Matrix3x3.h

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#ifndef _ZFXMATH_INCLUDE_MATRIX3X3_H_
#define _ZFXMATH_INCLUDE_MATRIX3X3_H_

namespace ZFXMath
{
    template<class T>
    class TMatrix3x3
    {

    public:

        union
        {
            T   m[9];
            struct
            {
                T _11; T _12; T _13;
                T _21; T _22; T _23;
                T _31; T _32; T _33;
            };
        };

        TMatrix3x3() 
        {
            (*this) = Identity();
        };

        TMatrix3x3( const T& val ) 
        { 
            _11 = _12 = _13 =
            _21 = _22 = _23 =
            _31 = _32 = _33 = val;
        }

        TMatrix3x3( const T& _11, const T& _12, const T& _13,
                    const T& _21, const T& _22, const T& _23,
                    const T& _31, const T& _32, const T& _33 ) 
        { 
            this->_11 = _11; this->_12 = _12; this->_13 = _13;
            this->_21 = _21; this->_22 = _22; this->_23 = _23;
            this->_31 = _31; this->_32 = _32; this->_33 = _33;
        }

        TMatrix3x3( const T& sx, const T& sy, const T& sz = (T)1.0 )
        {
            (*this) = TMatrix3x3( sx, 0.0, 0.0,
                                  0.0, sy, 0.0,
                                  0.0, 0.0, sz );
        }

        TMatrix3x3( const T* _m )
        {
            memcpy( m, _m, sizeof( TMatrix3x3 ) );
        }

        TMatrix3x3( const TMatrix3x3& _m )
        {
            memcpy( m, _m, sizeof( TMatrix3x3 ) );
        }

        TMatrix3x3( const T& rad, const T& scale, const TVector2D<T>& p ) 
        { 
            (*this) = Rotation2D( rad );
            Scale( scale );
            Translate( p );
        }
        

        TMatrix3x3( const TVector3D<T>& v1, const TVector3D<T>& v2, const TVector3D<T>& v3 ) 
        {
            _11 = v1.x; _12 = v1.y; _13 = v1.z;
            _21 = v2.x; _22 = v2.y; _23 = v2.z;
            _31 = v3.x; _32 = v3.y; _33 = v3.z;
        }
/*
        TMatrix3x3( const TMatrix4x4<T>& _m ) 
        {
            _11 = _m._11; _12 = _m._12; _13 = _m._13;
            _21 = _m._21; _22 = _m._22; _23 = _m._23;
            _31 = _m._31; _32 = _m._32; _33 = _m._33;
        }

        TMatrix3x3( const TQuaternion<T>& q ) 
        {
            T xx  = q.x + q.x;
            T yy  = q.y + q.y;
            T zz  = q.z + q.z;

            T wxx = q.w * xx;
            T wyy = q.w * yy;
            T wzz = q.w * zz;
            T xxx = q.x * xx;
            T xyy = q.x * yy;
            T xzz = q.x * zz;
            T yyy = q.y * yy;
            T yzz = q.y * zz;
            T zzz = q.z * zz;

            _11 = (T)1.0 - (yyy + zzz);
            _12 = xyy + wzz;
            _13 = xzz - wyy;

            _21 = xyy - wzz;
            _22 = (T)1.0 - (xxx + zzz);
            _23 = yzz + wxx;

            _31 = xzz + wyy;
            _32 = yzz - wxx;
            _33 = (T)1.0 - (xxx + yyy);
        }
*/

        operator T* ()  { return m; }
        operator const T* () const { return m; }

        T operator () ( const int i, const int j ) const
        {
            return m[ Check( i ) * 3 +  Check( j ) ];
        }

        T& operator () ( const int i, const int j )
        {
            return m[ Check( i ) * 3 + Check( j ) ];
        }

        TMatrix3x3 operator + ( const TMatrix3x3& _m ) const { return TMatrix3x3(   _11 + _m._11, _12 + _m._12, _13 + _m._13,
                                                                                    _21 + _m._21, _22 + _m._22, _23 + _m._23,
                                                                                    _31 + _m._31, _32 + _m._32, _33 + _m._33 ); }
        TMatrix3x3 operator - ( const TMatrix3x3& _m ) const { return (*this) + _m.Negate(); }
        TMatrix3x3 operator * ( const TMatrix3x3& _m ) const { return Multiply( _m ); }
        TMatrix3x3 operator * ( const T& s ) const           { return Scale( s ); }


