Unigine::Math::mat3 Struct

Header:

#include <UnigineMathLibMat3.h>

This class represents a matrix of nine (3x3) float components.

Methods:

Name	Description View: Sort by:
mat3	Default constructor.
set	Sets a new value of the matrix element specified by row and column.
get	Returns the pointer to the matrix.
setColumn	Sets the specified column of the matrix using a given vec3 vector as a source.
getColumn	Returns the specified matrix column.
setDiagonal	Sets the main diagonal of the matrix using a given vec3 vector as a source.
getDiagonal	Returns the main diagonal of the matrix.
setIdentity	Sets the matrix equal to the identity matrix.
getQuat	Returns the quaternion of the matrix values.
setRotate	Sets the rotation matrix for a given axis.
setRotateX	Sets X rotation matrix.
setRotateY	Sets Y rotation matrix.
setRotateZ	Sets Z rotation matrix.
setRow	Sets the specified row of the matrix using a given vec3 vector as a source.
getRow	Returns the specified matrix row.
setScale	Fills the scaling matrix using a given vec3 source vector.
setSkewSymmetric	Fills the skew-symmetric matrix using a given vec3 source vector.
setZero	Sets all matrix elements equal to 0.
operator const float *	Performs type conversion to const float *.
operator const void *	Performs type conversion to const void *.
operator float *	Performs type conversion to float *.
operator void *	Performs type conversion to void *.
*operator =**	Performs scalar multiplication.
operator +=	Performs matrix addition.
operator -	Performs matrix negation.
operator -=	Performs matrix subtraction.
operator =	Performs matrix assignment.
operator []	Performs array access to the matrix item using given item index.
getAxisX	Returns the normalized vector representing the X axis.
getAxisY	Returns the normalized vector representing the Y axis.
getAxisZ	Returns the normalized vector representing the Z axis.
trace	Returns the trace of the matrix.
determinant	Returns the determinant of the matrix.

Variables:

Name	Description
mat3_identity	Identity matrix.
mat3_one	Matrix of ones.
mat3_zero	Zero matrix.

mat3 Class

Members

mat3 ( ) #

Default constructor. Produces an identity matrix.

mat3 ( float v ) #

Constructor. Initializes the matrix using a given scalar value.

Source code (UnigineScript)

mat3(2.0);
						
/* Creates a matrix						
| 2.0 	2.0		2.0	|
| 2.0 	2.0		2.0	|
| 2.0 	2.0		2.0	|						
*/

Arguments

float v - Scalar value.

mat3 ( const mat3& m ) #

Constructor. Initializes the matrix by copying a given source matrix.

Arguments

const mat3& m - Source matrix.

mat3 ( const mat2& m ) #

Constructor. Initializes the matrix using a given mat2 source matrix (2x2). The matrix elements are filled using corresponding elements of the source matrix.

Output

Resulting matrix: 
    | m00  	 m01	  0.0f | 
M=  | m10    m11      0.0f |
    | 0.0f   0.0f     1.0f |

Arguments

const mat2& m - Source matrix (2x2).

mat3 ( const mat4& m ) #

Constructor. Initializes the matrix using a given mat4 source matrix (4x4). The matrix elements are filled using corresponding elements of the source matrix.

Arguments

const mat4& m - Source matrix (4x4).

mat3 ( const dmat4& m ) #

Constructor. Initializes the matrix using a given dmat4 source matrix (3x4). The matrix elements are filled using corresponding elements of the source matrix.

Arguments

const dmat4& m - Source matrix (3x4).

mat3 ( const vec3& c0, const vec3& c1, const vec3& c2 ) #

Constructor. Initializes the matrix using given three vec3 vectors.

Output

Resulting matrix: 
    | col0.x  	 col1.x	  	col2.x | 
M=  | col0.y   	 col1.y     col2.y |
    | col0.z   	 col1.z     col2.z |

Arguments

const vec3& c0 - Source vector for the first column.
const vec3& c1 - Source vector for the second column
const vec3& c2 - Source vector for the third column

mat3 ( const quat& q ) #

Constructor. Initializes the matrix using a given source quaternion.

