NVIDIA(R) PhysX(R) SDK 3.4 API Reference: PxMat33 Class Reference

NVIDIA PhysX SDK 3.4 API

PxMat33 Class Reference
[Foundation]

3x3 matrix class More...

#include <PxMat33.h>

Collaboration diagram for PxMat33:

List of all members.


Public Member Functions

PX_CUDA_CALLABLE PX_FORCE_INLINE PxMat33 ()
 Default constructor.
PX_CUDA_CALLABLE PX_INLINE PxMat33 (PxIDENTITY r)
 identity constructor
PX_CUDA_CALLABLE PX_INLINE PxMat33 (PxZERO r)
 zero constructor
PX_CUDA_CALLABLE PxMat33 (const PxVec3 &col0, const PxVec3 &col1, const PxVec3 &col2)
 Construct from three base vectors.
PX_CUDA_CALLABLE PX_INLINE PxMat33 (float r)
 constructor from a scalar, which generates a multiple of the identity matrix
PX_CUDA_CALLABLE PX_INLINE PxMat33 (float values[])
 Construct from float[9].
PX_CUDA_CALLABLE PX_FORCE_INLINE PxMat33 (const PxQuat &q)
 Construct from a quaternion.
PX_CUDA_CALLABLE PX_INLINE PxMat33 (const PxMat33 &other)
 Copy constructor.
PX_CUDA_CALLABLE
PX_FORCE_INLINE PxMat33
operator= (const PxMat33 &other)
 Assignment operator.
PX_CUDA_CALLABLE PX_INLINE bool operator== (const PxMat33 &m) const
 returns true if the two matrices are exactly equal
PX_CUDA_CALLABLE
PX_FORCE_INLINE const PxMat33 
getTranspose () const
 Get transposed matrix.
PX_CUDA_CALLABLE PX_INLINE
const PxMat33 
getInverse () const
 Get the real inverse.
PX_CUDA_CALLABLE PX_INLINE float getDeterminant () const
 Get determinant.
PX_CUDA_CALLABLE PX_INLINE
const PxMat33 
operator- () const
 Unary minus.
PX_CUDA_CALLABLE PX_INLINE
const PxMat33 
operator+ (const PxMat33 &other) const
 Add.
PX_CUDA_CALLABLE PX_INLINE
const PxMat33 
operator- (const PxMat33 &other) const
 Subtract.
PX_CUDA_CALLABLE PX_INLINE
const PxMat33 
operator* (float scalar) const
 Scalar multiplication.
PX_CUDA_CALLABLE PX_INLINE
const PxVec3 
operator* (const PxVec3 &vec) const
 Matrix vector multiplication (returns 'this->transform(vec)').
PX_CUDA_CALLABLE
PX_FORCE_INLINE const PxMat33 
operator* (const PxMat33 &other) const
 Matrix multiplication.
PX_CUDA_CALLABLE PX_INLINE
PxMat33
operator+= (const PxMat33 &other)
 Equals-add.
PX_CUDA_CALLABLE PX_INLINE
PxMat33
operator-= (const PxMat33 &other)
 Equals-sub.
PX_CUDA_CALLABLE PX_INLINE
PxMat33
operator*= (float scalar)
 Equals scalar multiplication.
PX_CUDA_CALLABLE PX_INLINE
PxMat33
operator*= (const PxMat33 &other)
 Equals matrix multiplication.
PX_DEPRECATED PX_CUDA_CALLABLE
PX_FORCE_INLINE float 
operator() (unsigned int row, unsigned int col) const
 Element access, mathematical way!
PX_DEPRECATED PX_CUDA_CALLABLE
PX_FORCE_INLINE float & 
operator() (unsigned int row, unsigned int col)
 Element access, mathematical way!
PX_CUDA_CALLABLE
PX_FORCE_INLINE const PxVec3 
transform (const PxVec3 &other) const
 Transform vector by matrix, equal to v' = M*v.
PX_CUDA_CALLABLE PX_INLINE
const PxVec3 
transformTranspose (const PxVec3 &other) const
 Transform vector by matrix transpose, v' = M^t*v.
PX_CUDA_CALLABLE
PX_FORCE_INLINE const float * 
front () const
PX_DEPRECATED PX_CUDA_CALLABLE
PX_FORCE_INLINE PxVec3
operator[] (unsigned int num)
PX_DEPRECATED PX_CUDA_CALLABLE
PX_FORCE_INLINE const PxVec3
operator[] (unsigned int num) const

Static Public Member Functions

PX_CUDA_CALLABLE static
PX_INLINE const PxMat33 
createDiagonal (const PxVec3 &d)
 Construct from diagonal, off-diagonals are zero.

