#include <RRMath.h>

Inheritance diagram for rr::RRMatrix3x4:

Public Member Functions
	RRMatrix3x4 ()

	RRMatrix3x4 (const float *m3x4, bool transposed)

	RRMatrix3x4 (const double *m3x4, bool transposed)

	RRMatrix3x4 (float m00, float m01, float m02, float m03, float m10, float m11, float m12, float m13, float m20, float m21, float m22, float m23)

	RRMatrix3x4 (double m00, double m01, double m02, double m03, double m10, double m11, double m12, double m13, double m20, double m21, double m22, double m23)

void	transformPosition (RRVec3 &a) const

RRVec3	getTransformedPosition (const RRVec3 &a) const

void	transformDirection (RRVec3 &a) const

RRVec3	getTransformedDirection (const RRVec3 &a) const

bool	operator== (const RRMatrix3x4 &a) const

bool	operator!= (const RRMatrix3x4 &a) const

RRMatrix3x4	operator* (const RRMatrix3x4 &a) const

RRMatrix3x4 &	operator*= (const RRMatrix3x4 &a)

bool	isIdentity () const

RRVec3	getTranslation () const

void	setTranslation (const RRVec3 &a)

void	postTranslate (const RRVec3 &a)

RRMatrix3x4	centeredAround (const RRVec3 &center) const

RRVec3	getScale () const

void	preScale (const RRVec3 &a)

RRVec3	getYawPitchRoll () const

RRVec4	getAxisAngle () const

RRVec4	getQuaternion () const

RRVec3	getColumn (unsigned i) const

RRVec4	getRow (unsigned i) const

void	setColumn (unsigned i, const RRVec3 &column)

void	setRow (unsigned i, const RRVec4 &row)

RRReal	determinant3x3 () const

bool	invertedTo (RRMatrix3x4 &destination) const

void	blendLinear (const RRMatrix3x4 &sample0, const RRMatrix3x4 &sample1, RRReal blend)

void	blendAkima (unsigned numSamples, const RRMatrix3x4 *samples, const RRReal times, RRReal time)

Static Public Member Functions
static RRMatrix3x4	identity ()

static RRMatrix3x4	scale (const RRVec3 &scale)

static RRMatrix3x4	translation (const RRVec3 &translation)

static RRMatrix3x4	rotationByYawPitchRoll (const RRVec3 &yawPitchRollRad)

static RRMatrix3x4	rotationByAxisAngle (const RRVec3 &rotationAxis, RRReal rotationAngleRad)

static RRMatrix3x4	rotationByQuaternion (const RRVec4 &quaternion)

static RRMatrix3x4	mirror (const RRVec4 &plane)

Public Attributes
RRReal	m [3][4]

Detailed Description

Matrix of 3x4 real numbers in row-major order.

Translation is stored in m[x][3]. Rotation and scale in the rest.

We have chosen this format because it contains only what we need, is smaller than 4x4 and its shape makes no room for row or column major ambiguity.

Decomposition functions assume that matrix was composed from (in this order): scale, rotation and translation; so when composing matrices for later decomposition, use either m = translation() * rotationByYawPitchRoll() * scale(); or slightly faster but otherwise identical m = rotationByYawPitchRoll(); m.preScale(); m.postTranslate();

Constructor & Destructor Documentation

◆ RRMatrix3x4() [1/5]

rr::RRMatrix3x4::RRMatrix3x4 ( )

◆ RRMatrix3x4() [2/5]

rr::RRMatrix3x4::RRMatrix3x4	(	const float *	m3x4,
		bool	transposed
	)

◆ RRMatrix3x4() [3/5]

rr::RRMatrix3x4::RRMatrix3x4	(	const double *	m3x4,
		bool	transposed
	)

◆ RRMatrix3x4() [4/5]

rr::RRMatrix3x4::RRMatrix3x4	(	float	m00,
		float	m01,
		float	m02,
		float	m03,
		float	m10,
		float	m11,
		float	m12,
		float	m13,
		float	m20,
		float	m21,
		float	m22,
		float	m23
	)

