mirror of https://github.com/ENSL/NS.git
88 lines
1.3 KiB
C++
88 lines
1.3 KiB
C++
#include "Mat3.h"
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#include "MathUtil.h"
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#include "common/mathlib.h"
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Mat3::Mat3()
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{
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}
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Mat3::Mat3(const float angles[3])
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{
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SetEulerAngles(angles);
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}
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float& Mat3::operator()(int r, int c)
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{
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return element[c][r];
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}
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float Mat3::operator()(int r, int c) const
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{
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return element[c][r];
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}
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void Mat3::SetEulerAngles(const float angles[3])
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{
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AngleVectors(angles,element[0],element[1],element[2]);
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}
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void Mat3::TransformVector(float vector[3]) const
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{
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float result[3] = {0,0,0};
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float temp[3] = {0,0,0};
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VectorScale(element[0],vector[0],result);
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VectorScale(element[1],vector[1],temp);
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VectorAdd(result,temp,result);
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VectorScale(element[2],vector[2],temp);
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VectorAdd(result,temp,result);
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VectorCopy(result,vector);
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}
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void Mat3::GetEulerAngles(float angles[3]) const
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{
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VectorsToAngles(element[0],element[1],element[2],angles);
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}
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Mat3 Mat3::Transpose() const
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{
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Mat3 result;
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for (int i = 0; i < 3; ++i)
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{
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for (int j = 0; j < 3; ++j)
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{
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result.element[i][j] = element[j][i];
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}
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}
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return result;
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}
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Mat3 operator*(const Mat3& m1, const Mat3& m2)
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{
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Mat3 result;
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for (int i = 0; i < 3; ++i)
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{
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for (int j = 0; j < 3; ++j)
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{
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result(i,j) = 0;
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for (int k = 0; k < 3; ++k)
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{
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result(i,j) += m1(i,k) * m2(k,j);
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}
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}
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}
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return result;
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} |