Public Attributes

PxVec3 column0
PxVec3 column1
PxVec3 column2

Friends

PxMat33 operator* (float, const PxMat33 &)

Detailed Description

3x3 matrix class

Some clarifications, as there have been much confusion about matrix formats etc in the past.

Short:

  • Matrix have base vectors in columns (vectors are column matrices, 3x1 matrices).
  • Matrix is physically stored in column major format
  • Matrices are concaternated from left

Long: Given three base vectors a, b and c the matrix is stored as

|a.x b.x c.x| |a.y b.y c.y| |a.z b.z c.z|

Vectors are treated as columns, so the vector v is

|x| |y| |z|

And matrices are applied _before_ the vector (pre-multiplication) v' = M*v

|x'| |a.x b.x c.x| |x| |a.x*x + b.x*y + c.x*z| |y'| = |a.y b.y c.y| * |y| = |a.y*x + b.y*y + c.y*z| |z'| |a.z b.z c.z| |z| |a.z*x + b.z*y + c.z*z|

Physical storage and indexing: To be compatible with popular 3d rendering APIs (read D3d and OpenGL) the physical indexing is

|0 3 6| |1 4 7| |2 5 8|

index = column*3 + row

which in C++ translates to M[column][row]

The mathematical indexing is M_row,column and this is what is used for _-notation so _12 is 1st row, second column and operator(row, column)!


Constructor & Destructor Documentation

PX_CUDA_CALLABLE PX_FORCE_INLINE PxMat33::PxMat33 (  )  [inline]

Default constructor.

PX_CUDA_CALLABLE PX_INLINE PxMat33::PxMat33 ( PxIDENTITY  r  )  [inline]

identity constructor

References PX_UNUSED().

PX_CUDA_CALLABLE PX_INLINE PxMat33::PxMat33 ( PxZERO  r  )  [inline]

zero constructor

References PX_UNUSED().

PX_CUDA_CALLABLE PxMat33::PxMat33 ( const PxVec3 col0,
const PxVec3 col1,
const PxVec3 col2 
) [inline]

Construct from three base vectors.

PX_CUDA_CALLABLE PX_INLINE PxMat33::PxMat33 ( float  r  )  [inline, explicit]

constructor from a scalar, which generates a multiple of the identity matrix

PX_CUDA_CALLABLE PX_INLINE PxMat33::PxMat33 ( float  values[]  )  [inline, explicit]

Construct from float[9].

PX_CUDA_CALLABLE PX_FORCE_INLINE PxMat33::PxMat33 ( const PxQuat q  )  [inline, explicit]

Construct from a quaternion.

References PxQuat::w, PxQuat::x, PxQuat::y, and PxQuat::z.

PX_CUDA_CALLABLE PX_INLINE PxMat33::PxMat33 ( const PxMat33 other  )  [inline]

Copy constructor.


Member Function Documentation

PX_CUDA_CALLABLE static PX_INLINE const PxMat33 PxMat33::createDiagonal ( const PxVec3 d  )  [inline, static]

Construct from diagonal, off-diagonals are zero.

References PxVec3::x, PxVec3::y, and PxVec3::z.

Referenced by PxMassProperties::PxMassProperties().

PX_CUDA_CALLABLE PX_FORCE_INLINE const float* PxMat33::front (  )  const [inline]

PX_CUDA_CALLABLE PX_INLINE float PxMat33::getDeterminant (  )  const [inline]

Get determinant.

PX_CUDA_CALLABLE PX_INLINE const PxMat33 PxMat33::getInverse (  )  const [inline]

Get the real inverse.