◆ RRMatrix3x4() [5/5]

rr::RRMatrix3x4::RRMatrix3x4	(	double	m00,
		double	m01,
		double	m02,
		double	m03,
		double	m10,
		double	m11,
		double	m12,
		double	m13,
		double	m20,
		double	m21,
		double	m22,
		double	m23
	)

Member Function Documentation

◆ identity()

static RRMatrix3x4 rr::RRMatrix3x4::identity ( )

static

◆ scale()

static RRMatrix3x4 rr::RRMatrix3x4::scale ( const RRVec3 & scale )

static

◆ translation()

static RRMatrix3x4 rr::RRMatrix3x4::translation ( const RRVec3 & translation )

static

◆ rotationByYawPitchRoll()

static RRMatrix3x4 rr::RRMatrix3x4::rotationByYawPitchRoll ( const RRVec3 & yawPitchRollRad )

static

Yaw + Pitch + Roll = YXZ Euler angles as defined at http://en.wikipedia.org/wiki/Euler_angles.

◆ rotationByAxisAngle()

static RRMatrix3x4 rr::RRMatrix3x4::rotationByAxisAngle	(	const RRVec3 &	rotationAxis,
		RRReal	rotationAngleRad
	)

static

◆ rotationByQuaternion()

static RRMatrix3x4 rr::RRMatrix3x4::rotationByQuaternion ( const RRVec4 & quaternion )

static

Expects normalized quaternion.

◆ mirror()

static RRMatrix3x4 rr::RRMatrix3x4::mirror ( const RRVec4 & plane )

static

◆ transformPosition()

void rr::RRMatrix3x4::transformPosition ( RRVec3 & a ) const

Transforms position in 3d space by matrix.

◆ getTransformedPosition()

RRVec3 rr::RRMatrix3x4::getTransformedPosition ( const RRVec3 & a ) const

Returns position in 3d space transformed by matrix.

◆ transformDirection()

void rr::RRMatrix3x4::transformDirection ( RRVec3 & a ) const

Transforms direction in 3d space by matrix.

◆ getTransformedDirection()

RRVec3 rr::RRMatrix3x4::getTransformedDirection ( const RRVec3 & a ) const

Returns direction in 3d space transformed by matrix.

◆ operator==()

bool rr::RRMatrix3x4::operator== ( const RRMatrix3x4 & a ) const

◆ operator!=()

bool rr::RRMatrix3x4::operator!= ( const RRMatrix3x4 & a ) const

◆ operator*()

RRMatrix3x4 rr::RRMatrix3x4::operator* ( const RRMatrix3x4 & a ) const

A*B returns matrix that performs transformation B, then A.

◆ operator*=()

RRMatrix3x4 & rr::RRMatrix3x4::operator*= ( const RRMatrix3x4 & a )

A*=B adds transformation B at the beginning of transformations defined by A. If you want B at the end, do A=B*A;.

◆ isIdentity()

bool rr::RRMatrix3x4::isIdentity ( ) const

Tests whether matrix is identity.

◆ getTranslation()

RRVec3 rr::RRMatrix3x4::getTranslation ( ) const

Returns translation component of matrix.

◆ setTranslation()

void rr::RRMatrix3x4::setTranslation ( const RRVec3 & a )

Sets translation component of matrix.

◆ postTranslate()

void rr::RRMatrix3x4::postTranslate ( const RRVec3 & a )

Applies translation on top of other transformations defined by this matrix, optimized *this=translation(a)**this;.

◆ centeredAround()

RRMatrix3x4 rr::RRMatrix3x4::centeredAround ( const RRVec3 & center ) const

Returns the same transformation with pretranslation -center and posttranslation +center.

◆ getScale()

RRVec3 rr::RRMatrix3x4::getScale ( ) const

Returns scale component of matrix. Negative scale is supported. Use getScale().abs().avg() for absolute uniform scale.

◆ preScale()

void rr::RRMatrix3x4::preScale ( const RRVec3 & a )

Applies scale before other transformations defined by this matrix; optimized this=scale(a);.

