physx::PxMat33 Class Reference

3x3 matrix class More...

#include <PxMat33.h>

Inheritance diagram for physx::PxMat33:

Collaboration diagram for physx::PxMat33:

Public Member Functions
PX_CUDA_CALLABLE PX_FORCE_INLINE	PxMat33 ()
	Default constructor.
PX_CUDA_CALLABLE PX_INLINE	PxMat33 (PxIDENTITY r)
	identity constructor
PX_CUDA_CALLABLE PX_INLINE	PxMat33 (PxZERO r)
	zero constructor
PX_CUDA_CALLABLE	PxMat33 (const PxVec3 &col0, const PxVec3 &col1, const PxVec3 &col2)
	Construct from three base vectors.
PX_CUDA_CALLABLE PX_INLINE	PxMat33 (float r)
	constructor from a scalar, which generates a multiple of the identity matrix
PX_CUDA_CALLABLE PX_INLINE	PxMat33 (float values[])
	Construct from float[9].
PX_CUDA_CALLABLE PX_FORCE_INLINE	PxMat33 (const PxQuat &q)
	Construct from a quaternion.
PX_CUDA_CALLABLE PX_INLINE	PxMat33 (const PxMat33 &other)
	Copy constructor.
PX_CUDA_CALLABLE PX_FORCE_INLINE PxMat33 &	operator= (const PxMat33 &other)
	Assignment operator.
PX_CUDA_CALLABLE PX_INLINE bool	operator== (const PxMat33 &m) const
	returns true if the two matrices are exactly equal
PX_CUDA_CALLABLE PX_FORCE_INLINE const PxMat33	getTranspose () const
	Get transposed matrix.
PX_CUDA_CALLABLE PX_INLINE const PxMat33	getInverse () const
	Get the real inverse.
PX_CUDA_CALLABLE PX_INLINE float	getDeterminant () const
	Get determinant.
PX_CUDA_CALLABLE PX_INLINE const PxMat33	operator- () const
	Unary minus.
PX_CUDA_CALLABLE PX_INLINE const PxMat33	operator+ (const PxMat33 &other) const
	Add.
PX_CUDA_CALLABLE PX_INLINE const PxMat33	operator- (const PxMat33 &other) const
	Subtract.
PX_CUDA_CALLABLE PX_INLINE const PxMat33	operator* (float scalar) const
	Scalar multiplication.
PX_CUDA_CALLABLE PX_INLINE const PxVec3	operator* (const PxVec3 &vec) const
	Matrix vector multiplication (returns 'this->transform(vec)')
PX_CUDA_CALLABLE PX_FORCE_INLINE const PxMat33	operator* (const PxMat33 &other) const
	Matrix multiplication.
PX_CUDA_CALLABLE PX_INLINE PxMat33 &	operator+= (const PxMat33 &other)
	Equals-add.
PX_CUDA_CALLABLE PX_INLINE PxMat33 &	operator-= (const PxMat33 &other)
	Equals-sub.
PX_CUDA_CALLABLE PX_INLINE PxMat33 &	operator*= (float scalar)
	Equals scalar multiplication.
PX_CUDA_CALLABLE PX_INLINE PxMat33 &	operator*= (const PxMat33 &other)
	Equals matrix multiplication.
PX_CUDA_CALLABLE PX_FORCE_INLINE float	operator() (unsigned int row, unsigned int col) const
	Element access, mathematical way!
PX_CUDA_CALLABLE PX_FORCE_INLINE float &	operator() (unsigned int row, unsigned int col)
	Element access, mathematical way!
PX_CUDA_CALLABLE PX_FORCE_INLINE const PxVec3	transform (const PxVec3 &other) const
	Transform vector by matrix, equal to v' = M*v.
PX_CUDA_CALLABLE PX_INLINE const PxVec3	transformTranspose (const PxVec3 &other) const
	Transform vector by matrix transpose, v' = M^t*v.
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.

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

|a.x b.x c.x| |a.y b.y c.y| |a.z b.z c.z|

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)!

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

• RavEngine/deps/physx/pxshared/include/foundation/PxMat33.h