Search  

---

C:/temp/src/j2k/Beta/Math/Vector/Matrix33.cpp

Go to the documentation of this file.

/*
Definition for a 3 by 3 matrix:
e.g.  |1 4 7|
      |2 5 8|
      |3 6 9|
*/


#ifndef __J2K__Matrix33_CPP__
#define __J2K__Matrix33_CPP__

#include <j2k/Fred/Games/Matrix33.hpp>

JMatrix33::JMatrix33(const Matrix22& mat) {
  m[0] = mat.m[0];
  m[1] = mat.m[1];
  m[2] = 0;
  m[3] = mat.m[2];
  m[4] = mat.m[3];
  m[5] = 0;
  m[6] = 0;
  m[7] = 0;
  m[8] = 1;
}

JMatrix33::JMatrix33(const JMatrix33& mat) {
  for( int i = 0; i < 9; i++ ) {
    m[ i ] = mat.m[ i ];
  }
}

void JMatrix33::print() {
  printf("| %-+7.2f %-+7.2f %-+7.2f|\n",   m[0], m[3], m[6] );
  printf("| %-+7.2f %-+7.2f %-+7.2f|\n",   m[1], m[4], m[7] );
  printf("| %-+7.2f %-+7.2f %-+7.2f|\n\n", m[2], m[5], m[8] );
}

void JMatrix33::identity() {
  m[0] = 1;
  m[1] = 0;
  m[2] = 0;

  m[3] = 0;
  m[4] = 1;
  m[5] = 0;

  m[6] = 0;
  m[7] = 0;
  m[8] = 1;
}

JMatrix33 JMatrix33::rotx( double rad ) {
  JMatrix33 ret;
  double c = cos(rad);
  double s = sin(rad);

  ret.m[0] = 1;
  ret.m[1] = 0;
  ret.m[2] = 0;

  ret.m[3] =  0;
  ret.m[4] =  c;
  ret.m[5] = -s;

  ret.m[6] = 0;
  ret.m[7] = s;
  ret.m[8] = c;

  return ret;
}

JMatrix33 JMatrix33::roty( double rad ) {
  JMatrix33 ret;
  double c = cos(rad);
  double s = sin(rad);

  ret.m[0] =  c;
  ret.m[1] =  0;
  ret.m[2] = -s;

  ret.m[3] = 0;
  ret.m[4] = 1;
  ret.m[5] = 0;

  ret.m[6] = s;
  ret.m[7] = 0;
  ret.m[8] = c;

  return ret;
}

JMatrix33 JMatrix33::rotz( double rad ) {
  JMatrix33 ret;
  double c = cos(rad);
  double s = sin(rad);

  ret.m[0] =  c;
  ret.m[1] = -s;
  ret.m[2] =  0;

  ret.m[3] = s;
  ret.m[4] = c;
  ret.m[5] = 0;

  ret.m[6] = 0;
  ret.m[7] = 0;
  ret.m[8] = 1;

  return ret;
}

JMatrix33 JMatrix33::rotxyz(const JVector3& euler ) {
  JMatrix33 ret;
  double a = cos(euler.v[0]);
  double b = sin(euler.v[0]);

  double c = cos(euler.v[1]);
  double d = sin(euler.v[1]);

  double e = cos(euler.v[2]);
  double f = sin(euler.v[2]);

  double ad = a * d;
  double bd = b * d;

  ret.m[0] =  c * e;
  ret.m[1] = -c * f;
  ret.m[2] = -d;

  ret.m[3] = -bd * e + a * f;
  ret.m[4] =  bd * f + a * e;
  ret.m[5] = -b * c;

  ret.m[6] =  ad * e + b * f;
  ret.m[7] = -ad * f + b * e;
  ret.m[8] =   a * c;

  return ret;
}

JMatrix33 JMatrix33::mult(const JMatrix33& mat) {
  JMatrix33 ret;

  ret.m[0] = m[0] * mat.m[0] + m[1] * mat.m[3] + m[2] * mat.m[6];
  ret.m[1] = m[0] * mat.m[1] + m[1] * mat.m[4] + m[2] * mat.m[7];
  ret.m[2] = m[0] * mat.m[2] + m[1] * mat.m[5] + m[2] * mat.m[8];

  ret.m[3] = m[3] * mat.m[0] + m[4] * mat.m[3] + m[5] * mat.m[6];
  ret.m[4] = m[3] * mat.m[1] + m[4] * mat.m[4] + m[5] * mat.m[7];
  ret.m[5] = m[3] * mat.m[2] + m[4] * mat.m[5] + m[5] * mat.m[8];

  ret.m[6] = m[6] * mat.m[0] + m[7] * mat.m[3] + m[8] * mat.m[6];
  ret.m[7] = m[6] * mat.m[1] + m[7] * mat.m[4] + m[8] * mat.m[7];
  ret.m[8] = m[6] * mat.m[2] + m[7] * mat.m[5] + m[8] * mat.m[8];

  return ret;
}

Vector2 JMatrix33::mult(const Vector2& src) {
  Vector2 ret;
  double div = m[6] * src.v[0] + m[7] * src.v[1] + m[8] * src.v[2];

  ret.v[0] = (m[0] * src.v[0] + m[1] * src.v[1] + m[2] * src.v[2]) / div;
  ret.v[1] = (m[3] * src.v[0] + m[4] * src.v[1] + m[5] * src.v[2]) / div;

  return ret;
}

JVector3 JMatrix33::mult(const JVector3& src) {
  JVector3 ret;

  ret.v[0] = m[0] * src.v[0] + m[1] * src.v[1] + m[2] * src.v[2];
  ret.v[1] = m[3] * src.v[0] + m[4] * src.v[1] + m[5] * src.v[2];
  ret.v[2] = m[6] * src.v[0] + m[7] * src.v[1] + m[8] * src.v[2];

  return ret;
}

#endif

---