxisInput);
    }
    m00_ = Urho3D::Cos(yAxisInput) * Urho3D::Cos(zAxisInput);
    m01_ = Urho3D::Cos(xAxisInput) * Urho3D::Sin(zAxisInput) + Urho3D::Sin(xAxisInput) * Urho3D::Sin(yAxisInput) * Urho3D::Cos(zAxisInput);
    m02_ = Urho3D::Sin(xAxisInput) * Urho3D::Sin(zAxisInput) - Urho3D::Cos(xAxisInput) * Urho3D::Sin(yAxisInput) * Urho3D::Cos(zAxisInput);
    m10_ = -Urho3D::Cos(yAxisInput) * Urho3D::Sin(zAxisInput);
    m11_ = Urho3D::Cos(xAxisInput) * Urho3D::Cos(zAxisInput) - Urho3D::Sin(xAxisInput) * Urho3D::Sin(yAxisInput) * Urho3D::Sin(zAxisInput);
    m12_ = Urho3D::Sin(xAxisInput) * Urho3D::Cos(zAxisInput) + Urho3D::Cos(xAxisInput) * Urho3D::Sin(yAxisInput) * Urho3D::Sin(zAxisInput);
    m20_ = Urho3D::Sin(yAxisInput);
    m21_ = -Urho3D::Sin(xAxisInput) * Urho3D::Cos(yAxisInput);
    m22_ = Urho3D::Cos(xAxisInput) * Urho3D::Cos(yAxisInput);
}

}