mirror of
https://github.com/ptitSeb/Serious-Engine
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477 lines
17 KiB
C++
477 lines
17 KiB
C++
/* Copyright (c) 2002-2012 Croteam Ltd. All rights reserved. */
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#ifndef SE_INCL_MATRIX_H
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#define SE_INCL_MATRIX_H
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#ifdef PRAGMA_ONCE
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#pragma once
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#endif
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/*
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* Template class for matrix of arbitrary dimensions and arbitrary type of members
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*/
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template<class Type, int iRows, int iColumns>
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class Matrix {
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public:
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Type matrix[iRows][iColumns]; // array that holds the members
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public:
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/* Default constructor. */
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__forceinline Matrix(void);
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/* Constructor that sets the whole matrix to same number. */
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__forceinline Matrix(const Type x);
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/* Reference matrix member by it's row and column indices (1-based indices!). */
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__forceinline Type &operator()(int iRow, int iColumn);
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__forceinline const Type &operator()(int iRow, int iColumn) const;
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/* Make a transposed matrix. */
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__forceinline Matrix<Type, iRows, iColumns> operator!(void) const;
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__forceinline Matrix<Type, iRows, iColumns> &operator!=(const Matrix<Type, iRows, iColumns> &matrix2);
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/* Mathematical operators. */
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// between matrices
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__forceinline Matrix<Type, iRows, iColumns> operator+(const Matrix<Type, iRows, iColumns> &matrix2) const;
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__forceinline Matrix<Type, iRows, iColumns> &operator+=(const Matrix<Type, iRows, iColumns> &matrix2);
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__forceinline Matrix<Type, iRows, iColumns> operator-(const Matrix<Type, iRows, iColumns> &matrix2) const;
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__forceinline Matrix<Type, iRows, iColumns> &operator-=(const Matrix<Type, iRows, iColumns> &matrix2);
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__forceinline Matrix<Type, iRows, iColumns> operator*(const Matrix<Type, iRows, iColumns> &matrix2) const;
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__forceinline Matrix<Type, iRows, iColumns> &operator*=(const Matrix<Type, iRows, iColumns> &matrix2);
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// matrices and scalars
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__forceinline Matrix<Type, iRows, iColumns> operator*(const Type tMul) const;
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__forceinline Matrix<Type, iRows, iColumns> &operator*=(const Type tMul);
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__forceinline Matrix<Type, iRows, iColumns> operator/(const Type tMul) const;
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__forceinline Matrix<Type, iRows, iColumns> &operator/=(const Type tMul);
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/* Set matrix main diagonal. */
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void Diagonal(Type x);
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void Diagonal(const Vector<Type, iRows> &v);
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// get main vectors of matrix
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Vector<Type, iColumns> GetRow(Type iRow) const;
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Vector<Type, iRows> GetColumn(Type iColumn) const;
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/* Stream operations */
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friend __forceinline CTStream &operator>>(CTStream &strm, Matrix<Type, iRows, iColumns> &matrix)
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{
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strm.Read_t(&matrix, sizeof(matrix));
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return strm;
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}
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friend __forceinline CTStream &operator<<(CTStream &strm, Matrix<Type, iRows, iColumns> &matrix)
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{
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strm.Write_t(&matrix, sizeof(matrix));
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return strm;
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}
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};
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// inline functions implementation
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/*
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* Default constructor.
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*/
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template<class Type, int iRows, int iColumns>
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__forceinline Matrix<Type, iRows, iColumns>::Matrix(void)
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{
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#ifndef NDEBUG
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// set whole matrix to trash
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ULONG ulTrash = 0xCDCDCDCDul;
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for(int iRow=1; iRow<=iRows; iRow++) {
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for(int iColumn=1; iColumn<=iColumns; iColumn++) {
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(*this)(iRow, iColumn) = *reinterpret_cast<Type *>(&ulTrash);
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}
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}
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#endif
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}
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/*
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* Constructor that sets the whole matrix to same number.
