Holds a 4x4 matrix of floats, but supports also operations on the 3x3 upper left part of the matrix. More...

#include <Mat44.h>

Public Types
using	Type = Vec4::Type

using	ArgType = Mat44Arg

Public Member Functions
	Mat44 ()=default
	Constructor.

JPH_INLINE	Mat44 (Vec4Arg inC1, Vec4Arg inC2, Vec4Arg inC3, Vec4Arg inC4)

JPH_INLINE	Mat44 (Vec4Arg inC1, Vec4Arg inC2, Vec4Arg inC3, Vec3Arg inC4)

	Mat44 (const Mat44 &inM2)=default

Mat44 &	operator= (const Mat44 &inM2)=default

JPH_INLINE	Mat44 (Type inC1, Type inC2, Type inC3, Type inC4)

JPH_INLINE float	operator() (uint inRow, uint inColumn) const
	Get float component by element index.

JPH_INLINE float &	operator() (uint inRow, uint inColumn)

JPH_INLINE bool	operator== (Mat44Arg inM2) const
	Comparison.

JPH_INLINE bool	operator!= (Mat44Arg inM2) const

JPH_INLINE bool	IsClose (Mat44Arg inM2, float inMaxDistSq=1.0e-12f) const
	Test if two matrices are close.

JPH_INLINE Mat44	operator* (Mat44Arg inM) const
	Multiply matrix by matrix.

JPH_INLINE Vec3	operator* (Vec3Arg inV) const
	Multiply vector by matrix.

JPH_INLINE Vec4	operator* (Vec4Arg inV) const

JPH_INLINE Vec3	Multiply3x3 (Vec3Arg inV) const
	Multiply vector by only 3x3 part of the matrix.

JPH_INLINE Vec3	Multiply3x3Transposed (Vec3Arg inV) const
	Multiply vector by only 3x3 part of the transpose of the matrix ( \(result = this^T \: inV\))

JPH_INLINE Mat44	Multiply3x3 (Mat44Arg inM) const
	Multiply 3x3 matrix by 3x3 matrix.

JPH_INLINE Mat44	Multiply3x3LeftTransposed (Mat44Arg inM) const
	Multiply transpose of 3x3 matrix by 3x3 matrix ( \(result = this^T \: inM\))

JPH_INLINE Mat44	Multiply3x3RightTransposed (Mat44Arg inM) const
	Multiply 3x3 matrix by the transpose of a 3x3 matrix ( \(result = this \: inM^T\))

JPH_INLINE Mat44	operator* (float inV) const
	Multiply matrix with float.

JPH_INLINE Mat44 &	operator*= (float inV)
	Multiply matrix with float.

JPH_INLINE Mat44	operator+ (Mat44Arg inM) const
	Per element addition of matrix.

JPH_INLINE Mat44	operator- () const
	Negate.

JPH_INLINE Mat44	operator- (Mat44Arg inM) const
	Per element subtraction of matrix.

JPH_INLINE Mat44 &	operator+= (Mat44Arg inM)
	Per element addition of matrix.

JPH_INLINE Vec3	GetAxisX () const
	Access to the columns.

JPH_INLINE void	SetAxisX (Vec3Arg inV)

JPH_INLINE Vec3	GetAxisY () const

JPH_INLINE void	SetAxisY (Vec3Arg inV)

JPH_INLINE Vec3	GetAxisZ () const

JPH_INLINE void	SetAxisZ (Vec3Arg inV)

JPH_INLINE Vec3	GetTranslation () const

JPH_INLINE void	SetTranslation (Vec3Arg inV)

JPH_INLINE Vec3	GetDiagonal3 () const

JPH_INLINE void	SetDiagonal3 (Vec3Arg inV)

JPH_INLINE Vec4	GetDiagonal4 () const

JPH_INLINE void	SetDiagonal4 (Vec4Arg inV)

JPH_INLINE Vec3	GetColumn3 (uint inCol) const

JPH_INLINE void	SetColumn3 (uint inCol, Vec3Arg inV)

JPH_INLINE Vec4	GetColumn4 (uint inCol) const

JPH_INLINE void	SetColumn4 (uint inCol, Vec4Arg inV)

JPH_INLINE void	StoreFloat4x4 (Float4 *outV) const
	Store matrix to memory.