References column0, column1, column2, PxIdentity, PxVec3::x, PxVec3::y, and PxVec3::z.

PX_CUDA_CALLABLE PX_FORCE_INLINE const PxMat33 PxMat33::getTranspose (  )  const [inline]

Get transposed matrix.

Referenced by PxMassProperties::rotateInertia(), and PxMeshScale::toMat33().

PX_DEPRECATED PX_CUDA_CALLABLE PX_FORCE_INLINE float& PxMat33::operator() ( unsigned int  row,
unsigned int  col 
) [inline]

Element access, mathematical way!

PX_DEPRECATED PX_CUDA_CALLABLE PX_FORCE_INLINE float PxMat33::operator() ( unsigned int  row,
unsigned int  col 
) const [inline]

Element access, mathematical way!

PX_CUDA_CALLABLE PX_FORCE_INLINE const PxMat33 PxMat33::operator* ( const PxMat33 other  )  const [inline]

Matrix multiplication.

References column0, column1, and column2.

PX_CUDA_CALLABLE PX_INLINE const PxVec3 PxMat33::operator* ( const PxVec3 vec  )  const [inline]

Matrix vector multiplication (returns 'this->transform(vec)').

PX_CUDA_CALLABLE PX_INLINE const PxMat33 PxMat33::operator* ( float  scalar  )  const [inline]

Scalar multiplication.

PX_CUDA_CALLABLE PX_INLINE PxMat33& PxMat33::operator*= ( const PxMat33 other  )  [inline]

Equals matrix multiplication.

PX_CUDA_CALLABLE PX_INLINE PxMat33& PxMat33::operator*= ( float  scalar  )  [inline]

Equals scalar multiplication.

PX_CUDA_CALLABLE PX_INLINE const PxMat33 PxMat33::operator+ ( const PxMat33 other  )  const [inline]

Add.

References column0, column1, and column2.

PX_CUDA_CALLABLE PX_INLINE PxMat33& PxMat33::operator+= ( const PxMat33 other  )  [inline]

Equals-add.

References column0, column1, and column2.

PX_CUDA_CALLABLE PX_INLINE const PxMat33 PxMat33::operator- ( const PxMat33 other  )  const [inline]

Subtract.

References column0, column1, and column2.

PX_CUDA_CALLABLE PX_INLINE const PxMat33 PxMat33::operator- (  )  const [inline]

Unary minus.

PX_CUDA_CALLABLE PX_INLINE PxMat33& PxMat33::operator-= ( const PxMat33 other  )  [inline]

Equals-sub.

References column0, column1, and column2.

PX_CUDA_CALLABLE PX_FORCE_INLINE PxMat33& PxMat33::operator= ( const PxMat33 other  )  [inline]

Assignment operator.

References column0, column1, and column2.

PX_CUDA_CALLABLE PX_INLINE bool PxMat33::operator== ( const PxMat33 m  )  const [inline]

returns true if the two matrices are exactly equal

References column0, column1, and column2.

PX_DEPRECATED PX_CUDA_CALLABLE PX_FORCE_INLINE const PxVec3& PxMat33::operator[] ( unsigned int  num  )  const [inline]

PX_DEPRECATED PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3& PxMat33::operator[] ( unsigned int  num  )  [inline]

PX_CUDA_CALLABLE PX_FORCE_INLINE const PxVec3 PxMat33::transform ( const PxVec3 other  )  const [inline]

Transform vector by matrix, equal to v' = M*v.

References PxVec3::x, PxVec3::y, and PxVec3::z.

PX_CUDA_CALLABLE PX_INLINE const PxVec3 PxMat33::transformTranspose ( const PxVec3 other  )  const [inline]

Transform vector by matrix transpose, v' = M^t*v.


Friends And Related Function Documentation

PxMat33 operator* ( float  ,
const PxMat33  
) [friend]


Member Data Documentation


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



Copyright © 2008-2017 NVIDIA Corporation, 2701 San Tomas Expressway, Santa Clara, CA 95050 U.S.A. All rights reserved. www.nvidia.com