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*/
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// set FLOAT 3x3
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Matrix<FLOAT,3,3>::Matrix(const FLOAT x /*= Type(0)*/)
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{
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// set whole matrix to constant
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(*this)(1,1)=x; (*this)(1,2)=x; (*this)(1,3)=x;
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(*this)(2,1)=x; (*this)(2,2)=x; (*this)(2,3)=x;
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(*this)(3,1)=x; (*this)(3,2)=x; (*this)(3,3)=x;
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}
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// set DOUBLE 3x3
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Matrix<DOUBLE,3,3>::Matrix(const DOUBLE x /*= Type(0)*/)
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{
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// set whole matrix to constant
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(*this)(1,1)=x; (*this)(1,2)=x; (*this)(1,3)=x;
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(*this)(2,1)=x; (*this)(2,2)=x; (*this)(2,3)=x;
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(*this)(3,1)=x; (*this)(3,2)=x; (*this)(3,3)=x;
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}
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template<class Type, int iRows, int iColumns>
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Matrix<Type, iRows, iColumns>::Matrix(const Type x /*= Type(0)*/)
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{
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ASSERT( iRows!=3 && iColumns!=3); // 3 is optimized special case
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// set whole matrix to constant
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for(int iRow=1; iRow<=iRows; iRow++) {
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for(int iColumn=1; iColumn<=iColumns; iColumn++) {
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(*this)(iRow, iColumn) = x;
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}
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}
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}
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/*
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* Reference matrix member by it's row and column indices.
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*/
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template<class Type, int iRows, int iColumns>
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__forceinline Type &Matrix<Type, iRows, iColumns>::operator()(int iRow, int iColumn)
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{
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// check boundaries (indices start at 1, not at 0)
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ASSERT(iRow>=1 && iRow<=iRows && iColumn>=1 && iColumn<=iColumns);
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// return member reference
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return matrix[iRow-1][iColumn-1];
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}
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template<class Type, int iRows, int iColumns>
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__forceinline const Type &Matrix<Type, iRows, iColumns>::operator()(int iRow, int iColumn) const
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{
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// check boundaries (indices start at 1, not at 0)
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ASSERT(iRow>=1 && iRow<=iRows && iColumn>=1 && iColumn<=iColumns);
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// return member reference
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return matrix[iRow-1][iColumn-1];
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}
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/* Mathematical operators. */
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// transposed FLOAT 3x3
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__forceinline Matrix<FLOAT,3,3> &Matrix<FLOAT,3,3>::operator!=(const Matrix<FLOAT,3,3> &matrix2)
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{
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(*this)(1,1)=matrix2(1,1); (*this)(1,2)=matrix2(2,1); (*this)(1,3)=matrix2(3,1);
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(*this)(2,1)=matrix2(1,2); (*this)(2,2)=matrix2(2,2); (*this)(2,3)=matrix2(3,2);
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(*this)(3,1)=matrix2(1,3); (*this)(3,2)=matrix2(2,3); (*this)(3,3)=matrix2(3,3);
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return *this;
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}
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// transposed DOUBLE 3x3
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__forceinline Matrix<DOUBLE,3,3> &Matrix<DOUBLE,3,3>::operator!=(const Matrix<DOUBLE,3,3> &matrix2)
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{
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(*this)(1,1)=matrix2(1,1); (*this)(1,2)=matrix2(2,1); (*this)(1,3)=matrix2(3,1);
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(*this)(2,1)=matrix2(1,2); (*this)(2,2)=matrix2(2,2); (*this)(2,3)=matrix2(3,2);
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(*this)(3,1)=matrix2(1,3); (*this)(3,2)=matrix2(2,3); (*this)(3,3)=matrix2(3,3);
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return *this;
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}
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// transposed matrix
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template<class Type, int iRows, int iColumns>
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__forceinline Matrix<Type, iRows, iColumns> Matrix<Type, iRows, iColumns>::operator!(void) const
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{
