Unigine::mat3 Class

Header:

#include <UnigineMathLib.h>

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IDENTITY
ONE
ZERO

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

mat3 Class

Members

mat3()

Default constructor. Produces an identity matrix.

mat3(const mat3 & m)

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

Arguments

const mat3 & m - Source 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 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 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 source matrix.

Arguments

const float * m - Pointer to the source matrix.

mat3(const vec3 & col0, const vec3 & col1, const vec3 & col2)

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 & col0 - Source vector for the first column.
const vec3 & col1 - Source vector for the second column
const vec3 & col2 - Source vector for the third column

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()

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 given row and column.

Arguments

int row - Row.
int column - Column.

Return value

Matrix element reference.

float get(int row, int column)

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)

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)

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()

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()

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)

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)

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.

void sse(const m128 & v0, const m128 & v1, const __m128 & v2)

Sets the values of the matrix elements using three given 128-bit variables as a source.

NoticeWe do not recommend to use this method unless you have a clear understanding of SSE2.

Arguments

const __m128 & v0 - 128-bit variable containing the following matrix elements: m00, m10, m20.
const __m128 & v1 - 128-bit variable containing the following matrix elements: m01, m11, m21.
const __m128 & v2 - 128-bit variable containing the following matrix elements: m02, m12, m22.

void sse0(const __m128 & v)

Sets the values of matrix elements m00, m10, m20 using a given 128-bit variable.

NoticeWe do not recommend to use this method unless you have a clear understanding of SSE2.

Arguments

const __m128 & v - 128-bit variable containing the following matrix elements: m00, m10, m20.

__m128 sse0()

Returns the values of matrix elements m00, m10, m20 as a 128-bit variable.

NoticeWe do not recommend to use this method unless you have a clear understanding of SSE2.

Return value

128-bit variable containing the following matrix elements: m00, m10, m20.

__m128 sse1()

Returns the values of matrix elements m01, m11, m21 as a 128-bit variable.

NoticeWe do not recommend to use this method unless you have a clear understanding of SSE2.

Return value

128-bit variable containing the following matrix elements: m01, m11, m21.

void sse1(const __m128 & v)

Sets the values of matrix elements m01, m11, m21 using a given 128-bit variable.

NoticeWe do not recommend to use this method unless you have a clear understanding of SSE2.

Arguments

const __m128 & v - 128-bit variable containing the following matrix elements: m01, m11, m21.

__m128 sse2()

Returns the values of matrix elements m02, m12, m22 as a 128-bit variable.

NoticeWe do not recommend to use this method unless you have a clear understanding of SSE2.

Return value

128-bit variable containing the following matrix elements: m02, m12, m22.

void sse2(const __m128 & v)

Sets the values of matrix elements m02, m12, m22 using a given 128-bit variable.

NoticeWe do not recommend to use this method unless you have a clear understanding of SSE2.

Arguments

const __m128 & v - 128-bit variable containing the following matrix elements: m02, m12, m22.

vec3 getAxisX()

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()

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()

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

Return value

Vector representing the Z axis.

mat3 IDENTITY

Description

Identity matrix.

mat3 ONE

Description

Matrix of ones.

mat3 ZERO

Description

Zero matrix.

Last update: 10.08.2018

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