JPH_INLINE Mat44	Transposed () const
	Transpose matrix.

JPH_INLINE Mat44	Transposed3x3 () const
	Transpose 3x3 subpart of matrix.

JPH_INLINE Mat44	Inversed () const
	Inverse 4x4 matrix.

JPH_INLINE Mat44	InversedRotationTranslation () const
	Inverse 4x4 matrix when it only contains rotation and translation.

JPH_INLINE float	GetDeterminant3x3 () const
	Get the determinant of a 3x3 matrix.

JPH_INLINE Mat44	Adjointed3x3 () const
	Get the adjoint of a 3x3 matrix.

JPH_INLINE Mat44	Inversed3x3 () const
	Inverse 3x3 matrix.

JPH_INLINE bool	SetInversed3x3 (Mat44Arg inM)
	this = inM.Inversed3x3(), returns false if the matrix is singular in which case this is unchanged

JPH_INLINE Mat44	GetRotation () const
	Get rotation part only (note: retains the first 3 values from the bottom row)

JPH_INLINE Mat44	GetRotationSafe () const
	Get rotation part only (note: also clears the bottom row)

JPH_INLINE void	SetRotation (Mat44Arg inRotation)
	Updates the rotation part of this matrix (the first 3 columns)

JPH_INLINE Quat	GetQuaternion () const
	Convert to quaternion.

JPH_INLINE Mat44	GetDirectionPreservingMatrix () const
	Get matrix that transforms a direction with the same transform as this matrix (length is not preserved)

JPH_INLINE Mat44	PreTranslated (Vec3Arg inTranslation) const
	Pre multiply by translation matrix: result = this * Mat44::sTranslation(inTranslation)

JPH_INLINE Mat44	PostTranslated (Vec3Arg inTranslation) const
	Post multiply by translation matrix: result = Mat44::sTranslation(inTranslation) * this (i.e. add inTranslation to the 4-th column)

JPH_INLINE Mat44	PreScaled (Vec3Arg inScale) const
	Scale a matrix: result = this * Mat44::sScale(inScale)

JPH_INLINE Mat44	PostScaled (Vec3Arg inScale) const
	Scale a matrix: result = Mat44::sScale(inScale) * this.

JPH_INLINE Mat44	Decompose (Vec3 &outScale) const

JPH_INLINE Mat44	ToMat44 () const
	In single precision mode just return the matrix itself.

Static Public Member Functions
static JPH_INLINE Mat44	sZero ()
	Zero matrix.

static JPH_INLINE Mat44	sIdentity ()
	Identity matrix.

static JPH_INLINE Mat44	sNaN ()
	Matrix filled with NaN's.

static JPH_INLINE Mat44	sLoadFloat4x4 (const Float4 *inV)
	Load 16 floats from memory.

static JPH_INLINE Mat44	sLoadFloat4x4Aligned (const Float4 *inV)
	Load 16 floats from memory, 16 bytes aligned.

static JPH_INLINE Mat44	sRotationX (float inX)
	Rotate around X, Y or Z axis (angle in radians)

static JPH_INLINE Mat44	sRotationY (float inY)

static JPH_INLINE Mat44	sRotationZ (float inZ)

static JPH_INLINE Mat44	sRotation (Vec3Arg inAxis, float inAngle)
	Rotate around arbitrary axis.

static JPH_INLINE Mat44	sRotation (QuatArg inQuat)
	Rotate from quaternion.

static JPH_INLINE Mat44	sTranslation (Vec3Arg inV)
	Get matrix that translates.

static JPH_INLINE Mat44	sRotationTranslation (QuatArg inR, Vec3Arg inT)
	Get matrix that rotates and translates.

static JPH_INLINE Mat44	sInverseRotationTranslation (QuatArg inR, Vec3Arg inT)
	Get inverse matrix of sRotationTranslation.

static JPH_INLINE Mat44	sScale (float inScale)
	Get matrix that scales uniformly.

static JPH_INLINE Mat44	sScale (Vec3Arg inV)
	Get matrix that scales (produces a matrix with (inV, 1) on its diagonal)

static JPH_INLINE Mat44	sOuterProduct (Vec3Arg inV1, Vec3Arg inV2)
	Get outer product of inV and inV2 (equivalent to \(inV1 \otimes inV2\))

static JPH_INLINE Mat44	sCrossProduct (Vec3Arg inV)
	Get matrix that represents a cross product \(A \times B = \text{sCrossProduct}(A) \: B\).