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return Matrix<Type, iRows, iColumns>() != *this;
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}
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template<class Type, int iRows, int iColumns>
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__forceinline Matrix<Type, iRows, iColumns> &Matrix<Type, iRows, iColumns>::operator!=(const Matrix<Type, iRows, iColumns> &matrix2)
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{
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// transpose member by member
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ASSERT( iRows!=3 && iColumns!=3); // 3 is optimized special case
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for(int iRow=1; iRow<=iRows; iRow++) {
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for(int iColumn=1; iColumn<=iColumns; iColumn++) {
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(*this)(iColumn, iRow) = matrix2(iRow, iColumn);
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}
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}
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return *this;
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}
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// sum of two FLOATs 3x3
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__forceinline Matrix<FLOAT,3,3> &Matrix<FLOAT,3,3>::operator+=(const Matrix<FLOAT,3,3> &matrix2)
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{
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(*this)(1,1)+=matrix2(1,1); (*this)(1,2)+=matrix2(1,2); (*this)(1,3)+=matrix2(1,3);
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(*this)(2,1)+=matrix2(2,1); (*this)(2,2)+=matrix2(2,2); (*this)(2,3)+=matrix2(2,3);
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(*this)(3,1)+=matrix2(3,1); (*this)(3,2)+=matrix2(3,2); (*this)(3,3)+=matrix2(3,3);
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return *this;
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}
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// sum of two DOUBLEs 3x3
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__forceinline Matrix<DOUBLE,3,3> &Matrix<DOUBLE,3,3>::operator+=(const Matrix<DOUBLE,3,3> &matrix2)
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{
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(*this)(1,1)+=matrix2(1,1); (*this)(1,2)+=matrix2(1,2); (*this)(1,3)+=matrix2(1,3);
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(*this)(2,1)+=matrix2(2,1); (*this)(2,2)+=matrix2(2,2); (*this)(2,3)+=matrix2(2,3);
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(*this)(3,1)+=matrix2(3,1); (*this)(3,2)+=matrix2(3,2); (*this)(3,3)+=matrix2(3,3);
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return *this;
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}
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// sum of two matrices
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template<class Type, int iRows, int iColumns>
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__forceinline Matrix<Type, iRows, iColumns> &Matrix<Type, iRows, iColumns>::operator+=(const Matrix<Type, iRows, iColumns> &matrix2)
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{
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// add member by member
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ASSERT( iRows!=3 && iColumns!=3); // 3 is optimized special case
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for(int iRow=1; iRow<=iRows; iRow++) {
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for(int iColumn=1; iColumn<=iColumns; iColumn++) {
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(*this)(iRow, iColumn) += matrix2(iRow, iColumn);
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}
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}
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return *this;
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}
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template<class Type, int iRows, int iColumns>
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__forceinline Matrix<Type, iRows, iColumns> Matrix<Type, iRows, iColumns>::operator+(const Matrix<Type, iRows, iColumns> &matrix2) const
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{
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return Matrix<Type, iRows, iColumns>(*this)+=matrix2;
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}
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// difference of two FLOATs 3x3
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__forceinline Matrix<FLOAT,3,3> &Matrix<FLOAT,3,3>::operator-=(const Matrix<FLOAT,3,3> &matrix2)
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{
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(*this)(1,1)-=matrix2(1,1); (*this)(1,2)-=matrix2(1,2); (*this)(1,3)-=matrix2(1,3);
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(*this)(2,1)-=matrix2(2,1); (*this)(2,2)-=matrix2(2,2); (*this)(2,3)-=matrix2(2,3);
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(*this)(3,1)-=matrix2(3,1); (*this)(3,2)-=matrix2(3,2); (*this)(3,3)-=matrix2(3,3);
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return *this;
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}
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// difference of two DOUBLEs 3x3
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__forceinline Matrix<DOUBLE,3,3> &Matrix<DOUBLE,3,3>::operator-=(const Matrix<DOUBLE,3,3> &matrix2)
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{
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(*this)(1,1)-=matrix2(1,1); (*this)(1,2)-=matrix2(1,2); (*this)(1,3)-=matrix2(1,3);
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(*this)(2,1)-=matrix2(2,1); (*this)(2,2)-=matrix2(2,2); (*this)(2,3)-=matrix2(2,3);
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(*this)(3,1)-=matrix2(3,1); (*this)(3,2)-=matrix2(3,2); (*this)(3,3)-=matrix2(3,3);
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return *this;
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}
