btMatrix3x3 Class Reference

The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with btQuaternion, btTransform and btVector3. More...

#include <btMatrix3x3.h>

Collaboration diagram for btMatrix3x3:

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List of all members.

Public Member Functions
	btMatrix3x3 ()
	No initializaion constructor.
	btMatrix3x3 (const btQuaternion &q)
	Constructor from Quaternion.
	btMatrix3x3 (const btScalar &xx, const btScalar &xy, const btScalar &xz, const btScalar &yx, const btScalar &yy, const btScalar &yz, const btScalar &zx, const btScalar &zy, const btScalar &zz)
	Constructor with row major formatting.
SIMD_FORCE_INLINE	btMatrix3x3 (const btMatrix3x3 &other)
	Copy constructor.
SIMD_FORCE_INLINE btMatrix3x3 &	operator= (const btMatrix3x3 &other)
	Assignment Operator.
SIMD_FORCE_INLINE btVector3	getColumn (int i) const
	Get a column of the matrix as a vector.
SIMD_FORCE_INLINE const btVector3 &	getRow (int i) const
	Get a row of the matrix as a vector.
SIMD_FORCE_INLINE btVector3 &	operator[] (int i)
	Get a mutable reference to a row of the matrix as a vector.
SIMD_FORCE_INLINE const btVector3 &	operator[] (int i) const
	Get a const reference to a row of the matrix as a vector.
btMatrix3x3 &	operator*= (const btMatrix3x3 &m)
	Multiply by the target matrix on the right.
void	setFromOpenGLSubMatrix (const btScalar *m)
	Set from a carray of btScalars.
void	setValue (const btScalar &xx, const btScalar &xy, const btScalar &xz, const btScalar &yx, const btScalar &yy, const btScalar &yz, const btScalar &zx, const btScalar &zy, const btScalar &zz)
	Set the values of the matrix explicitly (row major).
void	setRotation (const btQuaternion &q)
	Set the matrix from a quaternion.
void	setEulerYPR (const btScalar &yaw, const btScalar &pitch, const btScalar &roll)
	Set the matrix from euler angles using YPR around YXZ respectively.
void	setEulerZYX (btScalar eulerX, btScalar eulerY, btScalar eulerZ)
	Set the matrix from euler angles YPR around ZYX axes.
void	setIdentity ()
	Set the matrix to the identity.
void	getOpenGLSubMatrix (btScalar *m) const
	Fill the values of the matrix into a 9 element array.
void	getRotation (btQuaternion &q) const
	Get the matrix represented as a quaternion.
void	getEulerYPR (btScalar &yaw, btScalar &pitch, btScalar &roll) const
	Get the matrix represented as euler angles around YXZ, roundtrip with setEulerYPR.
void	getEulerZYX (btScalar &yaw, btScalar &pitch, btScalar &roll, unsigned int solution_number=1) const
	Get the matrix represented as euler angles around ZYX.
btMatrix3x3	scaled (const btVector3 &s) const
	Create a scaled copy of the matrix.
btScalar	determinant () const
	Return the determinant of the matrix.
btMatrix3x3	adjoint () const
	Return the adjoint of the matrix.
btMatrix3x3	absolute () const
	Return the matrix with all values non negative.
btMatrix3x3	transpose () const
	Return the transpose of the matrix.
btMatrix3x3	inverse () const
	Return the inverse of the matrix.
btMatrix3x3	transposeTimes (const btMatrix3x3 &m) const
btMatrix3x3	timesTranspose (const btMatrix3x3 &m) const
SIMD_FORCE_INLINE btScalar	tdotx (const btVector3 &v) const
SIMD_FORCE_INLINE btScalar	tdoty (const btVector3 &v) const
SIMD_FORCE_INLINE btScalar	tdotz (const btVector3 &v) const
void	diagonalize (btMatrix3x3 &rot, btScalar threshold, int maxSteps)
	diagonalizes this matrix by the Jacobi method.
btScalar	cofac (int r1, int c1, int r2, int c2) const
	Calculate the matrix cofactor.
void	serialize (struct btMatrix3x3FloatData &dataOut) const
void	serializeFloat (struct btMatrix3x3FloatData &dataOut) const
void	deSerialize (const struct btMatrix3x3FloatData &dataIn)
void	deSerializeFloat (const struct btMatrix3x3FloatData &dataIn)
void	deSerializeDouble (const struct btMatrix3x3DoubleData &dataIn)
Static Public Member Functions
static const btMatrix3x3 &	getIdentity ()
Private Attributes
btVector3	m_el [3]
	Data storage for the matrix, each vector is a row of the matrix.