        TMatrix3x3& operator += ( const TMatrix3x3& _m ) { *this = (*this) + _m; return (*this); }
        TMatrix3x3& operator -= ( const TMatrix3x3& _m ) { *this = (*this) - _m; return (*this); }
        TMatrix3x3& operator *= ( const TMatrix3x3& _m ) { *this = (*this) * _m; return (*this); }
        TMatrix3x3& operator *= ( const T& s )           { *this = (*this) *  s; return (*this); }

        friend TVector3D<T> operator * ( const TVector3D<T>& v, const TMatrix3x3& m )
        {
            return TVector3D<T>( TVector3D<T>( m._11, m._21, m._31 ).DotProduct( v ),
                                 TVector3D<T>( m._12, m._22, m._32 ).DotProduct( v ),
                                 TVector3D<T>( m._13, m._23, m._33 ).DotProduct( v ) ); 
        }
/*
        friend TQuaternion<T> operator * ( const TQuaternion<T>& q, const TMatrix3x3& m )
        {
            return TQuaternion<T>( );
        }

        friend TMatrix3x3 operator * ( const TMatrix3x3& m, const TQuaternion<T>& q )
        {
            return m * TMatrix3x3( q );
        }
*/
        static TMatrix3x3 Zero()
        {
            return TMatrix3x3( 0.0 );
        }

        static TMatrix3x3 Identity()
        {
            return TMatrix3x3(  1.0, 0.0, 0.0,
                                0.0, 1.0, 0.0,
                                0.0, 0.0, 1.0 );
        }

        TMatrix3x3& Scale( const T& s )
        {
            _11 *= s; _12 *= s; _13 *= s; 
            _21 *= s; _22 *= s; _23 *= s; 
            _31 *= s; _32 *= s; _33 *= s;

            return (*this);
        }

        TMatrix3x3& Scale( const T& sx, const T& sy, const T& sz = (T)1.0 )
        {
            _11 *= sx; _12 *= sy; _13 *= sz; 
            _21 *= sx; _22 *= sy; _23 *= sz; 
            _31 *= sx; _32 *= sy; _33 *= sz;

            return (*this);
        }

        TMatrix3x3& Scale( const TVector3D<T>& sv )
        {
            return Scale( sv.x, sv.y, sv.z );
        }

/*
        TMatrix3x3& SkewX( const T& rad )
        {
            return (*this);
        }
        TMatrix3x3& SkewY( const T& rad )
        {
            return (*this);
        }
*/

        static TMatrix3x3 Translation( const TVector2D<T>& p )
        {
            return Translation( p.x, p.y );
        }

        static TMatrix3x3 Translation( const T& x, const T& y )
        {
            TMatrix3x3 newM = TMatrix3x3::Identity();
            newM._31 = x;
            newM._32 = y;

            return newM;
        }

        TMatrix3x3& Translate( const TVector2D<T>& p )
        {
            return Translate( p.x, p.y );
        }

        TMatrix3x3& Translate( const T& x, const T& y )
        {
            _31 += x;
            _32 += y;
            return (*this);
        }

        TMatrix3x3 Multiply( const TMatrix3x3& _m ) const
        {
            TMatrix3x3 newM = TMatrix3x3::Zero();

            for ( int i = 0; i < 3; i++ )
            {
                for ( int j = 0; j < 3; j++ )
                {
                    for ( int k = 0; k < 3; k++ )
                    {
                        newM.m[i * 3 + j] += m[i * 3 + k] * _m.m[k * 3 + j];
                    }
                }
            }

            return newM;
        }

        static TMatrix3x3 RotationX( const T& rad )
        {
            T sin, cos;

            SinCos( rad, sin, cos );  // Determine sin and cos of angle

            return TMatrix3x3( 1.0, 0.0, 0.0,
                               0.0, cos, sin,
                               0.0, -sin, cos );
        }

        TMatrix3x3& RotateX( const T& rad )
        {
            return (*this) *= RotationX( rad );
        }

        static TMatrix3x3 RotationY( const T& rad )
        {
            T sin, cos;

            SinCos( rad, sin, cos );  // Determine sin and cos of angle

            return TMatrix3x3( cos, 0.0, -sin,
                               0.0, 1.0, 0.0,
                               sin, 0.0, cos );
        }

        TMatrix3x3& RotateY( const T& rad )
        {
            return (*this) *= RotationY( rad );
        }

        static TMatrix3x3 RotationZ( const T& rad )
        {
            T sin, cos;

            SinCos( rad, sin, cos );  // Determine sin and cos of angle

            return TMatrix3x3( cos, sin, 0.0,
                              -sin, cos, 0.0,
                               0.0, 0.0, 1.0 );
        }

        TMatrix3x3& RotateZ( const T& rad )
        {
            return (*this) *= RotationZ( rad );
        }

        static TMatrix3x3 Rotation2D( const T& rad )
        {
            return RotationZ( rad );
        }

        TMatrix3x3& Rotate2D( const T& rad )
        {
            return (*this) *= Rotation2D( rad );
        }


        TMatrix3x3 Transpose() const
        {
            return TMatrix3x3( _11, _21, _31,
                               _12, _22, _32,
                               _13, _23, _33 );
        }

        TMatrix3x3 Negate() const
        {
            return TMatrix3x3( -_11, -_12, -_13,
                               -_21, -_22, -_23,
                               -_31, -_32, -_33 );
        }

        TMatrix3x3 GetSwitchedHand() const
        {
            TMatrix3x3 newM( Transpose() );
            newM._32 = -newM._32;
            newM._23 = -newM._23;
            newM._13 = -newM._13;
            newM._31 = -newM._31;

            return newM;
        }

    private:
        inline int Check( const int index ) const
        {
            // Check bounds in debug build
            assert( index >= 0 && index < 3 );

            return index;
        }

        
    };
}

#endif //_ZFXMATH_INCLUDE_MATRIX3X3_H_

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