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// difference of two matrices
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template<class Type, int iRows, int iColumns>
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__forceinline Matrix<Type, iRows, iColumns> &Matrix<Type, iRows, iColumns>::operator-=(const Matrix<Type, iRows, iColumns> &matrix2)
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{
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// sub member by member
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ASSERT( iRows!=3 && iColumns!=3); // 3 is optimized special case
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for(int iRow=1; iRow<=iRows; iRow++) {
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for(int iColumn=1; iColumn<=iColumns; iColumn++) {
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(*this)(iRow, iColumn) -= matrix2(iRow, iColumn);
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}
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}
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return *this;
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}
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template<class Type, int iRows, int iColumns>
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__forceinline Matrix<Type, iRows, iColumns> Matrix<Type, iRows, iColumns>::operator-(const Matrix<Type, iRows, iColumns> &matrix2) const
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{
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return Matrix<Type, iRows, iColumns>(*this)-=matrix2;
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}
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// multiplication of two square matrices of same dimensions
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/*
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* Dimensions: A(n,k), B(k,p), C(n,p)
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*
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* Formula: C=AxB --> Cij=Sum(s=1..k)(Ais*Bsj)
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*/
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// FLOAT 3x3
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__forceinline Matrix<FLOAT,3,3> Matrix<FLOAT,3,3>::operator*(const Matrix<FLOAT,3,3> &matrix2) const
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{
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Matrix<FLOAT,3,3> result;
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result(1,1) = (*this)(1,1) * matrix2(1,1) + (*this)(1,2) * matrix2(2,1) + (*this)(1,3) * matrix2(3,1);
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result(1,2) = (*this)(1,1) * matrix2(1,2) + (*this)(1,2) * matrix2(2,2) + (*this)(1,3) * matrix2(3,2);
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result(1,3) = (*this)(1,1) * matrix2(1,3) + (*this)(1,2) * matrix2(2,3) + (*this)(1,3) * matrix2(3,3);
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result(2,1) = (*this)(2,1) * matrix2(1,1) + (*this)(2,2) * matrix2(2,1) + (*this)(2,3) * matrix2(3,1);
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result(2,2) = (*this)(2,1) * matrix2(1,2) + (*this)(2,2) * matrix2(2,2) + (*this)(2,3) * matrix2(3,2);
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result(2,3) = (*this)(2,1) * matrix2(1,3) + (*this)(2,2) * matrix2(2,3) + (*this)(2,3) * matrix2(3,3);
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result(3,1) = (*this)(3,1) * matrix2(1,1) + (*this)(3,2) * matrix2(2,1) + (*this)(3,3) * matrix2(3,1);
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result(3,2) = (*this)(3,1) * matrix2(1,2) + (*this)(3,2) * matrix2(2,2) + (*this)(3,3) * matrix2(3,2);
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result(3,3) = (*this)(3,1) * matrix2(1,3) + (*this)(3,2) * matrix2(2,3) + (*this)(3,3) * matrix2(3,3);
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return result;
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}
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// DOUBLE 3x3
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__forceinline Matrix<DOUBLE,3,3> Matrix<DOUBLE,3,3>::operator*(const Matrix<DOUBLE,3,3> &matrix2) const
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{
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Matrix<DOUBLE,3,3> result;
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result(1,1) = (*this)(1,1) * matrix2(1,1) + (*this)(1,2) * matrix2(2,1) + (*this)(1,3) * matrix2(3,1);
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result(1,2) = (*this)(1,1) * matrix2(1,2) + (*this)(1,2) * matrix2(2,2) + (*this)(1,3) * matrix2(3,2);
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result(1,3) = (*this)(1,1) * matrix2(1,3) + (*this)(1,2) * matrix2(2,3) + (*this)(1,3) * matrix2(3,3);
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result(2,1) = (*this)(2,1) * matrix2(1,1) + (*this)(2,2) * matrix2(2,1) + (*this)(2,3) * matrix2(3,1);
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result(2,2) = (*this)(2,1) * matrix2(1,2) + (*this)(2,2) * matrix2(2,2) + (*this)(2,3) * matrix2(3,2);
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result(2,3) = (*this)(2,1) * matrix2(1,3) + (*this)(2,2) * matrix2(2,3) + (*this)(2,3) * matrix2(3,3);
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result(3,1) = (*this)(3,1) * matrix2(1,1) + (*this)(3,2) * matrix2(2,1) + (*this)(3,3) * matrix2(3,1);
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result(3,2) = (*this)(3,1) * matrix2(1,2) + (*this)(3,2) * matrix2(2,2) + (*this)(3,3) * matrix2(3,2);
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result(3,3) = (*this)(3,1) * matrix2(1,3) + (*this)(3,2) * matrix2(2,3) + (*this)(3,3) * matrix2(3,3);
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return result;
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}
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// general
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template<class Type, int iRows, int iColumns>
