PxMat33 Class Reference
[Foundation]

3x3 matrix class More...

#include <PxMat33.h>

Collaboration diagram for PxMat33:

[legend]

List of all members.

Public Member Functions
PX_CUDA_CALLABLE PX_FORCE_INLINE	PxMat33 ()
	Default constructor.
PX_CUDA_CALLABLE PX_INLINE	PxMat33 (PxIDENTITY r)
	identity constructor
PX_CUDA_CALLABLE PX_INLINE	PxMat33 (PxZERO r)
	zero constructor
PX_CUDA_CALLABLE	PxMat33 (const PxVec3 &col0, const PxVec3 &col1, const PxVec3 &col2)
	Construct from three base vectors.
PX_CUDA_CALLABLE PX_INLINE	PxMat33 (float r)
	constructor from a scalar, which generates a multiple of the identity matrix
PX_CUDA_CALLABLE PX_INLINE	PxMat33 (float values[])
	Construct from float[9].
PX_CUDA_CALLABLE PX_FORCE_INLINE	PxMat33 (const PxQuat &q)
	Construct from a quaternion.
PX_CUDA_CALLABLE PX_INLINE	PxMat33 (const PxMat33 &other)
	Copy constructor.
PX_CUDA_CALLABLE PX_FORCE_INLINE PxMat33 &	operator= (const PxMat33 &other)
	Assignment operator.
PX_CUDA_CALLABLE PX_INLINE bool	operator== (const PxMat33 &m) const
	returns true if the two matrices are exactly equal
PX_CUDA_CALLABLE PX_FORCE_INLINE const PxMat33	getTranspose () const
	Get transposed matrix.
PX_CUDA_CALLABLE PX_INLINE const PxMat33	getInverse () const
	Get the real inverse.
PX_CUDA_CALLABLE PX_INLINE float	getDeterminant () const
	Get determinant.
PX_CUDA_CALLABLE PX_INLINE const PxMat33	operator- () const
	Unary minus.
PX_CUDA_CALLABLE PX_INLINE const PxMat33	operator+ (const PxMat33 &other) const
	Add.
PX_CUDA_CALLABLE PX_INLINE const PxMat33	operator- (const PxMat33 &other) const
	Subtract.
PX_CUDA_CALLABLE PX_INLINE const PxMat33	operator* (float scalar) const
	Scalar multiplication.
PX_CUDA_CALLABLE PX_INLINE const PxVec3	operator* (const PxVec3 &vec) const
	Matrix vector multiplication (returns 'this->transform(vec)').
PX_CUDA_CALLABLE PX_FORCE_INLINE const PxMat33	operator* (const PxMat33 &other) const
	Matrix multiplication.
PX_CUDA_CALLABLE PX_INLINE PxMat33 &	operator+= (const PxMat33 &other)
	Equals-add.
PX_CUDA_CALLABLE PX_INLINE PxMat33 &	operator-= (const PxMat33 &other)
	Equals-sub.
PX_CUDA_CALLABLE PX_INLINE PxMat33 &	operator*= (float scalar)
	Equals scalar multiplication.
PX_CUDA_CALLABLE PX_INLINE PxMat33 &	operator*= (const PxMat33 &other)
	Equals matrix multiplication.
PX_DEPRECATED PX_CUDA_CALLABLE PX_FORCE_INLINE float	operator() (unsigned int row, unsigned int col) const
	Element access, mathematical way!
PX_DEPRECATED PX_CUDA_CALLABLE PX_FORCE_INLINE float &	operator() (unsigned int row, unsigned int col)
	Element access, mathematical way!
PX_CUDA_CALLABLE PX_FORCE_INLINE const PxVec3	transform (const PxVec3 &other) const
	Transform vector by matrix, equal to v' = M*v.
PX_CUDA_CALLABLE PX_INLINE const PxVec3	transformTranspose (const PxVec3 &other) const
	Transform vector by matrix transpose, v' = M^t*v.
PX_CUDA_CALLABLE PX_FORCE_INLINE const float *	front () const
PX_DEPRECATED PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 &	operator[] (unsigned int num)
PX_DEPRECATED PX_CUDA_CALLABLE PX_FORCE_INLINE const PxVec3 &	operator[] (unsigned int num) const
Static Public Member Functions
PX_CUDA_CALLABLE static PX_INLINE const PxMat33	createDiagonal (const PxVec3 &d)
	Construct from diagonal, off-diagonals are zero.
Public Attributes
PxVec3	column0
PxVec3	column1
PxVec3	column2
Friends
PxMat33	operator* (float, const PxMat33 &)

---

Detailed Description

3x3 matrix class

Some clarifications, as there have been much confusion about matrix formats etc in the past.

