A row major 3x3 rotation matrix. More...

Public Member Functions
Vector3	GetAxis (int index)
	Requests an axis or column from the matrix, dropping the last row.
void	SetAxis (int index, Vector3 axis)
	Set an axis or column from the matrix.
void	InitRotationX (float angle)
	Sets this matrix to a rotation matrix around the X axis.
void	InitRotationY (float angle)
	Sets this matrix to a rotation matrix around the Y axis.
void	InitRotationZ (float angle)
	Sets this matrix to a rotation matrix around the Z axis.
void	InitRotation (float angleX, float angleY, float angleZ)
	Initialise this matrix from the given Euler angles.
void	InitScaling (Vector3 scale)
	Initialise this matrix as a scaling matrix.
void	ApplyScaling (Vector3 scaling)
	Scales the matrix basis vectors.
Vector3	RemoveScale ()
	Removes scaling from the matrix basis vectors.
void	InitLookAt (Vector3 eye, Vector3 target, Vector3 axisUp, int forwardAxisIndex=1, int upAxisIndex=2)
	Initialise this matrix as a model or camera matrix.
void	Transpose ()
	Transpose this matrix.
float	GetAdjoint (ref Matrix3 adj)
	Calculate the adjoint for this matrix into adj .
void	Invert ()
	Inverse this matrix.
void	RigidBodyInvert ()
	Calculate the inverse of a rigid body matrix (no skew or scaling).
Vector3	Transform (Vector3 v)
	Apply this transformation to the vector v .
Vector3	Rotate (Vector3 v)
	Transforms the vector v by the rotation component of this matrix.
Static Public Member Functions
static Matrix3	All (float val)
	Create a matrix with all components set to val .
static Matrix3	IdentityMatrix ()
	The 3x3 identity matrix.
static Matrix3	RotationX (float angle)
	Builds a rotation matrix around the X axis.
static Matrix3	RotationY (float angle)
	Builds a rotation matrix around the Y axis.
static Matrix3	RotationZ (float angle)
	Builds a rotation matrix around the Z axis.
static Matrix3	Rotation (float angleX, float angleY, float angleZ)
	Build a rotation matrix from the given Euler angles.
static Matrix3	Scaling (Vector3 scale)
	Initialise a scaling matrix.
static Matrix3	LookAt (Vector3 eye, Vector3 target, Vector3 axisUp, int forwardAxisIndex=1, int upAxisIndex=2)
	Create a model or camera matrix at eye looking at target .
static Vector3	operator* (Matrix3 a, Vector3 v)
	Calculates the rotation `Av`.
static Matrix3	operator* (Matrix3 a, Matrix3 b)
	Calculates the matrix product of two 3x3 matrices.
Static Public Attributes
static Matrix3	Zero = All(0.0f)
	A matrix with all zero components.
static Matrix3	Identity = IdentityMatrix()
	The 3x3 identity matrix.
Properties
float	this[int index] `[get, set]`
	Indexing accessor across the range [0, 8].
float	this[int r, int c] `[get, set]`
	Row/column indexing accessor.
float	Determinant `[get]`
	Calculate the determinant of this matrix.
Vector3	AxisX `[get, set]`
	Get/set the conceptual X axis from this matrix.
Vector3	AxisY `[get, set]`
	Get/set the conceptual Y axis from this matrix.
Vector3	AxisZ `[get, set]`
	Get/set the conceptual Z axis from this matrix.
Vector3	Scale `[get]`
	Calculate the per axis scaling of this matrix.
Matrix3	Transposed `[get]`
	Return the transpose of this matrix.
Matrix3	Inverse `[get]`
	Get the inverse of this matrix.
Matrix3	RigidBodyInverse `[get]`
	Get the inverse of a rigid body matrix (no skew or scaling).

Detailed Description

A row major 3x3 rotation matrix.

The matrix is laid out as follows:

          | m00  m01  m02 |   |  0   1   2 |   | xx  yx  zx |
      M = | m10  m11  m12 | = |  3   4   5 | = | xy  yy  zy |
          | m20  m21  m22 |   |  6   7   8 |   | xz  yz  zz |

Where (xx, xy, xz) are the components of the X axis. Similarly, yn and zn form the Y axis and Z axis of the basis vectors respectively. Finally, (tx, ty, tz) is the translation.

