3x3 matrix class More...

#include <PxMat33.h>

Public Member Functions
PX_CUDA_CALLABLE PX_FORCE_INLINE	PxMat33T ()
	Default constructor.

PX_CUDA_CALLABLE PX_INLINE	PxMat33T (PxIDENTITY)
	identity constructor

PX_CUDA_CALLABLE PX_INLINE	PxMat33T (PxZERO)
	zero constructor

PX_CUDA_CALLABLE	PxMat33T (const PxVec3T< Type > &col0, const PxVec3T< Type > &col1, const PxVec3T< Type > &col2)
	Construct from three base vectors.

PX_CUDA_CALLABLE PX_INLINE	PxMat33T (Type r)
	constructor from a scalar, which generates a multiple of the identity matrix

PX_CUDA_CALLABLE PX_INLINE	PxMat33T (Type values[])
	Construct from Type[9].

PX_CUDA_CALLABLE PX_FORCE_INLINE	PxMat33T (const PxQuatT< Type > &q)
	Construct from a quaternion.

PX_CUDA_CALLABLE PX_INLINE	PxMat33T (const PxMat33T &other)
	Copy constructor.

PX_CUDA_CALLABLE PX_FORCE_INLINE PxMat33T &	operator= (const PxMat33T &other)
	Assignment operator.

PX_CUDA_CALLABLE PX_INLINE bool	operator== (const PxMat33T &m) const
	returns true if the two matrices are exactly equal

PX_CUDA_CALLABLE PX_FORCE_INLINE const PxMat33T	getTranspose () const
	Get transposed matrix.

PX_CUDA_CALLABLE PX_INLINE const PxMat33T	getInverse () const
	Get the real inverse.

PX_CUDA_CALLABLE PX_INLINE Type	getDeterminant () const
	Get determinant.

PX_CUDA_CALLABLE PX_INLINE const PxMat33T	operator- () const
	Unary minus.

PX_CUDA_CALLABLE PX_INLINE const PxMat33T	operator+ (const PxMat33T &other) const
	Add.

PX_CUDA_CALLABLE PX_INLINE const PxMat33T	operator- (const PxMat33T &other) const
	Subtract.

PX_CUDA_CALLABLE PX_INLINE const PxMat33T	operator* (Type scalar) const
	Scalar multiplication.

PX_CUDA_CALLABLE PX_INLINE const PxVec3T< Type >	operator* (const PxVec3T< Type > &vec) const
	Matrix vector multiplication (returns 'this->transform(vec)')

PX_CUDA_CALLABLE PX_FORCE_INLINE const PxMat33T	operator* (const PxMat33T &other) const
	Matrix multiplication.

PX_CUDA_CALLABLE PX_INLINE PxMat33T &	operator+= (const PxMat33T &other)
	Equals-add.

PX_CUDA_CALLABLE PX_INLINE PxMat33T &	operator-= (const PxMat33T &other)
	Equals-sub.

PX_CUDA_CALLABLE PX_INLINE PxMat33T &	*operator=** (Type scalar)
	Equals scalar multiplication.

PX_CUDA_CALLABLE PX_INLINE PxMat33T &	*operator=** (const PxMat33T &other)
	Equals matrix multiplication.

PX_CUDA_CALLABLE PX_FORCE_INLINE Type	operator() (PxU32 row, PxU32 col) const
	Element access, mathematical way!

PX_CUDA_CALLABLE PX_FORCE_INLINE Type &	operator() (PxU32 row, PxU32 col)
	Element access, mathematical way!

PX_CUDA_CALLABLE PX_FORCE_INLINE const PxVec3T< Type >	transform (const PxVec3T< Type > &other) const
	Transform vector by matrix, equal to v' = M*v.

PX_CUDA_CALLABLE PX_INLINE const PxVec3T< Type >	transformTranspose (const PxVec3T< Type > &other) const
	Transform vector by matrix transpose, v' = M^t*v.

PX_CUDA_CALLABLE PX_FORCE_INLINE const Type *	front () const

PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3T< Type > &	operator[] (PxU32 num)

PX_CUDA_CALLABLE PX_FORCE_INLINE const PxVec3T< Type > &	operator[] (PxU32 num) const

Static Public Member Functions
PX_CUDA_CALLABLE static PX_INLINE const PxMat33T	createDiagonal (const PxVec3T< Type > &d)
	Construct from diagonal, off-diagonals are zero.

PX_CUDA_CALLABLE static PX_INLINE const PxMat33T	outer (const PxVec3T< Type > &a, const PxVec3T< Type > &b)
	Computes the outer product of two vectors.

Public Attributes
PxVec3T< Type >	column0

PxVec3T< Type >	column1

PxVec3T< Type >	column2

Friends
template<class Type2 >
PX_CUDA_CALLABLE PX_INLINE friend PxMat33T< Type2 >	operator* (Type2, const PxMat33T< Type2 > &)

Detailed Description

template<class Type>
class physx::PxMat33T< Type >

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

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)!

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

RavEngine/deps/physx/physx/include/foundation/Px.h
RavEngine/deps/physx/physx/include/foundation/PxMat33.h

Public Member Functions

Static Public Member Functions

Public Attributes

Friends

Detailed Description