Mat3< T > Class Template Reference

3 by 3 matrix. Extends Mat with 3D-specific functionality and constructors. More...

#include <easy3d/core/mat.h>

Inheritance diagram for Mat3< T >:

Public Member Functions
	Mat3 ()=default
	Default constructor.
	Mat3 (T s)
	Constructor that initializes diagonal elements to a scalar value and others zeros.
	Mat3 (const Mat< 3, 3, T > &rhs)
	Copy constructor. This provides compatibility with generic operations implemented by Mat.
	Mat3 (const Mat< 4, 4, T > &rhs)
	Copies the top-left corner of rhs. This provides compatibility with generic operations implemented by Mat.
	Mat3 (T s00, T s01, T s02, T s10, T s11, T s12, T s20, T s21, T s22)
	Initialize elements from individual scalars. The digits following s in the parameter names indicate the row/column of the element being set.
	Mat3 (const T *m)
	Mat3 (const Vec< 3, T > &x, const Vec< 3, T > &y, const Vec< 3, T > &z)
	Initialize elements from three vectors. If MATRIX_ROW_MAJOR is defined, x, y and z specify rows of the matrix, else columns.
	Mat3 (const Mat< 2, 2, T > &rhs)
	Mat3 (const Quat< T > &q)
Mat2< T >	sub () const
	the upper-left 2x2 sub-matrix.
Public Member Functions inherited from Mat< 3, 3, T >
	Mat ()=default
	Default constructor.
	Mat (T s)
	Constructs a matrix with diagonal elements set to s and other elements set to zero.
	Mat (const Mat< rN, rM, T > &rhs)
	Copy constructor for matrices with different dimensions (rN >= N, rM >= M).
	Mat (const T *m)
	Constructs a matrix from an array of elements.
Vec< M, T >	row (size_t row) const
	Returns the specified row as a vector.
Vec< N, T >	col (size_t col) const
	Returns the specified column as a vector.
const T &	operator() (size_t row, size_t col) const
	Returns a constant reference to the element at the specified row and column.
T &	operator() (size_t row, size_t col)
	Returns a reference to the element at the specified row and column.
	operator const T * () const
	Returns a constant pointer to the matrix elements.
	operator T* ()
	Returns a pointer to the matrix elements.
void	load_zero ()
	Sets all elements to zero.
void	load_identity (T s=T(1))
	Sets the diagonal elements to s and other elements to zero.
void	set_row (size_t row, const Vec< vN, T > &v)
	Sets the specified row from a vector.
void	set_col (size_t col, const Vec< vN, T > &v)
	Sets the specified column from a vector.
void	swap_rows (size_t a, size_t b)
	Swaps the specified rows.
void	swap_cols (size_t a, size_t b)
	Swaps the specified columns.
bool	operator== (const Mat< N, M, T > &rhs) const
	Checks if the matrix is equal to another matrix.
bool	operator!= (const Mat< N, M, T > &rhs) const
	Checks if the matrix is not equal to another matrix.
Mat< N, rM, T >	operator* (const Mat< M, rM, T > &rhs) const
	Multiplies the matrix by another matrix.
Vec< N, T >	operator* (const Vec< M, T > &rhs) const
	Multiplies the matrix by a vector.
Mat< N, M, T >	operator* (T rhs) const
	Multiplies the matrix by a scalar.
Mat< N, M, T >	operator+ (const Mat< N, M, T > &rhs) const
	Adds the matrix to another matrix. Component-wise matrix-matrix addition.
Mat< N, M, T >	operator- (const Mat< N, M, T > &rhs) const
	Subtracts another matrix from the matrix. Component-wise matrix-matrix subtraction.
Mat< N, M, T >	operator- () const
	Negates the matrix. Component-wise matrix negation.
Mat< N, M, T >	operator/ (T rhs) const
	Divides the matrix by a scalar.
Mat< N, M, T > &	operator*= (const Mat< N, M, T > &rhs)
	Multiplies the matrix by another matrix and assigns the result to the matrix.
Mat< N, M, T > &	operator*= (T rhs)
	Multiplies the matrix by a scalar and assigns the result to the matrix.
Mat< N, M, T > &	operator+= (const Mat< N, M, T > &rhs)
	Adds another matrix to the matrix and assigns the result to the matrix.
Mat< N, M, T > &	operator+= (T rhs)
	Adds a scalar to the matrix and assigns the result to the matrix.
Mat< N, M, T > &	operator-= (const Mat< N, M, T > &rhs)
	Subtracts another matrix from the matrix and assigns the result to the matrix.
Mat< N, M, T > &	operator-= (T rhs)
	Subtracts a scalar from the matrix and assigns the result to the matrix.
Mat< N, M, T > &	operator/= (T rhs)
	Divides the matrix by a scalar and assigns the result to the matrix.

