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47 lines
771 B
C++
47 lines
771 B
C++
#ifndef UTIL_MAT3_H
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#define UTIL_MAT3_H
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/**
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* 3x3 Matrix class.
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*/
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class Mat3
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{
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public:
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/**
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* Elements are uninitialized.
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*/
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Mat3();
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/**
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* Converts from Euler angles to a rotation matrix.
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*/
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Mat3(const float angles[3]);
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float& operator()(int r, int c);
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float operator()(int r, int c) const;
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/**
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* Extracts Euler angles from the matrix.
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*/
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void GetEulerAngles(float angles[3]) const;
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void SetEulerAngles(const float angles[3]);
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void TransformVector(float vector[3]) const;
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/**
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* If the columns of the matrix are orthonormal (as is the case with a
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* rotation matrix), then the transpose is also the inverse.
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*/
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Mat3 Transpose() const;
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private:
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float element[3][3];
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};
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Mat3 operator*(const Mat3& m1, const Mat3& m2);
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#endif
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