ARSTD::Matrix44< Type > Struct Template Reference

#include <Matrix44.h>

Public Member Functions
	Matrix44 (bool bInitAsIdentity=true)
	Matrix44 (const Vector3< Type > &vecTranslation)
	Matrix44 (const Matrix< Type > &mat)
	Matrix44 (const Matrix33< Type > &rotation, const Vector3< Type > &vecTranslation)
	Matrix44 (const Quaternion< Type > &rotation, const Vector3< Type > &vecTranslation)
	Matrix44 (const Vector3< Type > &vecXAxis, const Vector3< Type > &vecYAxis, const Vector3< Type > &vecZAxis, const Vector3< Type > &vecTranslation)
	Matrix44 (const Vector4< Type > &vecColumn0, const Vector4< Type > &vecColumn1, const Vector4< Type > &vecColumn2, const Vector4< Type > &vecColumn3)
Matrix44< Type > &	operator*= (const Matrix44< Type > &other)
Vector3< Type > &	getXAxis ()
const Vector3< Type > &	getXAxis () const
void	setXAxis (const Vector3< Type > &vecXAxis)
Vector3< Type > &	getYAxis ()
const Vector3< Type > &	getYAxis () const
void	setYAxis (const Vector3< Type > &vecYAxis)
Vector3< Type > &	getZAxis ()
const Vector3< Type > &	getZAxis () const
void	setZAxis (const Vector3< Type > &vecZAxis)
Vector3< Type > &	getTranslation ()
const Vector3< Type > &	getTranslation () const
void	setTranslation (const Vector3< Type > &vecTranslation)
void	setIdentity ()
bool	isIdentity (const Type &epsilon=EPSILON) const
const Matrix33< Type >	getRotationAsMatrix33 () const
const Quaternion< Type >	getRotationAsQuaternion () const
void	setRotation (const Vector3< Type > &vecAxis, const Type &angle)
void	setRotation (const Matrix33< Type > &mat)
void	setRotation (const Quaternion< Type > &quat)
void	transpose ()
void	transposeRot ()
void	invert ()
void	makeHomogeneous (const EAxis &axis)

Static Public Member Functions
static Matrix44< Type >	inverse (const Matrix44< Type > &mat)
static Matrix44< Type >	slerp (const Matrix44< Type > &mat1, const Matrix44< Type > &mat2, const double &t)

Static Public Attributes
static const Matrix44< Type >	IDENTITY

Related Functions
(Note that these are not member functions.)
template<class Type >
const Matrix44< Type >	operator* (const Matrix44< Type > &lhs, const Matrix44< Type > &rhs)
template<class Type >
const Vector3< Type >	operator* (const Matrix44< Type > &lhs, const Vector3< Type > &rhs)
template<class Type >
const Vector4< Type >	operator* (const Matrix44< Type > &lhs, const Vector4< Type > &rhs)
template<class Type >
bool	equals (const Matrix44< Type > &lhs, const Matrix44< Type > &rhs, double fEpsilon=EPSILON)
template<class Type >
bool	operator== (const Matrix44< Type > &lhs, const Matrix44< Type > &rhs)
template<class Type >
bool	operator!= (const Matrix44< Type > &lhs, const Matrix44< Type > &rhs)
template<class Type >
std::ostream &	operator<< (std::ostream &stream, const Matrix44< Type > &mat)
template<class Type >
std::istream &	operator>> (std::istream &stream, Matrix44< Type > &mat)

Detailed Description

template<class Type>
struct ARSTD::Matrix44< Type >

This represents a 4x4 Matrix

Constructor & Destructor Documentation

Matrix44() [1/7]

template<class Type >

ARSTD::Matrix44< Type >::Matrix44 ( bool  bInitAsIdentity = true )

explicit

Constructor, which is as default not initialized

Parameters

bInitAsIdentity

If set to false the matrix is not initialized, otherwise an identity matrix is initialized

Matrix44() [2/7]

template<class Type >

ARSTD::Matrix44< Type >::Matrix44 ( const Vector3< Type > &  vecTranslation )

explicit

Contructs a translation matrix by given translation vector

Parameters

vecTranslation

The translation vector

Matrix44() [3/7]

template<class Type >

ARSTD::Matrix44< Type >::Matrix44 ( const Matrix< Type > &  mat )

explicit

Constructs a matrix with the given generic matrix elements

Parameters

mat	The generic matrix from where to set

Precondition

mat has to be a 4x4 matrix

Matrix44() [4/7]

template<class Type >

ARSTD::Matrix44< Type >::Matrix44	(	const Matrix33< Type > &	rotation,
		const Vector3< Type > &	vecTranslation
	)