Detailed Description

The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with btQuaternion, btTransform and btVector3.

Make sure to only include a pure orthogonal matrix without scaling.

Definition at line 31 of file btMatrix3x3.h.

Constructor & Destructor Documentation

btMatrix3x3::btMatrix3x3 ( ) [inline]

No initializaion constructor.

Definition at line 38 of file btMatrix3x3.h.

btMatrix3x3::btMatrix3x3 ( const btQuaternion & q ) [inline, explicit]

Constructor from Quaternion.

Definition at line 43 of file btMatrix3x3.h.

btMatrix3x3::btMatrix3x3	(	const btScalar &	xx,
		const btScalar &	xy,
		const btScalar &	xz,
		const btScalar &	yx,
		const btScalar &	yy,
		const btScalar &	yz,
		const btScalar &	zx,
		const btScalar &	zy,
		const btScalar &	zz
	)			`[inline]`

Constructor with row major formatting.

Definition at line 52 of file btMatrix3x3.h.

SIMD_FORCE_INLINE btMatrix3x3::btMatrix3x3 ( const btMatrix3x3 & other ) [inline]

Copy constructor.

Definition at line 61 of file btMatrix3x3.h.

Member Function Documentation

SIMD_FORCE_INLINE btMatrix3x3 btMatrix3x3::absolute ( ) const

Return the matrix with all values non negative.

Definition at line 534 of file btMatrix3x3.h.

SIMD_FORCE_INLINE btMatrix3x3 btMatrix3x3::adjoint ( ) const

Return the adjoint of the matrix.

Definition at line 551 of file btMatrix3x3.h.

btScalar btMatrix3x3::cofac	(	int	r1,
		int	c1,
		int	r2,
		int	c2
	)			const `[inline]`

Calculate the matrix cofactor.

Parameters:

	r1	The first row to use for calculating the cofactor
	c1	The first column to use for calculating the cofactor
	r1	The second row to use for calculating the cofactor
	c1	The second column to use for calculating the cofactor See http://en.wikipedia.org/wiki/Cofactor_(linear_algebra) for more details

Definition at line 499 of file btMatrix3x3.h.

SIMD_FORCE_INLINE void btMatrix3x3::deSerialize ( const struct btMatrix3x3FloatData & dataIn )

Definition at line 669 of file btMatrix3x3.h.

SIMD_FORCE_INLINE void btMatrix3x3::deSerializeDouble ( const struct btMatrix3x3DoubleData & dataIn )

Definition at line 681 of file btMatrix3x3.h.

SIMD_FORCE_INLINE void btMatrix3x3::deSerializeFloat ( const struct btMatrix3x3FloatData & dataIn )

Definition at line 675 of file btMatrix3x3.h.

SIMD_FORCE_INLINE btScalar btMatrix3x3::determinant ( ) const

Return the determinant of the matrix.

Definition at line 527 of file btMatrix3x3.h.

void btMatrix3x3::diagonalize	(	btMatrix3x3 &	rot,
		btScalar	threshold,
		int	maxSteps
	)			`[inline]`

diagonalizes this matrix by the Jacobi method.