Short:

• Matrix have base vectors in columns (vectors are column matrices, 3x1 matrices).
• Matrix is physically stored in column major format
• Matrices are concaternated from left

Long: Given three base vectors a, b and c the matrix is stored as

|a.x b.x c.x| |a.y b.y c.y| |a.z b.z c.z|

Vectors are treated as columns, so the vector v is

|x| |y| |z|

And matrices are applied _before_ the vector (pre-multiplication) v' = M*v

|x'| |a.x b.x c.x| |x| |a.x*x + b.x*y + c.x*z| |y'| = |a.y b.y c.y| * |y| = |a.y*x + b.y*y + c.y*z| |z'| |a.z b.z c.z| |z| |a.z*x + b.z*y + c.z*z|

Physical storage and indexing: To be compatible with popular 3d rendering APIs (read D3d and OpenGL) the physical indexing is

|0 3 6| |1 4 7| |2 5 8|

index = column*3 + row

which in C++ translates to M[column][row]

The mathematical indexing is M_row,column and this is what is used for _-notation so _12 is 1st row, second column and operator(row, column)!

---

Constructor & Destructor Documentation

PX_CUDA_CALLABLE PX_FORCE_INLINE PxMat33::PxMat33

(

)

[inline]

Default constructor.

PX_CUDA_CALLABLE PX_INLINE PxMat33::PxMat33

(

PxIDENTITY

r

)

[inline]

identity constructor

References PX_UNUSED().

PX_CUDA_CALLABLE PX_INLINE PxMat33::PxMat33

(

PxZERO

r

)

[inline]

zero constructor

References PX_UNUSED().

PX_CUDA_CALLABLE PxMat33::PxMat33	(	const PxVec3 &	col0,
		const PxVec3 &	col1,
		const PxVec3 &	col2
	)			[inline]

Construct from three base vectors.

PX_CUDA_CALLABLE PX_INLINE PxMat33::PxMat33

(

float

r

)

[inline, explicit]

constructor from a scalar, which generates a multiple of the identity matrix

PX_CUDA_CALLABLE PX_INLINE PxMat33::PxMat33

(

float

values[]

)

[inline, explicit]

Construct from float[9].

PX_CUDA_CALLABLE PX_FORCE_INLINE PxMat33::PxMat33

(

const PxQuat &

q

)

[inline, explicit]

Construct from a quaternion.

References PxQuat::w, PxQuat::x, PxQuat::y, and PxQuat::z.

PX_CUDA_CALLABLE PX_INLINE PxMat33::PxMat33

(

const PxMat33 &

other

)

[inline]

Copy constructor.

---

Member Function Documentation

PX_CUDA_CALLABLE static PX_INLINE const PxMat33 PxMat33::createDiagonal

(

const PxVec3 &

d

)

[inline, static]

Construct from diagonal, off-diagonals are zero.

References PxVec3::x, PxVec3::y, and PxVec3::z.

Referenced by PxMassProperties::PxMassProperties().

PX_CUDA_CALLABLE PX_FORCE_INLINE const float* PxMat33::front

(

)

const [inline]

PX_CUDA_CALLABLE PX_INLINE float PxMat33::getDeterminant

(

)

const [inline]

Get determinant.

PX_CUDA_CALLABLE PX_INLINE const PxMat33 PxMat33::getInverse

(

)

const [inline]

Get the real inverse.

References column0, column1, column2, PxIdentity, PxVec3::x, PxVec3::y, and PxVec3::z.

PX_CUDA_CALLABLE PX_FORCE_INLINE const PxMat33 PxMat33::getTranspose

(

)

const [inline]

Get transposed matrix.

Referenced by PxMassProperties::rotateInertia(), and PxMeshScale::toMat33().

PX_DEPRECATED PX_CUDA_CALLABLE PX_FORCE_INLINE float& PxMat33::operator()	(	unsigned int	row,
		unsigned int	col
	)			[inline]

Element access, mathematical way!

PX_DEPRECATED PX_CUDA_CALLABLE PX_FORCE_INLINE float PxMat33::operator()	(	unsigned int	row,
		unsigned int	col
	)			const [inline]

Element access, mathematical way!

PX_CUDA_CALLABLE PX_FORCE_INLINE const PxMat33 PxMat33::operator*

(

const PxMat33 &

other

)

const [inline]

Matrix multiplication.