Constructs a matrix with a given rotation and translation The homogenous value (ww) of the 4th column is set to 1

Parameters

rotation	The rotation 3x3 matrix
vecTranslation	The translation vector

Matrix44() [5/7]

template<class Type >

ARSTD::Matrix44< Type >::Matrix44	(	const Quaternion< Type > &	rotation,
		const Vector3< Type > &	vecTranslation
	)

Constructs a matrix with a given rotation and translation The homogenous value (ww) of the 4th column is set to 1

Parameters

rotation	The rotation quaternion
vecTranslation	The translation vector

Matrix44() [6/7]

template<class Type >

ARSTD::Matrix44< Type >::Matrix44	(	const Vector3< Type > &	vecXAxis,
		const Vector3< Type > &	vecYAxis,
		const Vector3< Type > &	vecZAxis,
		const Vector3< Type > &	vecTranslation
	)

Constructs a matrix with 4 three-component vectors, one for each column The forth row of the matrix is set to (0 0 0 1)

Parameters

vecXAxis	The x-axis vector
vecYAxis	The y-axis vector
vecZAxis	The z-axis vector
vecTranslation	The translation vector

Matrix44() [7/7]

template<class Type >

ARSTD::Matrix44< Type >::Matrix44	(	const Vector4< Type > &	vecColumn0,
		const Vector4< Type > &	vecColumn1,
		const Vector4< Type > &	vecColumn2,
		const Vector4< Type > &	vecColumn3
	)

Constructs a the matrix with 4 four-component vectors, one for each column

Parameters

vecXAxis	The x-axis vector
vecYAxis	The y-axis vector
vecZAxis	The z-axis vector
vecTranslation	The translation that vector.

Member Function Documentation

getRotationAsMatrix33()

template<class Type >

const Matrix33< Type > ARSTD::Matrix44< Type >::getRotationAsMatrix33

(

)

const

Returns the rotation as 3x3 matrix

Returns

The 3x3 matrix

getRotationAsQuaternion()

template<class Type >

const Quaternion< Type > ARSTD::Matrix44< Type >::getRotationAsQuaternion

(

)

const

Returns the rotation as quaternion

Returns

The quaternion

getTranslation() [1/2]

template<class Type >

Vector3< Type > & ARSTD::Matrix44< Type >::getTranslation

(

)

Gives access to the translation vector

getTranslation() [2/2]

template<class Type >

const Vector3< Type > & ARSTD::Matrix44< Type >::getTranslation

(

)

const

Returns the translation vector

getXAxis() [1/2]

template<class Type >

Vector3< Type > & ARSTD::Matrix44< Type >::getXAxis

(

)

Gives access to the x-axis of the 3x3 rotational part.

getXAxis() [2/2]

template<class Type >

const Vector3< Type > & ARSTD::Matrix44< Type >::getXAxis

(

)

const

Returns the x-axis vector

getYAxis() [1/2]

template<class Type >

Vector3< Type > & ARSTD::Matrix44< Type >::getYAxis

(

)

Gives access to y-axis vector

getYAxis() [2/2]

template<class Type >

const Vector3< Type > & ARSTD::Matrix44< Type >::getYAxis

(

)

const

Returns the y-axis vector

getZAxis() [1/2]

template<class Type >

Vector3< Type > & ARSTD::Matrix44< Type >::getZAxis

(

)

Gives access to the z-axis vector

getZAxis() [2/2]

template<class Type >

const Vector3< Type > & ARSTD::Matrix44< Type >::getZAxis

(

)

const

Returns the z-axis vector

inverse()

template<class Type >

static Matrix44< Type > ARSTD::Matrix44< Type >::inverse ( const Matrix44< Type > &  mat )

static

Inverts the matrix

Parameters

mat	The 4x4 matrix

Returns

The inverted matrix

invert()

template<class Type >

void ARSTD::Matrix44< Type >::invert

(

)

Inverts the matrix

isIdentity()

template<class Type >

bool ARSTD::Matrix44< Type >::isIdentity

(

const Type &

epsilon = EPSILON

)

const

Checks if the matrix is to identity matrix

Parameters

epsilon

Returns

true, if the matrix is equal, otherwise false

makeHomogeneous()

template<class Type >

void ARSTD::Matrix44< Type >::makeHomogeneous

(

const EAxis &

axis

)