Member Function Documentation

static Matrix3 Tes::Maths::Matrix3::All ( float val ) [inline, static]

Create a matrix with all components set to val .

Parameters:

val	The value to assign to each component.

Returns:: The matrix with all components val .

void Tes::Maths::Matrix3::ApplyScaling ( Vector3 scaling ) [inline]

Scales the matrix basis vectors.

Parameters:

scaling Per axis scaling. Each coordinate corresponds to a column of the matrix.

float Tes::Maths::Matrix3::GetAdjoint ( ref Matrix3 adj ) [inline]

Calculate the adjoint for this matrix into adj .

Parameters:

adj	The matrix in which to store the result.

Returns:: The determinant of this matrix.

Vector3 Tes::Maths::Matrix3::GetAxis ( int index ) [inline]

Requests an axis or column from the matrix, dropping the last row.

Parameters:

index The axis/column index [0, 2]

Returns:: The requested axis.

static Matrix3 Tes::Maths::Matrix3::IdentityMatrix ( ) [inline, static]

The 3x3 identity matrix.

Returns:: The identity matrix.

void Tes::Maths::Matrix3::InitLookAt	(	Vector3	eye,
		Vector3	target,
		Vector3	axisUp,
		int	forwardAxisIndex = `1`,
		int	upAxisIndex = `2`
	)		`[inline]`

Initialise this matrix as a model or camera matrix.

LookAt(Vector3, Vector3, Vector3, int, int).

Parameters:

eye	The position of the eye/camera.
target	The target to look at. Should not be equal to eye .
axisUp	The axis defining the initial up vector. Must be normalised.
forwardAxisIndex	The index of the forward axis. This is to point at target .
upAxisIndex	The index of the up axis. Must not be equal to forwardAxisIndex .

void Tes::Maths::Matrix3::InitRotation	(	float	angleX,
		float	angleY,
		float	angleZ
	)		`[inline]`

Initialise this matrix from the given Euler angles.

Parameters:

angleX	The rotation around the X axis (radians).
angleY	The rotation around the Y axis (radians).
angleZ	The rotation around the Z axis (radians).

void Tes::Maths::Matrix3::InitRotationX ( float angle ) [inline]

Sets this matrix to a rotation matrix around the X axis.

Parameters:

angle The rotation angle (radians)

void Tes::Maths::Matrix3::InitRotationY ( float angle ) [inline]

Sets this matrix to a rotation matrix around the Y axis.

Parameters:

angle The rotation angle (radians)

void Tes::Maths::Matrix3::InitRotationZ ( float angle ) [inline]

Sets this matrix to a rotation matrix around the Z axis.

Parameters:

angle The rotation angle (radians)

void Tes::Maths::Matrix3::InitScaling ( Vector3 scale ) [inline]

Initialise this matrix as a scaling matrix.

Parameters:

scale The scaling factor. Each coordinate corresponds to a column of the matrix.

void Tes::Maths::Matrix3::Invert ( ) [inline]

Inverse this matrix.

Undefined behaviour for singular matrices.

static Matrix3 Tes::Maths::Matrix3::LookAt	(	Vector3	eye,
		Vector3	target,
		Vector3	axisUp,
		int	forwardAxisIndex = `1`,
		int	upAxisIndex = `2`
	)		`[inline, static]`

Create a model or camera matrix at eye looking at target .

Supports specifying the up and forward axes (inferring the left/right axis), where the indices [0, 1, 2] correspond to the axes (X, Y, Z).

The default behaviour is to use Y as the forward axis and Z as up.

Note: the resulting matrix can only represent the rotation part of the matrix and the eye translation is essentially dropped. Use Matrix4 where the translation is required.

Parameters:

eye	The position of the eye/camera.
target	The target to look at. Should not be equal to eye .
axisUp	The axis defining the initial up vector. Must be normalised.
forwardAxisIndex	The index of the forward axis. This is to point at target .
upAxisIndex	The index of the up axis. Must not be equal to forwardAxisIndex .

Returns:: A model matrix at eye pointing at target . Returns identity if there are errors in the specification of forwardAxisIndex and upAxisIndex .

static Vector3 Tes::Maths::Matrix3::operator*	(	Matrix3	a,
		Vector3	v
	)		`[inline, static]`

Calculates the rotation Av.

Parameters:

a	The rotation matrix.
v	The vector to transform.