References column0, column1, and column2.

PX_CUDA_CALLABLE PX_INLINE const PxVec3 PxMat33::operator*

(

const PxVec3 &

vec

)

const [inline]

Matrix vector multiplication (returns 'this->transform(vec)').

PX_CUDA_CALLABLE PX_INLINE const PxMat33 PxMat33::operator*

(

float

scalar

)

const [inline]

Scalar multiplication.

PX_CUDA_CALLABLE PX_INLINE PxMat33& PxMat33::operator*=

(

const PxMat33 &

other

)

[inline]

Equals matrix multiplication.

PX_CUDA_CALLABLE PX_INLINE PxMat33& PxMat33::operator*=

(

float

scalar

)

[inline]

Equals scalar multiplication.

PX_CUDA_CALLABLE PX_INLINE const PxMat33 PxMat33::operator+

(

const PxMat33 &

other

)

const [inline]

Add.

References column0, column1, and column2.

PX_CUDA_CALLABLE PX_INLINE PxMat33& PxMat33::operator+=

(

const PxMat33 &

other

)

[inline]

Equals-add.

References column0, column1, and column2.

PX_CUDA_CALLABLE PX_INLINE const PxMat33 PxMat33::operator-

(

const PxMat33 &

other

)

const [inline]

Subtract.

References column0, column1, and column2.

PX_CUDA_CALLABLE PX_INLINE const PxMat33 PxMat33::operator-

(

)

const [inline]

Unary minus.

PX_CUDA_CALLABLE PX_INLINE PxMat33& PxMat33::operator-=

(

const PxMat33 &

other

)

[inline]

Equals-sub.

References column0, column1, and column2.

PX_CUDA_CALLABLE PX_FORCE_INLINE PxMat33& PxMat33::operator=

(

const PxMat33 &

other

)

[inline]

Assignment operator.

References column0, column1, and column2.

PX_CUDA_CALLABLE PX_INLINE bool PxMat33::operator==

(

const PxMat33 &

m

)

const [inline]

returns true if the two matrices are exactly equal

References column0, column1, and column2.

PX_DEPRECATED PX_CUDA_CALLABLE PX_FORCE_INLINE const PxVec3& PxMat33::operator[]

(

unsigned int

num

)

const [inline]

PX_DEPRECATED PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3& PxMat33::operator[]

(

unsigned int

num

)

[inline]

PX_CUDA_CALLABLE PX_FORCE_INLINE const PxVec3 PxMat33::transform

(

const PxVec3 &

other

)

const [inline]

Transform vector by matrix, equal to v' = M*v.

References PxVec3::x, PxVec3::y, and PxVec3::z.

PX_CUDA_CALLABLE PX_INLINE const PxVec3 PxMat33::transformTranspose

(

const PxVec3 &

other

)

const [inline]

Transform vector by matrix transpose, v' = M^t*v.

---

Friends And Related Function Documentation

PxMat33 operator*	(	float	,
		const PxMat33 &
	)			[friend]

---

Member Data Documentation

PxVec3 PxMat33::column0

Referenced by PxBounds3::basisExtent(), getInverse(), PxMassProperties::getMassSpaceInertia(), operator*(), operator+(), operator+=(), operator-(), operator-=(), operator=(), operator==(), PxQuat::PxQuat(), PxMassProperties::rotateInertia(), PxMassProperties::scaleInertia(), PxMassProperties::sum(), PxMeshScale::toMat33(), and PxMassProperties::translateInertia().

PxVec3 PxMat33::column1

Referenced by PxBounds3::basisExtent(), getInverse(), PxMassProperties::getMassSpaceInertia(), operator*(), operator+(), operator+=(), operator-(), operator-=(), operator=(), operator==(), PxQuat::PxQuat(), PxMassProperties::rotateInertia(), PxMassProperties::scaleInertia(), PxMassProperties::sum(), PxMeshScale::toMat33(), and PxMassProperties::translateInertia().

PxVec3 PxMat33::column2

Referenced by PxBounds3::basisExtent(), getInverse(), PxMassProperties::getMassSpaceInertia(), operator*(), operator+(), operator+=(), operator-(), operator-=(), operator=(), operator==(), PxQuat::PxQuat(), PxMassProperties::rotateInertia(), PxMassProperties::scaleInertia(), PxMassProperties::sum(), PxMeshScale::toMat33(), and PxMassProperties::translateInertia().

---

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

• PxMat33.h