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__forceinline Matrix<Type, iRows, iColumns> Matrix<Type, iRows, iColumns>::operator*(const Matrix<Type, iRows, iColumns> &matrix2) const
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{
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Matrix<Type, iRows, iColumns> result;
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// check that the matrices have square dimensions
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ASSERT(iRows==iColumns);
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ASSERT( iRows!=3 && iColumns!=3); // 3 is optimized special case
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// multiply
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for(int iRow=1; iRow<=iRows; iRow++) {
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for(int iColumn=1; iColumn<=iColumns; iColumn++) {
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result(iRow, iColumn) = (Type)0;
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for(int s=1; s<=iRows; s++) {
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result(iRow, iColumn) += (*this)(iRow, s) * matrix2(s, iColumn);
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}
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}
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}
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return result;
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}
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// general
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template<class Type, int iRows, int iColumns>
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__forceinline Matrix<Type, iRows, iColumns> &Matrix<Type, iRows, iColumns>::operator*=(const Matrix<Type, iRows, iColumns> &matrix2)
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{
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*this = *this * matrix2;
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return *this;
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}
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// multiply FLOAT 3x3 with scalar
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__forceinline Matrix<FLOAT,3,3> &Matrix<FLOAT,3,3>::operator*=(const FLOAT tMul)
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{
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(*this)(1,1)*=tMul; (*this)(1,2)*=tMul; (*this)(1,3)*=tMul;
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(*this)(2,1)*=tMul; (*this)(2,2)*=tMul; (*this)(2,3)*=tMul;
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(*this)(3,1)*=tMul; (*this)(3,2)*=tMul; (*this)(3,3)*=tMul;
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return *this;
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}
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// multiply DOUBLE 3x3 with scalar
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__forceinline Matrix<DOUBLE,3,3> &Matrix<DOUBLE,3,3>::operator*=(const DOUBLE tMul)
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{
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(*this)(1,1)*=tMul; (*this)(1,2)*=tMul; (*this)(1,3)*=tMul;
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(*this)(2,1)*=tMul; (*this)(2,2)*=tMul; (*this)(2,3)*=tMul;
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(*this)(3,1)*=tMul; (*this)(3,2)*=tMul; (*this)(3,3)*=tMul;
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return *this;
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}
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// multiply matrix with scalar
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template<class Type, int iRows, int iColumns>
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__forceinline Matrix<Type, iRows, iColumns> &Matrix<Type, iRows, iColumns>::operator*=(const Type tMul)
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{
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// multiply member by member
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ASSERT( iRows!=3 && iColumns!=3); // 3 is optimized special case
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for(int iRow=1; iRow<=iRows; iRow++) {
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for(int iColumn=1; iColumn<=iColumns; iColumn++) {
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(*this)(iRow, iColumn) *= tMul;
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}
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}
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return *this;
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}
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// multiply matrix with scalar
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template<class Type, int iRows, int iColumns>
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__forceinline Matrix<Type, iRows, iColumns> Matrix<Type, iRows, iColumns>::operator*(const Type tMul) const
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{
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return Matrix<Type, iRows, iColumns>(*this)*=tMul;
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}
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// divide matrix with scalar
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template<class Type, int iRows, int iColumns>
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__forceinline Matrix<Type, iRows, iColumns> &Matrix<Type, iRows, iColumns>::operator/=(const Type tDiv)
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{
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// multiply with reciprocal
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(*this)*=(1/tDiv);
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return *this;
|
|
}
|
|
|
|
// divide matrix with scalar
|
|
template<class Type, int iRows, int iColumns>
|
|
__forceinline Matrix<Type, iRows, iColumns> Matrix<Type, iRows, iColumns>::operator/(const Type tDiv) const
|
|
{
|
|
// multiply with reciprocal
|
|
return Matrix<Type, iRows, iColumns>(*this)*=(1/tDiv);
|
|
}
|
|
|
|
|
|
|
|
/*
|
|
* Set matrix main diagonal.