◆ getYawPitchRoll()

RRVec3 rr::RRMatrix3x4::getYawPitchRoll ( ) const

Returns rotation component of matrix as Yaw, Pitch and Roll = YXZ Euler angles as defined at http://en.wikipedia.org/wiki/Euler_angles.

Works for matrices that represent scale, rotation and translation (in this order) of rigid body, result is undefined for non-orthogonal matrices.

Yaw and roll are in -pi..pi range, pitch is in -pi/2..pi/2 range.

◆ getAxisAngle()

RRVec4 rr::RRMatrix3x4::getAxisAngle ( ) const

Returns rotation component of matrix as rotation axis (xyz) and rotation angle in radians (w) .

◆ getQuaternion()

RRVec4 rr::RRMatrix3x4::getQuaternion ( ) const

Returns rotation component of matrix as normalized quaternion.

◆ getColumn()

RRVec3 rr::RRMatrix3x4::getColumn ( unsigned i ) const

Returns i-th matrix column, for i=0,1,2,3.

◆ getRow()

RRVec4 rr::RRMatrix3x4::getRow ( unsigned i ) const

Returns i-th matrix row, for i=0,1,2.

◆ setColumn()

void rr::RRMatrix3x4::setColumn	(	unsigned	i,
		const RRVec3 &	column
	)

Sets i-th matrix column, for i=0,1,2,3.

◆ setRow()

void rr::RRMatrix3x4::setRow	(	unsigned	i,
		const RRVec4 &	row
	)

Sets i-th matrix row, for i=0,1,2.

◆ determinant3x3()

RRReal rr::RRMatrix3x4::determinant3x3 ( ) const

Returns determinant of first 3x3 elements.

◆ invertedTo()

bool rr::RRMatrix3x4::invertedTo ( RRMatrix3x4 & destination ) const

Inverts matrix. Returns false in case of failure, not changing destination.

◆ blendLinear()

void rr::RRMatrix3x4::blendLinear	(	const RRMatrix3x4 &	sample0,
		const RRMatrix3x4 &	sample1,
		RRReal	blend
	)

Fills this with linear interpolation of two samples; sample0 if blend=0, sample1 if blend=1.

◆ blendAkima()

void rr::RRMatrix3x4::blendAkima	(	unsigned	numSamples,
		const RRMatrix3x4 **	samples,
		const RRReal *	times,
		RRReal	time
	)

Fills this with Akima interpolation of samples, non uniformly scattered on time scale.

Parameters

numSamples	Number of elements in samples and times arrays. Interpolations uses at most 3 preceding and 3 following samples, providing more does not increase quality.
samples	Pointers to numSamples samples.
times	Array of times assigned to samples.
time	Time assigned to sample generated by this function.

Member Data Documentation

◆ m

RRReal rr::RRMatrix3x4::m[3][4]

Direct access to matrix data.

Public Member Functions

Static Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ RRMatrix3x4() [1/5]

◆ RRMatrix3x4() [2/5]

◆ RRMatrix3x4() [3/5]

◆ RRMatrix3x4() [4/5]

◆ RRMatrix3x4() [5/5]

Member Function Documentation

◆ identity()

◆ scale()

◆ translation()

◆ rotationByYawPitchRoll()

◆ rotationByAxisAngle()

◆ rotationByQuaternion()

◆ mirror()

◆ transformPosition()

◆ getTransformedPosition()

◆ transformDirection()

◆ getTransformedDirection()

◆ operator==()

◆ operator!=()

◆ operator*()

◆ operator*=()

◆ isIdentity()

◆ getTranslation()

◆ setTranslation()

◆ postTranslate()

◆ centeredAround()

◆ getScale()

◆ preScale()

◆ getYawPitchRoll()

◆ getAxisAngle()

◆ getQuaternion()

◆ getColumn()

◆ getRow()

◆ setColumn()

◆ setRow()

◆ determinant3x3()

◆ invertedTo()

◆ blendLinear()

◆ blendAkima()

Member Data Documentation

◆ m