Parameters:

	rot	stores the rotation from the coordinate system in which the matrix is diagonal to the original coordinate system, i.e., old_this = rot * new_this * rot^T.
	threshold	See iteration
	iteration	The iteration stops when all off-diagonal elements are less than the threshold multiplied by the sum of the absolute values of the diagonal, or when maxSteps have been executed.

Note that this matrix is assumed to be symmetric.

Definition at line 411 of file btMatrix3x3.h.

SIMD_FORCE_INLINE btVector3 btMatrix3x3::getColumn ( int i ) const [inline]

Get a column of the matrix as a vector.

Parameters:

i

Column number 0 indexed

Definition at line 78 of file btMatrix3x3.h.

void btMatrix3x3::getEulerYPR	(	btScalar &	yaw,
		btScalar &	pitch,
		btScalar &	roll
	)			const `[inline]`

Get the matrix represented as euler angles around YXZ, roundtrip with setEulerYPR.

Parameters:

	yaw	Yaw around Y axis
	pitch	Pitch around X axis
	roll	around Z axis

Definition at line 269 of file btMatrix3x3.h.

void btMatrix3x3::getEulerZYX	(	btScalar &	yaw,
		btScalar &	pitch,
		btScalar &	roll,
		unsigned int	solution_number = `1`
	)			const `[inline]`

Get the matrix represented as euler angles around ZYX.

Parameters:

	yaw	Yaw around X axis
	pitch	Pitch around Y axis
	roll	around X axis
	solution_number	Which solution of two possible solutions ( 1 or 2) are possible values

Definition at line 298 of file btMatrix3x3.h.

static const btMatrix3x3& btMatrix3x3::getIdentity ( ) [inline, static]

Definition at line 203 of file btMatrix3x3.h.

void btMatrix3x3::getOpenGLSubMatrix ( btScalar * m ) const [inline]

Fill the values of the matrix into a 9 element array.

Parameters:

m

The array to be filled

Definition at line 213 of file btMatrix3x3.h.

void btMatrix3x3::getRotation ( btQuaternion & q ) const [inline]

Get the matrix represented as a quaternion.

Parameters:

q

The quaternion which will be set

Definition at line 231 of file btMatrix3x3.h.

SIMD_FORCE_INLINE const btVector3& btMatrix3x3::getRow ( int i ) const [inline]

Get a row of the matrix as a vector.

Parameters:

i

Row number 0 indexed

Definition at line 86 of file btMatrix3x3.h.

SIMD_FORCE_INLINE btMatrix3x3 btMatrix3x3::inverse ( ) const

Return the inverse of the matrix.

Definition at line 559 of file btMatrix3x3.h.

SIMD_FORCE_INLINE btMatrix3x3 & btMatrix3x3::operator*= ( const btMatrix3x3 & m )

Multiply by the target matrix on the right.

Parameters:

m

Rotation matrix to be applied Equivilant to this = this * m

Definition at line 518 of file btMatrix3x3.h.

SIMD_FORCE_INLINE btMatrix3x3& btMatrix3x3::operator= ( const btMatrix3x3 & other ) [inline]

Assignment Operator.

Definition at line 68 of file btMatrix3x3.h.

SIMD_FORCE_INLINE const btVector3& btMatrix3x3::operator[] ( int i ) const [inline]

Get a const reference to a row of the matrix as a vector.

Parameters:

i

Row number 0 indexed

Definition at line 102 of file btMatrix3x3.h.

SIMD_FORCE_INLINE btVector3& btMatrix3x3::operator[] ( int i ) [inline]

Get a mutable reference to a row of the matrix as a vector.

Parameters:

i

Row number 0 indexed

Definition at line 94 of file btMatrix3x3.h.

btMatrix3x3 btMatrix3x3::scaled ( const btVector3 & s ) const [inline]

Create a scaled copy of the matrix.

Parameters:

s

Scaling vector The elements of the vector will scale each column

Definition at line 367 of file btMatrix3x3.h.

SIMD_FORCE_INLINE void btMatrix3x3::serialize ( struct btMatrix3x3FloatData & dataOut ) const

Definition at line 656 of file btMatrix3x3.h.