|
|
*/
|
|
template<class Type, int iRows, int iColumns>
|
|
void Matrix<Type, iRows, iColumns>::Diagonal(Type x)
|
|
{
|
|
// check that the matrix is symetric
|
|
ASSERT(iRows==iColumns);
|
|
|
|
// clear whole matrix to zeroes
|
|
for(int iRow=1; iRow<=iRows; iRow++) {
|
|
for(int iColumn=1; iColumn<=iColumns; iColumn++) {
|
|
(*this)(iRow, iColumn) = Type(0);
|
|
}
|
|
}
|
|
// set the main diagonal
|
|
{for(int iRow=0; iRow<iRows; iRow++) {
|
|
matrix[iRow][iRow] = x;
|
|
}}
|
|
}
|
|
|
|
template<class Type, int iRows, int iColumns>
|
|
void Matrix<Type, iRows, iColumns>::Diagonal(const Vector<Type, iRows> &v)
|
|
{
|
|
// check that the matrix is symetric
|
|
ASSERT(iRows==iColumns);
|
|
|
|
// clear whole matrix to zeroes
|
|
for(int iRow=1; iRow<=iRows; iRow++) {
|
|
for(int iColumn=1; iColumn<=iColumns; iColumn++) {
|
|
(*this)(iRow, iColumn) = Type(0);
|
|
}
|
|
}
|
|
// set the main diagonal
|
|
{for(int iRow=1; iRow<=iRows; iRow++) {
|
|
operator()(iRow, iRow) = v(iRow);
|
|
}}
|
|
}
|
|
|
|
|
|
// get main vectors of matrix
|
|
template<class Type, int iRows, int iColumns>
|
|
Vector<Type, iColumns> Matrix<Type, iRows, iColumns>::GetRow(Type iRow) const
|
|
{
|
|
Vector<Type, iColumns> v;
|
|
for(int iColumn=1; iColumn<=iColumns; iColumn++) {
|
|
v(iColumn) = (*this)(iRow, iColumn);
|
|
}
|
|
return v;
|
|
}
|
|
|
|
template<class Type, int iRows, int iColumns>
|
|
Vector<Type, iRows> Matrix<Type, iRows, iColumns>::GetColumn(Type iColumn) const
|
|
{
|
|
Vector<Type, iRows> v;
|
|
for(int iRow=1; iRow<=iRows; iRow++) {
|
|
v(iRow) = (*this)(iRow, iColumn);
|
|
}
|
|
return v;
|
|
}
|
|
|
|
|
|
// helper functions for converting between FLOAT and DOUBLE matrices
|
|
__forceinline DOUBLEmatrix3D FLOATtoDOUBLE(const FLOATmatrix3D &mf)
|
|
{
|
|
DOUBLEmatrix3D m;
|
|
m(1,1) = FLOATtoDOUBLE(mf(1,1)); m(1,2) = FLOATtoDOUBLE(mf(1,2)); m(1,3) = FLOATtoDOUBLE(mf(1,3));
|
|
m(2,1) = FLOATtoDOUBLE(mf(2,1)); m(2,2) = FLOATtoDOUBLE(mf(2,2)); m(2,3) = FLOATtoDOUBLE(mf(2,3));
|
|
m(3,1) = FLOATtoDOUBLE(mf(3,1)); m(3,2) = FLOATtoDOUBLE(mf(3,2)); m(3,3) = FLOATtoDOUBLE(mf(3,3));
|
|
return m;
|
|
}
|
|
__forceinline FLOATmatrix3D DOUBLEtoFLOAT(const DOUBLEmatrix3D &md) {
|
|
FLOATmatrix3D m;
|
|
m(1,1) = DOUBLEtoFLOAT(md(1,1)); m(1,2) = DOUBLEtoFLOAT(md(1,2)); m(1,3) = DOUBLEtoFLOAT(md(1,3));
|
|
m(2,1) = DOUBLEtoFLOAT(md(2,1)); m(2,2) = DOUBLEtoFLOAT(md(2,2)); m(2,3) = DOUBLEtoFLOAT(md(2,3));
|
|
m(3,1) = DOUBLEtoFLOAT(md(3,1)); m(3,2) = DOUBLEtoFLOAT(md(3,2)); m(3,3) = DOUBLEtoFLOAT(md(3,3));
|
|
return m;
|
|
}
|
|
|
|
|
|
#endif /* include-once check. */
|
|
|