Returns:: The matrix product Av where A is this matrix and v is the vector argument.

static Matrix3 Tes::Maths::Matrix3::operator*	(	Matrix3	a,
		Matrix3	b
	)		`[inline, static]`

Calculates the matrix product of two 3x3 matrices.

Conceptually, when the resulting matrix transforms a vector, the matrix b is applied first, then a .

Parameters:

a	A matrix operand.
b	A matrix operand.

Returns:: The matrix product of a and b .

Vector3 Tes::Maths::Matrix3::RemoveScale ( ) [inline]

Removes scaling from the matrix basis vectors.

Returns:: The scale before modification.

void Tes::Maths::Matrix3::RigidBodyInvert ( ) [inline]

Calculate the inverse of a rigid body matrix (no skew or scaling).

Performs a matrix transpose.

Vector3 Tes::Maths::Matrix3::Rotate ( Vector3 v ) [inline]

Transforms the vector v by the rotation component of this matrix.

No translation is applied.

Returns:: Av, where A is this matrix converted to a 3x3 rotation matrix (no translation).

static Matrix3 Tes::Maths::Matrix3::Rotation	(	float	angleX,
		float	angleY,
		float	angleZ
	)		`[inline, static]`

Build a rotation matrix from the given Euler angles.

Parameters:

angleX	The rotation around the X axis (radians).
angleY	The rotation around the Y axis (radians).
angleZ	The rotation around the Z axis (radians).

Returns:: The rotation matrix.

static Matrix3 Tes::Maths::Matrix3::RotationX ( float angle ) [inline, static]

Builds a rotation matrix around the X axis.

Parameters:

angle The rotation angle (radians)

Returns:: The rotation matrix.

static Matrix3 Tes::Maths::Matrix3::RotationY ( float angle ) [inline, static]

Builds a rotation matrix around the Y axis.

Parameters:

angle The rotation angle (radians)

Returns:: The rotation matrix.

static Matrix3 Tes::Maths::Matrix3::RotationZ ( float angle ) [inline, static]

Builds a rotation matrix around the Z axis.

Parameters:

angle The rotation angle (radians)

Returns:: The rotation matrix.

static Matrix3 Tes::Maths::Matrix3::Scaling ( Vector3 scale ) [inline, static]

Initialise a scaling matrix.

Parameters:

scale The scaling factor. Each coordinate corresponds to a column of the matrix.

void Tes::Maths::Matrix3::SetAxis	(	int	index,
		Vector3	axis
	)		`[inline]`

Set an axis or column from the matrix.

Parameters:

index	The axis/column index [0, 2]
axis	The axis value.

Vector3 Tes::Maths::Matrix3::Transform ( Vector3 v ) [inline]

Apply this transformation to the vector v .

Parameters:

v	The vector to transform.

Returns:: The matrix product Av where A is this matrix and v is the vector argument.

Property Documentation

Vector3 Tes::Maths::Matrix3::AxisX [get, set]

Get/set the conceptual X axis from this matrix.

This equates to column 0.

Vector3 Tes::Maths::Matrix3::AxisY [get, set]

Get/set the conceptual Y axis from this matrix.

This equates to column 1.

Vector3 Tes::Maths::Matrix3::AxisZ [get, set]

Get/set the conceptual Z axis from this matrix.

This equates to column 2.

Matrix3 Tes::Maths::Matrix3::Inverse [get]

Get the inverse of this matrix.

Undefined behaviour for singular matrices.

Matrix3 Tes::Maths::Matrix3::RigidBodyInverse [get]

Get the inverse of a rigid body matrix (no skew or scaling).

Performs a matrix transpose.

float Tes::Maths::Matrix3::this[int index] [get, set]

Indexing accessor across the range [0, 8].

See class documentation on the matrix layout.

Parameters:

index The component index [0, 8].

Returns:: The requested component.

Exceptions:

IndexOutOfRangeException Thrown when index is out of range.

float Tes::Maths::Matrix3::this[int r, int c] [get, set]

Row/column indexing accessor.

Valid row and column ranges are: [0, 2].

See class documentation on the matrix layout.

Parameters:

r	The row index [0, 2].
c	The column index [0, 2].

Returns:: The requested component.

Exceptions:

IndexOutOfRangeException Thrown when r or c are out of range.

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

Matrix3.cs

Public Member Functions

Static Public Member Functions

Static Public Attributes

Properties

Detailed Description

Member Function Documentation

Property Documentation