Rebuilds a homogeneous transformation matrix by discarding a given axis

Parameters

axis	The axis, that is discarded

operator*=()

template<class Type >

Matrix44< Type > & ARSTD::Matrix44< Type >::operator*=

(

const Matrix44< Type > &

other

)

Matrix multiplication

Parameters

other

The other matrix

Returns

The multiplied matrix

setIdentity()

template<class Type >

void ARSTD::Matrix44< Type >::setIdentity

(

)

Sets the matrix to the identity

setRotation() [1/3]

template<class Type >

void ARSTD::Matrix44< Type >::setRotation

(

const Matrix33< Type > &

mat

)

Sets the rotation using 3x3 matrix

Parameters

mat	The 3x3 Matrix

setRotation() [2/3]

template<class Type >

void ARSTD::Matrix44< Type >::setRotation

(

const Quaternion< Type > &

quat

)

Sets the rotation using quaternion

Parameters

rotation

The quaternion

setRotation() [3/3]

template<class Type >

void ARSTD::Matrix44< Type >::setRotation	(	const Vector3< Type > &	vecAxis,
		const Type &	angle
	)

Sets the rotation using rotation axis and rotation angle

Parameters

vecAxis	The rotation axis
angle	The rotation angle

setTranslation()

template<class Type >

void ARSTD::Matrix44< Type >::setTranslation

(

const Vector3< Type > &

vecTranslation

)

Sets the translation vector

setXAxis()

template<class Type >

void ARSTD::Matrix44< Type >::setXAxis

(

const Vector3< Type > &

vecXAxis

)

Sets the x-axis vector

setYAxis()

template<class Type >

void ARSTD::Matrix44< Type >::setYAxis

(

const Vector3< Type > &

vecYAxis

)

Sets the y-axis vector

setZAxis()

template<class Type >

void ARSTD::Matrix44< Type >::setZAxis

(

const Vector3< Type > &

vecZAxis

)

Sets the z-axis vector

slerp()

template<class Type >

static Matrix44< Type > ARSTD::Matrix44< Type >::slerp ( const Matrix44< Type > &  mat1, const Matrix44< Type > &  mat2, const double &  t  )

static

Spherical linear interpolation of two matrices

Returns

The interpolated matrix

transpose()

template<class Type >

void ARSTD::Matrix44< Type >::transpose

(

)

Transposes the matrix

transposeRot()

template<class Type >

void ARSTD::Matrix44< Type >::transposeRot

(

)

Transposes the rotational part of the matrix only

Friends And Related Function Documentation

equals()

template<class Type >

bool equals ( const Matrix44< Type > &  lhs, const Matrix44< Type > &  rhs, double  fEpsilon = EPSILON  )

related

Compares two matrices with the epsilon given by the parameter fEpsilon

See also

EPSILON

operator!=()

template<class Type >

bool operator!= ( const Matrix44< Type > &  lhs, const Matrix44< Type > &  rhs  )

related

Compares two matrices using default EPSILON

See also

EPSILON

operator*() [1/3]

template<class Type >

const Matrix44< Type > operator* ( const Matrix44< Type > &  lhs, const Matrix44< Type > &  rhs  )

related

Matrix matrix multiplication

operator*() [2/3]

template<class Type >

const Vector3< Type > operator* ( const Matrix44< Type > &  lhs, const Vector3< Type > &  rhs  )

related

Matrix vector multiplication assuming the 4th component of the vector to be 1

operator*() [3/3]

template<class Type >

const Vector4< Type > operator* ( const Matrix44< Type > &  lhs, const Vector4< Type > &  rhs  )

related

Matrix vector multiplication

operator<<()

template<class Type >

std::ostream & operator<< ( std::ostream &  stream, const Matrix44< Type > &  mat  )

related

Writes the matrix to a std output stream

operator==()

template<class Type >

bool operator== ( const Matrix44< Type > &  lhs, const Matrix44< Type > &  rhs  )

related

Compares two matrices using default EPSILON

See also

EPSILON

operator>>()

template<class Type >

std::istream & operator>> ( std::istream &  stream, Matrix44< Type > &  mat  )

related

Reads a matrix from a std input stream

Member Data Documentation

IDENTITY

template<class Type >

const Matrix44<Type> ARSTD::Matrix44< Type >::IDENTITY

static

The identity matrix.