static JPH_INLINE Mat44	sQuatLeftMultiply (QuatArg inQ)
	Returns matrix ML so that \(ML(q) \: p = q \: p\) (where p and q are quaternions)

static JPH_INLINE Mat44	sQuatRightMultiply (QuatArg inQ)
	Returns matrix MR so that \(MR(q) \: p = p \: q\) (where p and q are quaternions)

static JPH_INLINE Mat44	sLookAt (Vec3Arg inPos, Vec3Arg inTarget, Vec3Arg inUp)

static JPH_INLINE Mat44	sPerspective (float inFovY, float inAspect, float inNear, float inFar)
	Returns a right-handed perspective projection matrix.

Friends
JPH_INLINE Mat44	operator* (float inV, Mat44Arg inM)

ostream &	operator<< (ostream &inStream, Mat44Arg inM)
	To String.

Detailed Description

Holds a 4x4 matrix of floats, but supports also operations on the 3x3 upper left part of the matrix.

Member Typedef Documentation

◆ ArgType

using Mat44::ArgType = Mat44Arg

◆ Type

using Mat44::Type = Vec4::Type

Constructor & Destructor Documentation

◆ Mat44() [1/5]

Mat44::Mat44 ( )

default

Constructor.

Intentionally not initialized for performance reasons

◆ Mat44() [2/5]

Mat44::Mat44	(	Vec4Arg	inC1,
		Vec4Arg	inC2,
		Vec4Arg	inC3,
		Vec4Arg	inC4
	)

◆ Mat44() [3/5]

Mat44::Mat44	(	Vec4Arg	inC1,
		Vec4Arg	inC2,
		Vec4Arg	inC3,
		Vec3Arg	inC4
	)

◆ Mat44() [4/5]

Mat44::Mat44 ( const Mat44 & inM2 )

default

◆ Mat44() [5/5]

Mat44::Mat44	(	Type	inC1,
		Type	inC2,
		Type	inC3,
		Type	inC4
	)

Member Function Documentation

◆ Adjointed3x3()

Mat44 Mat44::Adjointed3x3 ( ) const

Get the adjoint of a 3x3 matrix.

◆ Decompose()

Mat44 Mat44::Decompose ( Vec3 & outScale ) const

Decompose a matrix into a rotation & translation part and into a scale part so that: this = return_value * Mat44::sScale(outScale). This equation only holds when the matrix is orthogonal, if it is not the returned matrix will be made orthogonal using the modified Gram-Schmidt algorithm (see: https://en.wikipedia.org/wiki/Gram%E2%80%93Schmidt_process)

◆ GetAxisX()

JPH_INLINE Vec3 Mat44::GetAxisX ( ) const

inline

Access to the columns.

◆ GetAxisY()

JPH_INLINE Vec3 Mat44::GetAxisY ( ) const

inline

◆ GetAxisZ()

JPH_INLINE Vec3 Mat44::GetAxisZ ( ) const

inline

◆ GetColumn3()

JPH_INLINE Vec3 Mat44::GetColumn3 ( uint inCol ) const

inline

◆ GetColumn4()

JPH_INLINE Vec4 Mat44::GetColumn4 ( uint inCol ) const

inline

◆ GetDeterminant3x3()

float Mat44::GetDeterminant3x3 ( ) const

Get the determinant of a 3x3 matrix.

◆ GetDiagonal3()

JPH_INLINE Vec3 Mat44::GetDiagonal3 ( ) const

inline

◆ GetDiagonal4()

JPH_INLINE Vec4 Mat44::GetDiagonal4 ( ) const

inline

◆ GetDirectionPreservingMatrix()

JPH_INLINE Mat44 Mat44::GetDirectionPreservingMatrix ( ) const

inline

Get matrix that transforms a direction with the same transform as this matrix (length is not preserved)

◆ GetQuaternion()

Quat Mat44::GetQuaternion ( ) const

Convert to quaternion.

◆ GetRotation()

Mat44 Mat44::GetRotation ( ) const

Get rotation part only (note: retains the first 3 values from the bottom row)

◆ GetRotationSafe()

Mat44 Mat44::GetRotationSafe ( ) const

Get rotation part only (note: also clears the bottom row)

◆ GetTranslation()

JPH_INLINE Vec3 Mat44::GetTranslation ( ) const

inline

◆ Inversed()

Mat44 Mat44::Inversed ( ) const

Inverse 4x4 matrix.

◆ Inversed3x3()

Mat44 Mat44::Inversed3x3 ( ) const

Inverse 3x3 matrix.

◆ InversedRotationTranslation()

Mat44 Mat44::InversedRotationTranslation ( ) const

Inverse 4x4 matrix when it only contains rotation and translation.

◆ IsClose()

bool Mat44::IsClose	(	Mat44Arg	inM2,
		float	inMaxDistSq = `1.0e-12f`
	)		const

Test if two matrices are close.

◆ Multiply3x3() [1/2]

Mat44 Mat44::Multiply3x3 ( Mat44Arg inM ) const

Multiply 3x3 matrix by 3x3 matrix.

◆ Multiply3x3() [2/2]

Vec3 Mat44::Multiply3x3 ( Vec3Arg inV ) const

Multiply vector by only 3x3 part of the matrix.

◆ Multiply3x3LeftTransposed()

Mat44 Mat44::Multiply3x3LeftTransposed ( Mat44Arg inM ) const

Multiply transpose of 3x3 matrix by 3x3 matrix ( \(result = this^T \: inM\))

◆ Multiply3x3RightTransposed()

Mat44 Mat44::Multiply3x3RightTransposed ( Mat44Arg inM ) const

Multiply 3x3 matrix by the transpose of a 3x3 matrix ( \(result = this \: inM^T\))

◆ Multiply3x3Transposed()

Vec3 Mat44::Multiply3x3Transposed ( Vec3Arg inV ) const

Multiply vector by only 3x3 part of the transpose of the matrix ( \(result = this^T \: inV\))

◆ operator!=()

JPH_INLINE bool Mat44::operator!= ( Mat44Arg inM2 ) const

inline

◆ operator()() [1/2]

JPH_INLINE float & Mat44::operator()	(	uint	inRow,
		uint	inColumn
	)

inline

◆ operator()() [2/2]

JPH_INLINE float Mat44::operator()	(	uint	inRow,
		uint	inColumn
	)		const

inline

Get float component by element index.

◆ operator*() [1/4]

Mat44 Mat44::operator* ( float inV ) const

Multiply matrix with float.

◆ operator*() [2/4]

Mat44 Mat44::operator* ( Mat44Arg inM ) const

Multiply matrix by matrix.

◆ operator*() [3/4]

Vec3 Mat44::operator* ( Vec3Arg inV ) const

Multiply vector by matrix.

◆ operator*() [4/4]

Vec4 Mat44::operator* ( Vec4Arg inV ) const

◆ operator*=()

Mat44 & Mat44::operator*= ( float inV )

Multiply matrix with float.

◆ operator+()

Mat44 Mat44::operator+ ( Mat44Arg inM ) const

Per element addition of matrix.

◆ operator+=()

Mat44 & Mat44::operator+= ( Mat44Arg inM )

Per element addition of matrix.

◆ operator-() [1/2]

Mat44 Mat44::operator- ( ) const

Negate.

◆ operator-() [2/2]

Mat44 Mat44::operator- ( Mat44Arg inM ) const

Per element subtraction of matrix.

◆ operator=()

Mat44 & Mat44::operator= ( const Mat44 & inM2 )

default

◆ operator==()

bool Mat44::operator== ( Mat44Arg inM2 ) const

Comparison.

◆ PostScaled()

Mat44 Mat44::PostScaled ( Vec3Arg inScale ) const

Scale a matrix: result = Mat44::sScale(inScale) * this.