Output

For the quaternion (x, y, z, w) the corresponding rotation matrix M is defined as follows:  		
    | 1 - 2y² - 2z²    2xy + 2wz      	2xz - 2wy     | 
M=  | 2xy - 2wz        1 - 2x² - 2z²    2yz + 2wx     |
    | 2xz + 2wy        2yz - 2wx        1 - 2x² - 2y² |

Arguments

const quat& q - Source quaternion.

mat3 ( const float* m ) #

Constructor. Initializes the matrix using a given pointer to the array of float elements.

Output

Resulting matrix: 
    | m[0]   m[3]  	 m[6] | 
M=  | m[1]   m[4] 	 m[7] |
    | m[2]   m[5]    m[8] |

Arguments

const float* m - Pointer to the array of float elements.

mat3 ( float v, ConstexprTag ) #

Constructor. Initializes the matrix using a given constant float value.

Output

Resulting matrix: 
    | v   v   v | 
M=  | v   v   v |
    | v   v   v |

Arguments

float v - Value.
ConstexprTag - Auxiliary tag.

mat3 ( float m00_, float m10_, float m20_, float m01_, float m11_, float m21_, float m02_, float m12_, float m22_, ConstexprTag ) #

Constructor. Initializes the matrix with given constant float values.

Output

Resulting matrix: 
    | m00_	 m01_	m02_ | 
M=  | m10_   m11_   m12_ |
    | m20_   m21_   m22_ |

Arguments

float m00_ - m00_ element.
float m10_ - m10_ element.
float m20_ - m20_ element.
float m01_ - m01_ element.
float m11_ - m11_ element.
float m21_ - m21_ element.
float m02_ - m02_ element.
float m12_ - m12_ element.
float m22_ - m22_ element.
ConstexprTag - Auxiliary tag.

void set ( int row, int column, float v ) #

Sets a new value of the matrix element specified by row and column.

Arguments

int row - Row.
int column - Column.
float v - The value to be set.

void set ( const dmat4& m ) #

Sets the matrix using a given dmat4 source matrix (3x4). The matrix elements are set equal to corresponding elements of the source matrix.

Arguments

const dmat4& m - Source matrix (3x4).

void set ( const mat4& m ) #

Sets the matrix using a given mat4 source matrix (4x4). The matrix elements are set equal to corresponding elements of the source matrix.

Arguments

const mat4& m - Source matrix (4x4).

void set ( const float* m ) #

Sets new matrix values using a pointer to the source matrix.

Arguments

const float* m - Pointer to the source matrix.

void set ( const quat& q ) #

Sets the matrix using a given source quaternion.

Output

For the quaternion (x, y, z, w) the corresponding rotation matrix M is defined as follows:  		
    | 1 - 2y² - 2z²    2xy + 2wz      	2xz - 2wy     | 
M=  | 2xy - 2wz        1 - 2x² - 2z²    2yz + 2wx     |
    | 2xz + 2wy        2yz - 2wx        1 - 2x² - 2y² |

Arguments

const quat& q - Source quaternion.

void set ( const mat3& m ) #

Sets the matrix equal to the specified source matrix.

Arguments

const mat3& m - Source matrix.

void set ( const mat2& m ) #

Sets new matrix values using a given mat2 source matrix (2x2). The matrix elements are filled using corresponding elements of the source matrix.

Output

Resulting matrix: 
    | m00  	 m01	  0.0f | 
M=  | m10    m11      0.0f |
    | 0.0f   0.0f     1.0f |

Arguments

const mat2& m - Source matrix (2x2).

float * get ( ) #

Returns the pointer to the matrix.

Return value

Pointer to the matrix.

const float * get ( ) const#

Returns the constant pointer to the matrix.

Return value

Constant pointer to the matrix.

float & get ( int row, int column ) #

Returns the reference to the matrix element specified by a given row and column.

