3x3 matrix class More...

#include <PxMat33.h>

Collaboration diagram for PxMat33:

Public Member Functions
PX_CUDA_CALLABLE PX_FORCE_INLINE	PxMat33 ()
	Default constructor. More...

PX_CUDA_CALLABLE PX_INLINE	PxMat33 (PxIDENTITY r)
	identity constructor More...

PX_CUDA_CALLABLE PX_INLINE	PxMat33 (PxZERO r)
	zero constructor More...

PX_CUDA_CALLABLE	PxMat33 (const PxVec3 &col0, const PxVec3 &col1, const PxVec3 &col2)
	Construct from three base vectors. More...

PX_CUDA_CALLABLE PX_INLINE	PxMat33 (float r)
	constructor from a scalar, which generates a multiple of the identity matrix More...

PX_CUDA_CALLABLE PX_INLINE	PxMat33 (float values[])
	Construct from float[9]. More...

PX_CUDA_CALLABLE PX_FORCE_INLINE	PxMat33 (const PxQuat &q)
	Construct from a quaternion. More...

PX_CUDA_CALLABLE PX_INLINE	PxMat33 (const PxMat33 &other)
	Copy constructor. More...

PX_CUDA_CALLABLE PX_FORCE_INLINE PxMat33 &	operator= (const PxMat33 &other)
	Assignment operator. More...

PX_CUDA_CALLABLE PX_INLINE bool	operator== (const PxMat33 &m) const
	returns true if the two matrices are exactly equal More...

PX_CUDA_CALLABLE PX_FORCE_INLINE const PxMat33	getTranspose () const
	Get transposed matrix. More...

PX_CUDA_CALLABLE PX_INLINE const PxMat33	getInverse () const
	Get the real inverse. More...

PX_CUDA_CALLABLE PX_INLINE float	getDeterminant () const
	Get determinant. More...

PX_CUDA_CALLABLE PX_INLINE const PxMat33	operator- () const
	Unary minus. More...

PX_CUDA_CALLABLE PX_INLINE const PxMat33	operator+ (const PxMat33 &other) const
	Add. More...

PX_CUDA_CALLABLE PX_INLINE const PxMat33	operator- (const PxMat33 &other) const
	Subtract. More...

PX_CUDA_CALLABLE PX_INLINE const PxMat33	operator* (float scalar) const
	Scalar multiplication. More...

PX_CUDA_CALLABLE PX_INLINE const PxVec3	operator* (const PxVec3 &vec) const
	Matrix vector multiplication (returns 'this->transform(vec)') More...

PX_CUDA_CALLABLE PX_FORCE_INLINE const PxMat33	operator* (const PxMat33 &other) const
	Matrix multiplication. More...

PX_CUDA_CALLABLE PX_INLINE PxMat33 &	operator+= (const PxMat33 &other)
	Equals-add. More...

PX_CUDA_CALLABLE PX_INLINE PxMat33 &	operator-= (const PxMat33 &other)
	Equals-sub. More...

PX_CUDA_CALLABLE PX_INLINE PxMat33 &	operator*= (float scalar)
	Equals scalar multiplication. More...

PX_CUDA_CALLABLE PX_INLINE PxMat33 &	operator*= (const PxMat33 &other)
	Equals matrix multiplication. More...

PX_CUDA_CALLABLE PX_FORCE_INLINE float	operator() (unsigned int row, unsigned int col) const
	Element access, mathematical way! More...

PX_CUDA_CALLABLE PX_FORCE_INLINE float &	operator() (unsigned int row, unsigned int col)
	Element access, mathematical way! More...

PX_CUDA_CALLABLE PX_FORCE_INLINE const PxVec3	transform (const PxVec3 &other) const
	Transform vector by matrix, equal to v' = M*v. More...

PX_CUDA_CALLABLE PX_INLINE const PxVec3	transformTranspose (const PxVec3 &other) const
	Transform vector by matrix transpose, v' = M^t*v. More...

PX_CUDA_CALLABLE PX_FORCE_INLINE const float *	front () const

PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 &	operator[] (unsigned int num)

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. More...

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

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

◆ PxMat33() [1/8]

PX_CUDA_CALLABLE PX_FORCE_INLINE PxMat33::PxMat33 ( )

inline

Default constructor.

◆ PxMat33() [2/8]

PX_CUDA_CALLABLE PX_INLINE PxMat33::PxMat33 ( PxIDENTITY r )

inline

identity constructor

References PX_UNUSED().

◆ PxMat33() [3/8]

PX_CUDA_CALLABLE PX_INLINE PxMat33::PxMat33 ( PxZERO r )

inline

zero constructor

References PX_UNUSED().

◆ PxMat33() [4/8]

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

inline

Construct from three base vectors.

◆ PxMat33() [5/8]

PX_CUDA_CALLABLE PX_INLINE PxMat33::PxMat33 ( float r )

inlineexplicit

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

◆ PxMat33() [6/8]

PX_CUDA_CALLABLE PX_INLINE PxMat33::PxMat33 ( float values[] )

inlineexplicit

Construct from float[9].

◆ PxMat33() [7/8]

PX_CUDA_CALLABLE PX_FORCE_INLINE PxMat33::PxMat33 ( const PxQuat & q )

inlineexplicit

Construct from a quaternion.