SIMD_FORCE_INLINE void btMatrix3x3::serializeFloat ( struct btMatrix3x3FloatData & dataOut ) const

Definition at line 662 of file btMatrix3x3.h.

void btMatrix3x3::setEulerYPR	(	const btScalar &	yaw,
		const btScalar &	pitch,
		const btScalar &	roll
	)			`[inline]`

Set the matrix from euler angles using YPR around YXZ respectively.

Parameters:

	yaw	Yaw about Y axis
	pitch	Pitch about X axis
	roll	Roll about Z axis

Definition at line 163 of file btMatrix3x3.h.

void btMatrix3x3::setEulerZYX	(	btScalar	eulerX,
		btScalar	eulerY,
		btScalar	eulerZ
	)			`[inline]`

Set the matrix from euler angles YPR around ZYX axes.

Parameters:

	eulerX	Roll about X axis
	eulerY	Pitch around Y axis
	eulerZ	Yaw aboud Z axis

These angles are used to produce a rotation matrix. The euler angles are applied in ZYX order. I.e a vector is first rotated about X then Y and then Z

Definition at line 177 of file btMatrix3x3.h.

void btMatrix3x3::setFromOpenGLSubMatrix ( const btScalar * m ) [inline]

Set from a carray of btScalars.

Parameters:

m

A pointer to the beginning of an array of 9 btScalars

Definition at line 115 of file btMatrix3x3.h.

void btMatrix3x3::setIdentity ( ) [inline]

Set the matrix to the identity.

Definition at line 196 of file btMatrix3x3.h.

void btMatrix3x3::setRotation ( const btQuaternion & q ) [inline]

Set the matrix from a quaternion.

Parameters:

q

The Quaternion to match

Definition at line 143 of file btMatrix3x3.h.

void btMatrix3x3::setValue	(	const btScalar &	xx,
		const btScalar &	xy,
		const btScalar &	xz,
		const btScalar &	yx,
		const btScalar &	yy,
		const btScalar &	yz,
		const btScalar &	zx,
		const btScalar &	zy,
		const btScalar &	zz
	)			`[inline]`

Set the values of the matrix explicitly (row major).

Parameters:

	xx	Top left
	xy	Top Middle
	xz	Top Right
	yx	Middle Left
	yy	Middle Middle
	yz	Middle Right
	zx	Bottom Left
	zy	Bottom Middle
	zz	Bottom Right

Definition at line 132 of file btMatrix3x3.h.

SIMD_FORCE_INLINE btScalar btMatrix3x3::tdotx ( const btVector3 & v ) const [inline]

Definition at line 388 of file btMatrix3x3.h.

SIMD_FORCE_INLINE btScalar btMatrix3x3::tdoty ( const btVector3 & v ) const [inline]

Definition at line 392 of file btMatrix3x3.h.

SIMD_FORCE_INLINE btScalar btMatrix3x3::tdotz ( const btVector3 & v ) const [inline]

Definition at line 396 of file btMatrix3x3.h.

SIMD_FORCE_INLINE btMatrix3x3 btMatrix3x3::timesTranspose ( const btMatrix3x3 & m ) const

Definition at line 586 of file btMatrix3x3.h.

SIMD_FORCE_INLINE btMatrix3x3 btMatrix3x3::transpose ( ) const

Return the transpose of the matrix.

Definition at line 543 of file btMatrix3x3.h.

SIMD_FORCE_INLINE btMatrix3x3 btMatrix3x3::transposeTimes ( const btMatrix3x3 & m ) const

Definition at line 571 of file btMatrix3x3.h.

Member Data Documentation

btVector3 btMatrix3x3::m_el[3] [private]

Data storage for the matrix, each vector is a row of the matrix.

Definition at line 34 of file btMatrix3x3.h.

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

btMatrix3x3.h

btMatrix3x3 Class Reference

Public Member Functions

Static Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation