Mat44 Class Reference

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