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

◆ PxMat33() [8/8]

PX_CUDA_CALLABLE PX_INLINE PxMat33::PxMat33 ( const PxMat33 & other )

inline

Copy constructor.

Member Function Documentation

◆ createDiagonal()

PX_CUDA_CALLABLE static PX_INLINE const PxMat33 PxMat33::createDiagonal ( const PxVec3 & d )

inlinestatic

Construct from diagonal, off-diagonals are zero.

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

Referenced by PxMassProperties::PxMassProperties().

◆ front()

PX_CUDA_CALLABLE PX_FORCE_INLINE const float* PxMat33::front ( ) const

inline

◆ getDeterminant()

PX_CUDA_CALLABLE PX_INLINE float PxMat33::getDeterminant ( ) const

inline

Get determinant.

◆ getInverse()

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.

◆ getTranspose()

PX_CUDA_CALLABLE PX_FORCE_INLINE const PxMat33 PxMat33::getTranspose ( ) const

inline

Get transposed matrix.

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

◆ operator()() [1/2]

PX_CUDA_CALLABLE PX_FORCE_INLINE float PxMat33::operator()	(	unsigned int	row,
		unsigned int	col
	)		const

inline

Element access, mathematical way!

◆ operator()() [2/2]

PX_CUDA_CALLABLE PX_FORCE_INLINE float& PxMat33::operator()	(	unsigned int	row,
		unsigned int	col
	)

inline

Element access, mathematical way!

◆ operator*() [1/3]

PX_CUDA_CALLABLE PX_INLINE const PxMat33 PxMat33::operator* ( float scalar ) const

inline

Scalar multiplication.

◆ operator*() [2/3]

PX_CUDA_CALLABLE PX_INLINE const PxVec3 PxMat33::operator* ( const PxVec3 & vec ) const

inline

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

◆ operator*() [3/3]

PX_CUDA_CALLABLE PX_FORCE_INLINE const PxMat33 PxMat33::operator* ( const PxMat33 & other ) const

inline

Matrix multiplication.

References column0, column1, and column2.

◆ operator*=() [1/2]

PX_CUDA_CALLABLE PX_INLINE PxMat33& PxMat33::operator*= ( float scalar )

inline

Equals scalar multiplication.

◆ operator*=() [2/2]

PX_CUDA_CALLABLE PX_INLINE PxMat33& PxMat33::operator*= ( const PxMat33 & other )

inline

Equals matrix multiplication.

◆ operator+()

PX_CUDA_CALLABLE PX_INLINE const PxMat33 PxMat33::operator+ ( const PxMat33 & other ) const

inline

Add.

References column0, column1, and column2.

◆ operator+=()

PX_CUDA_CALLABLE PX_INLINE PxMat33& PxMat33::operator+= ( const PxMat33 & other )

inline

Equals-add.

References column0, column1, and column2.

◆ operator-() [1/2]

PX_CUDA_CALLABLE PX_INLINE const PxMat33 PxMat33::operator- ( ) const

inline

Unary minus.

◆ operator-() [2/2]

PX_CUDA_CALLABLE PX_INLINE const PxMat33 PxMat33::operator- ( const PxMat33 & other ) const

inline

Subtract.

References column0, column1, and column2.

◆ operator-=()

PX_CUDA_CALLABLE PX_INLINE PxMat33& PxMat33::operator-= ( const PxMat33 & other )

inline

Equals-sub.

References column0, column1, and column2.

◆ operator=()

PX_CUDA_CALLABLE PX_FORCE_INLINE PxMat33& PxMat33::operator= ( const PxMat33 & other )

inline

Assignment operator.

References column0, column1, and column2.

◆ operator==()

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.

◆ operator[]() [1/2]

PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3& PxMat33::operator[] ( unsigned int num )

inline

◆ operator[]() [2/2]

PX_CUDA_CALLABLE PX_FORCE_INLINE const PxVec3& PxMat33::operator[] ( unsigned int num ) const

inline

◆ transform()

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.

◆ transformTranspose()

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

◆ operator*

PxMat33 operator*	(	float	,
		const PxMat33 &
	)

friend

Member Data Documentation

◆ column0

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().

◆ column1

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().

◆ column2

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

Public Member Functions

Static Public Member Functions

Public Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ PxMat33() [1/8]

◆ PxMat33() [2/8]

◆ PxMat33() [3/8]

◆ PxMat33() [4/8]

◆ PxMat33() [5/8]

◆ PxMat33() [6/8]

◆ PxMat33() [7/8]

◆ PxMat33() [8/8]

Member Function Documentation

◆ createDiagonal()

◆ front()

◆ getDeterminant()

◆ getInverse()

◆ getTranspose()

◆ operator()() [1/2]

◆ operator()() [2/2]

◆ operator*() [1/3]

◆ operator*() [2/3]

◆ operator*() [3/3]

◆ operator*=() [1/2]

◆ operator*=() [2/2]

◆ operator+()

◆ operator+=()

◆ operator-() [1/2]

◆ operator-() [2/2]

◆ operator-=()

◆ operator=()

◆ operator==()

◆ operator[]() [1/2]

◆ operator[]() [2/2]

◆ transform()

◆ transformTranspose()

Friends And Related Function Documentation

◆ operator*

Member Data Documentation

◆ column0

◆ column1

◆ column2