◆ PostTranslated()

Mat44 Mat44::PostTranslated ( Vec3Arg inTranslation ) const

Post multiply by translation matrix: result = Mat44::sTranslation(inTranslation) * this (i.e. add inTranslation to the 4-th column)

◆ PreScaled()

Mat44 Mat44::PreScaled ( Vec3Arg inScale ) const

Scale a matrix: result = this * Mat44::sScale(inScale)

◆ PreTranslated()

Mat44 Mat44::PreTranslated ( Vec3Arg inTranslation ) const

Pre multiply by translation matrix: result = this * Mat44::sTranslation(inTranslation)

◆ sCrossProduct()

Mat44 Mat44::sCrossProduct ( Vec3Arg inV )

static

Get matrix that represents a cross product \(A \times B = \text{sCrossProduct}(A) \: B\).

◆ SetAxisX()

JPH_INLINE void Mat44::SetAxisX ( Vec3Arg inV )

inline

◆ SetAxisY()

JPH_INLINE void Mat44::SetAxisY ( Vec3Arg inV )

inline

◆ SetAxisZ()

JPH_INLINE void Mat44::SetAxisZ ( Vec3Arg inV )

inline

◆ SetColumn3()

JPH_INLINE void Mat44::SetColumn3	(	uint	inCol,
		Vec3Arg	inV
	)

inline

◆ SetColumn4()

JPH_INLINE void Mat44::SetColumn4	(	uint	inCol,
		Vec4Arg	inV
	)

inline

◆ SetDiagonal3()

JPH_INLINE void Mat44::SetDiagonal3 ( Vec3Arg inV )

inline

◆ SetDiagonal4()

JPH_INLINE void Mat44::SetDiagonal4 ( Vec4Arg inV )

inline

◆ SetInversed3x3()

bool Mat44::SetInversed3x3 ( Mat44Arg inM )

*this = inM.Inversed3x3(), returns false if the matrix is singular in which case *this is unchanged

◆ SetRotation()

void Mat44::SetRotation ( Mat44Arg inRotation )

Updates the rotation part of this matrix (the first 3 columns)

◆ SetTranslation()

JPH_INLINE void Mat44::SetTranslation ( Vec3Arg inV )

inline

◆ sIdentity()

Mat44 Mat44::sIdentity ( )

static

Identity matrix.

◆ sInverseRotationTranslation()

Mat44 Mat44::sInverseRotationTranslation	(	QuatArg	inR,
		Vec3Arg	inT
	)

static

Get inverse matrix of sRotationTranslation.

◆ sLoadFloat4x4()

Mat44 Mat44::sLoadFloat4x4 ( const Float4 * inV )

static

Load 16 floats from memory.

◆ sLoadFloat4x4Aligned()

Mat44 Mat44::sLoadFloat4x4Aligned ( const Float4 * inV )

static

Load 16 floats from memory, 16 bytes aligned.

◆ sLookAt()

Mat44 Mat44::sLookAt	(	Vec3Arg	inPos,
		Vec3Arg	inTarget,
		Vec3Arg	inUp
	)

static

Returns a look at matrix that transforms from world space to view space

Parameters

inPos	Position of the camera
inTarget	Target of the camera
inUp	Up vector

◆ sNaN()

Mat44 Mat44::sNaN ( )

static

Matrix filled with NaN's.

◆ sOuterProduct()

Mat44 Mat44::sOuterProduct	(	Vec3Arg	inV1,
		Vec3Arg	inV2
	)

static

Get outer product of inV and inV2 (equivalent to \(inV1 \otimes inV2\))

◆ sPerspective()

Mat44 Mat44::sPerspective	(	float	inFovY,
		float	inAspect,
		float	inNear,
		float	inFar
	)

static

Returns a right-handed perspective projection matrix.

◆ sQuatLeftMultiply()

Mat44 Mat44::sQuatLeftMultiply ( QuatArg inQ )

static

Returns matrix ML so that \(ML(q) \: p = q \: p\) (where p and q are quaternions)

◆ sQuatRightMultiply()

Mat44 Mat44::sQuatRightMultiply ( QuatArg inQ )

static

Returns matrix MR so that \(MR(q) \: p = p \: q\) (where p and q are quaternions)

◆ sRotation() [1/2]

Mat44 Mat44::sRotation ( QuatArg inQuat )

static

Rotate from quaternion.

◆ sRotation() [2/2]

Mat44 Mat44::sRotation	(	Vec3Arg	inAxis,
		float	inAngle
	)

static

Rotate around arbitrary axis.

