matrix.h

Go to the documentation of this file.

/*
    Sheep - A Rigid Body Dynamics Engine
    Copyright (C) 2001-2004 Francois Beaune
    Contact: http://toxicengine.sourceforge.net/

    This file is part of Sheep.

    Sheep is free software; you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation; either version 2 of the License, or
    (at your option) any later version.

    Sheep is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with Sheep; if not, write to the Free Software
    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
*/

#ifndef SHEEP_MATH_MATRIX_H
#define SHEEP_MATH_MATRIX_H

#include "common/misc/htmlstream.h"
#include "real.h"
#include "vector.h"

#include <cassert>

namespace sheep {

    class Matrix {
    public:
        // Constructors.
        Matrix(int rows, int columns);
        Matrix(int rows, int columns, Real r);
        Matrix(const Matrix &m);

        // Destructor.
        virtual ~Matrix();

        // Nth-order identity matrix.
        static Matrix Identity(int n);

        // Assignment operators.
        Matrix &operator=(Real r);
        Matrix &operator=(const Matrix &m);

        // Matrix dimensions.
        int GetRows() const;
        int GetColumns() const;
        bool IsSquare() const;

        // Basic operations.
        Matrix operator+(const Matrix &m) const;
        Matrix operator-(const Matrix &m) const;
        Matrix operator-() const;
        Matrix operator*(Real r) const;
        Matrix operator/(Real r) const;
        Matrix &operator+=(const Matrix &m);
        Matrix &operator-=(const Matrix &m);
        Matrix &operator*=(Real r);
        Matrix &operator/=(Real r);

        // Matrix product (no *= operator).
        Matrix operator*(const Matrix &m) const;

        // Product of a matrix and a vector.
        Vector operator*(const Vector &v) const;

        // Array subscripting.
        Real &operator[](int i);
        const Real &operator[](int i) const;

        // Fortran-style subscripting (still 0-based).
        Real &operator()(int row, int column);
        const Real &operator()(int row, int column) const;

        // Direct access to matrix coefficients.
        Real *GetData();

        // Transpose.
        Matrix Transpose() const;

        // Inverse.
        Matrix Inverse() const;

        // Determinant.
        Real Determinant() const;

        // Trace .
        inline Real Trace() const;

    private:
        int m_r, m_c;       // rows and columns
        Real *m_v;          // matrix values (row-major)
    };

    // Product of a real by a matrix.
    Matrix operator*(Real r, const Matrix &m);

    //! Deprecated.
    htmlstream& operator<<(htmlstream& s, const Matrix &m);

#include "matrix.inl"

}

#endif  // !SHEEP_MATH_MATRIX_H

---