Arguments

int row - Row.
int column - Column.

Return value

Matrix element reference.

float get ( int row, int column ) const#

Returns the value of the matrix element specified by given row and column.

Arguments

int row - Row.
int column - Column.

Return value

Matrix element value.

void get ( float* m ) const#

Fills the destination matrix, specified by the given pointer, with matrix values.

Arguments

float* m - Destination matrix pointer.

void setColumn ( int column, const vec3& v ) #

Sets the specified column of the matrix using a given vec3 vector as a source.

Arguments

int column - Column.
const vec3& v - Source vector.

vec3 getColumn ( int column ) const#

Returns the specified matrix column.

Arguments

int column - Column.

Return value

The vec3 vector with column values.

void setDiagonal ( const vec3& v ) #

Sets the main diagonal of the matrix using a given vec3 vector as a source.

Arguments

const vec3& v - Source vector.

vec3 getDiagonal ( ) const#

Returns the main diagonal of the matrix.

Return value

The vec3 vector with the elements of the main diagonal.

void setIdentity ( ) #

Sets the matrix equal to the identity matrix.

quat getQuat ( ) const#

Returns the quaternion of the matrix values.

Return value

Quaternion.

void setRotate ( const vec3& axis, float angle ) #

Sets the rotation matrix for a given axis.

Arguments

const vec3& axis - Rotation axis.
float angle - Rotation angle, in degrees.

void setRotateX ( float angle ) #

Sets X rotation matrix.

Arguments

float angle - Rotation angle, in degrees.

void setRotateY ( float angle ) #

Sets Y rotation matrix.

Arguments

float angle - Rotation angle, in degrees.

void setRotateZ ( float angle ) #

Sets Z rotation matrix.

Arguments

float angle - Rotation angle, in degrees.

void setRow ( int row, const vec3& v ) #

Sets the specified row of the matrix using a given vec3 vector as a source.

Arguments

int row - Row.
const vec3& v - Source vector.

vec3 getRow ( int row ) const#

Returns the specified matrix row.

Arguments

int row - Row.

Return value

The vec3 vector with column values.

void setScale ( const vec3& v ) #

Fills the scaling matrix using a given vec3 source vector.

Output

Scaling matrix: 
    | v.x   	0.0f	  0.0f | 
S=  | 0.0f      v.y    	  0.0f |
    | 0.0f      0.0f      v.z  |

Arguments

const vec3& v - Source vector.

void setSkewSymmetric ( const vec3& v ) #

Fills the skew-symmetric matrix using a given vec3 source vector.

Output

Skew-symmetric matrix: 
    | 0.0f   	-v.z	   v.y | 
S=  | v.z       0.0f      -v.x |
    | -v.y      v.x       0.0f |

Arguments

const vec3& v - Source vector.

Arguments

const mat3& m - Source matrix

Return value

Result.

float operator[] ( int i ) const#

Performs array access to the matrix item using given item index.

Arguments

int i - Matrix item index.

Return value

Matrix item.

float & operator[] ( int i ) #

Performs array access to the matrix item reference using given item index.

Arguments

int i - Matrix item index.

Return value

Matrix item reference.

vec3 getAxisX ( ) const#

Returns the normalized vector representing the X axis. Call this method to get the right or left vector of the matrix:

Source code (C++)

matrix.getAxisX(); // the left vector
-matrix.getAxisX(); // the right vector

Return value

Vector representing the X axis.

vec3 getAxisY ( ) const#

Returns the normalized vector representing the Y axis. Call this method to get the back or forward vector of the matrix:

Source code (C++)

matrix.getAxisY(); // the back vector
-matrix.getAxisY(); // the forward vector

Return value

Vector representing the Y axis.

vec3 getAxisZ ( ) const#

Returns the normalized vector representing the Z axis. Call this method to get the up or down vector of the matrix:

Source code (C++)

matrix.getAxisZ(); // the up vector
-matrix.getAxisZ(); // the down vector

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