Static Public Member Functions
static Mat3< T >	scale (T s)
	Static constructor returning a 3D uniform scale matrix.
static Mat3< T >	scale (T x, T y, T z)
	Static constructor returning a 3D non-uniform scale matrix.
static Mat3< T >	rotation (const Vec< 3, T > &axis, T angle)
	Static constructor returning a 3D rotation matrix defined by its axis and angle.
static Mat3< T >	rotation (const Vec< 3, T > &axis_angle)
	Static constructor returning a 3D rotation matrix defined by the axis–angle representation. Both the axis and the angle are represented by a vector codirectional with the rotation axis whose length is the rotation angle.
static Mat3< T >	rotation (const Quat< T > &q)
	Static constructor return a 3D rotation matrix defined by a quaternion.
static Mat3< T >	rotation (T x, T y, T z, int order=312)
	Static constructor returning a 3D rotation matrix defined by Euler angles. The three rotations are applied successively.
Static Public Member Functions inherited from Mat< 3, 3, T >
static Mat< N, M, T >	identity ()
	Returns an identity matrix.
static size_t	num_rows ()
	Returns the number of rows in the matrix.
static size_t	num_columns ()
	Returns the number of columns in the matrix.

Detailed Description

template<typename T>
class easy3d::Mat3< T >

3 by 3 matrix. Extends Mat with 3D-specific functionality and constructors.

Template Parameters

T	The scalar type for vector elements.

See also

Mat.

Constructor & Destructor Documentation

Mat3() [1/5]

template<typename T>

Mat3 ( )

default

Default constructor.

Note

The matrix elements are intentionally not initialized. This is efficient if the user assigns their values from subsequent computations. Use Mat3(T s) to initialize the elements during construction.

Mat3() [2/5]

template<typename T>

Mat3 ( T s )

explicit

Constructor that initializes diagonal elements to a scalar value and others zeros.

Parameters

s	The scalar value to initialize the diagonal elements.

Mat3() [3/5]

template<typename T>

Mat3 ( const T * m )

explicit

Initialize elements from an array of type T.

Mat3() [4/5]

template<typename T>

Mat3 ( const Mat< 2, 2, T > & rhs )

explicit

Initialize from a 2D matrix. rhs forms the upper-left 2x2 sub-matrix, other elements are initialized as the identity.

Mat3() [5/5]

template<typename T>

Mat3 ( const Quat< T > & q )

explicit

Construct a 3D rotation matrix from a quaternion.

Parameters

q	a unit quaternion representing a rotation.

See also

rotation() and Quat.

Member Function Documentation

rotation() [1/4]

template<typename T>

Mat3< T > rotation ( const Quat< T > & q )

static

Static constructor return a 3D rotation matrix defined by a quaternion.

Note

q is a unit quaternion representing a rotation.

rotation() [2/4]

template<typename T>

Mat3< T > rotation ( const Vec< 3, T > & axis, T angle )

static

Static constructor returning a 3D rotation matrix defined by its axis and angle.

Parameters

axis	Axis of rotation. This MUST be normalized.
angle	Angle of rotation in radians. Positive values of angle rotate counter-clockwise about axis as per the right-hand rule.

Note

The axis defines only the direction of the rotation axis, i.e., the rotation is about the axis passing through the origin.

rotation() [3/4]

template<typename T>

Mat3< T > rotation ( const Vec< 3, T > & axis_angle )

static

Static constructor returning a 3D rotation matrix defined by the axis–angle representation. Both the axis and the angle are represented by a vector codirectional with the rotation axis whose length is the rotation angle.

Parameters

axis_angle

direction is the axis and length is the angle (in radian)

Note

The axis defines only the direction of the rotation axis, i.e., the rotation is about the axis passing through the origin.

rotation() [4/4]

template<typename T>

Mat3< T > rotation ( T x, T y, T z, int order = 312 )

static

Static constructor returning a 3D rotation matrix defined by Euler angles. The three rotations are applied successively.

Parameters

x,y,z	the rotation angles (in radians) around X, Y, and Z axes respectively.
order	the order of the rotations to be applied. 1 first and 3 for last.

Note

Using a different order yields different results. The default order is first Y, then Z, then X.

scale() [1/2]

template<typename T>

Mat3< T > scale ( T s )

static

Static constructor returning a 3D uniform scale matrix.

Parameters

s	x, y, z scale (uniform).

scale() [2/2]

template<typename T>

Mat3< T > scale ( T x, T y, T z )

static

Static constructor returning a 3D non-uniform scale matrix.

Parameters

x	x scale.
y	y scale.
z	z scale.

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

• G:/3_code/Easy3D/easy3d/core/mat.h