◆ sRotationTranslation()

Mat44 Mat44::sRotationTranslation	(	QuatArg	inR,
		Vec3Arg	inT
	)

static

Get matrix that rotates and translates.

◆ sRotationX()

Mat44 Mat44::sRotationX ( float inX )

static

Rotate around X, Y or Z axis (angle in radians)

◆ sRotationY()

Mat44 Mat44::sRotationY ( float inY )

static

◆ sRotationZ()

Mat44 Mat44::sRotationZ ( float inZ )

static

◆ sScale() [1/2]

Mat44 Mat44::sScale ( float inScale )

static

Get matrix that scales uniformly.

◆ sScale() [2/2]

Mat44 Mat44::sScale ( Vec3Arg inV )

static

Get matrix that scales (produces a matrix with (inV, 1) on its diagonal)

◆ StoreFloat4x4()

void Mat44::StoreFloat4x4 ( Float4 * outV ) const

Store matrix to memory.

◆ sTranslation()

Mat44 Mat44::sTranslation ( Vec3Arg inV )

static

Get matrix that translates.

◆ sZero()

Mat44 Mat44::sZero ( )

static

Zero matrix.

◆ ToMat44()

JPH_INLINE Mat44 Mat44::ToMat44 ( ) const

inline

In single precision mode just return the matrix itself.

◆ Transposed()

Mat44 Mat44::Transposed ( ) const

Transpose matrix.

◆ Transposed3x3()

Mat44 Mat44::Transposed3x3 ( ) const

Transpose 3x3 subpart of matrix.

Friends And Related Symbol Documentation

◆ operator*

JPH_INLINE Mat44 operator*	(	float	inV,
		Mat44Arg	inM
	)

friend

◆ operator<<

ostream & operator<<	(	ostream &	inStream,
		Mat44Arg	inM
	)

friend

To String.

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

Jolt/Math/Mat44.h
Jolt/Math/Mat44.inl

Public Types

Public Member Functions

Static Public Member Functions

Friends

Detailed Description

Member Typedef Documentation

◆ ArgType

◆ Type

Constructor & Destructor Documentation

◆ Mat44() [1/5]

◆ Mat44() [2/5]

◆ Mat44() [3/5]

◆ Mat44() [4/5]

◆ Mat44() [5/5]

Member Function Documentation

◆ Adjointed3x3()

◆ Decompose()

◆ GetAxisX()

◆ GetAxisY()

◆ GetAxisZ()

◆ GetColumn3()

◆ GetColumn4()

◆ GetDeterminant3x3()

◆ GetDiagonal3()

◆ GetDiagonal4()

◆ GetDirectionPreservingMatrix()

◆ GetQuaternion()

◆ GetRotation()

◆ GetRotationSafe()

◆ GetTranslation()

◆ Inversed()

◆ Inversed3x3()

◆ InversedRotationTranslation()

◆ IsClose()

◆ Multiply3x3() [1/2]

◆ Multiply3x3() [2/2]

◆ Multiply3x3LeftTransposed()

◆ Multiply3x3RightTransposed()

◆ Multiply3x3Transposed()

◆ operator!=()

◆ operator()() [1/2]

◆ operator()() [2/2]

◆ operator*() [1/4]

◆ operator*() [2/4]

◆ operator*() [3/4]

◆ operator*() [4/4]

◆ operator*=()

◆ operator+()

◆ operator+=()

◆ operator-() [1/2]

◆ operator-() [2/2]

◆ operator=()

◆ operator==()

◆ PostScaled()

◆ PostTranslated()

◆ PreScaled()

◆ PreTranslated()

◆ sCrossProduct()

◆ SetAxisX()

◆ SetAxisY()

◆ SetAxisZ()

◆ SetColumn3()

◆ SetColumn4()

◆ SetDiagonal3()

◆ SetDiagonal4()

◆ SetInversed3x3()

◆ SetRotation()

◆ SetTranslation()

◆ sIdentity()

◆ sInverseRotationTranslation()

◆ sLoadFloat4x4()

◆ sLoadFloat4x4Aligned()

◆ sLookAt()

◆ sNaN()

◆ sOuterProduct()

◆ sPerspective()

◆ sQuatLeftMultiply()

◆ sQuatRightMultiply()

◆ sRotation() [1/2]

◆ sRotation() [2/2]