Matrix3x3

A simple class to handle 3x3 matrices The aim of this class is to be able to manipulate 3x3 matrices and 3D vectors as naturally as possible and make calculations readable. For that reason, the operators +, -, * are overloaded. (Reading a = a + b*2 - c is much easier to read than a = Sub(Add(a, Mul(b,2)),c) )

Please be careful about overflows when using those matrices wth integer types The calculations are carried with ElemT. eg : if you are using ubyte as the base type, all values will be modulo 256. This feature is necessary to use the class in a more general framework with ElemT != plain old data type.

struct Matrix3x3 (

ElemT

) if (

traits.isNumeric!ElemT

) {

alias ThisT = Matrix3x3!ElemT;

alias VectorT = Vector!(ElemT, 3);

alias FloatT = double;

alias FloatT = ElemT;

this(ElemT m00, ElemT m01, ElemT m02, ElemT m10, ElemT m11, ElemT m12, ElemT m20, ElemT m21, ElemT m22);

MatrixT opCast();

ThisT set(ElemT m00, ElemT m01, ElemT m02, ElemT m10, ElemT m11, ElemT m12, ElemT m20, ElemT m21, ElemT m22);

ThisT opOpAssign(ThisT mb);

ThisT opOpAssign(ThisT mb);

ThisT opOpAssign(ElemT k);

ThisT opBinary(ThisT mb);

ThisT opBinary(ThisT mb);

ThisT opUnary();

ThisT opBinary(ElemT k);

ThisT opBinaryRight(ElemT k);

VectorT opBinary(VectorT v);

ElemT trace();

ElemT[3][3] data [@property getter];

inout(ElemT) opIndex(size_t i, size_t j);

void opIndexAssign(ElemT value, size_t i, size_t j);

ElemT opIndex(size_t i);

ElemT opIndexAssign(ElemT value, size_t i);

ThisT transpose();

ThisT cofactorMatrixTransposed();

ThisT inverse();

VectorT row(int i);

VectorT col(int i);

static ThisT fromRows(VectorT v1, VectorT v2, VectorT v3);

static ThisT fromCols(VectorT v1, VectorT v2, VectorT v3);

void setRow(int i, VectorT v1);

void setCol(int i, VectorT v1);

static if(traits.isFloatingPoint!ElemT)

ThisT orthogonalize();

static ThisT identity();

static ThisT zero();

static ThisT diagonal(VectorT v);

static ThisT sym3(VectorT v);

static ThisT antiSym3(VectorT v);

static if(traits.isFloatingPoint!ElemT)

static ThisT rodrigues(VectorT rot);

ElemT mulBothSides(VectorT v, VectorT u);

Vector2!ElemT project(Vector!(ElemT, 2) v);

ElemT frobeniusNorm();

int eigenValues(VectorT eig_val);

static if(traits.isFloatingPoint!ElemT)

void symmetricEigenSolver(VectorT eig_val, Matrix3x3!ElemT eig_vec);

static if(traits.isFloatingPoint!ElemT)

bool isNaN();

bool opEquals(Matrix3x3!ElemT v);

string toString();

}

Constructors

this this(ThisT v): Undocumented in source.
this this(ElemT m00, ElemT m01, ElemT m02, ElemT m10, ElemT m11, ElemT m12, ElemT m20, ElemT m21, ElemT m22): Constructor explicitly setting the values of all the coefficient of the matrix.

Members

Aliases

FloatT alias FloatT = double: Undocumented in source.
FloatT alias FloatT = ElemT: Undocumented in source.
ThisT alias ThisT = Matrix3x3!ElemT: Undocumented in source.
VectorT alias VectorT = Vector!(ElemT, 3): Undocumented in source.

Functions

cofactorMatrixTransposed ThisT cofactorMatrixTransposed(): Undocumented in source. Be warned that the author may not have intended to support it.
col VectorT col(int i): Undocumented in source.
det ElemT det(): Undocumented in source. Be warned that the author may not have intended to support it.
eigenValues int eigenValues(VectorT eig_val): Undocumented in source. Be warned that the author may not have intended to support it.
frobeniusNorm ElemT frobeniusNorm(): Undocumented in source. Be warned that the author may not have intended to support it.
inverse ThisT inverse(): Undocumented in source. Be warned that the author may not have intended to support it.
isNaN bool isNaN(): Undocumented in source. Be warned that the author may not have intended to support it.
mulBothSides ElemT mulBothSides(VectorT v, VectorT u): Undocumented in source. Be warned that the author may not have intended to support it.
opBinary ThisT opBinary(ThisT mb): Undocumented in source. Be warned that the author may not have intended to support it.
opBinary ThisT opBinary(ThisT mb): Undocumented in source. Be warned that the author may not have intended to support it.
opBinary ThisT opBinary(ElemT k): Undocumented in source. Be warned that the author may not have intended to support it.
opBinary VectorT opBinary(VectorT v): Undocumented in source. Be warned that the author may not have intended to support it.
opBinaryRight ThisT opBinaryRight(ElemT k): Undocumented in source. Be warned that the author may not have intended to support it.
opCast MatrixT opCast(): Casting constructor
opEquals bool opEquals(Matrix3x3!ElemT v): Undocumented in source. Be warned that the author may not have intended to support it.
opIndex inout(ElemT) opIndex(size_t i, size_t j): Undocumented in source.
opIndex ElemT opIndex(size_t i): Undocumented in source.
opIndexAssign void opIndexAssign(ElemT value, size_t i, size_t j): Undocumented in source.
opIndexAssign ElemT opIndexAssign(ElemT value, size_t i): Undocumented in source.
opOpAssign ThisT opOpAssign(ThisT mb): Support Matrix operators +=, -=.
opOpAssign ThisT opOpAssign(ThisT mb): Undocumented in source. Be warned that the author may not have intended to support it.
opOpAssign ThisT opOpAssign(ElemT k): Undocumented in source. Be warned that the author may not have intended to support it.
opUnary ThisT opUnary(): Undocumented in source. Be warned that the author may not have intended to support it.
orthogonalize ThisT orthogonalize(): Undocumented in source. Be warned that the author may not have intended to support it.
project Vector2!ElemT project(Vector!(ElemT, 2) v): Undocumented in source. Be warned that the author may not have intended to support it.
row VectorT row(int i): Undocumented in source.
set ThisT set(ElemT m00, ElemT m01, ElemT m02, ElemT m10, ElemT m11, ElemT m12, ElemT m20, ElemT m21, ElemT m22): Change the value of all the coefficients of the matrix.
setCol void setCol(int i, VectorT v1): Undocumented in source.
setRow void setRow(int i, VectorT v1): Undocumented in source.
symmetricEigenSolver void symmetricEigenSolver(VectorT eig_val, Matrix3x3!ElemT eig_vec): Undocumented in source. Be warned that the author may not have intended to support it.
toString string toString(): Undocumented in source. Be warned that the author may not have intended to support it.
trace ElemT trace(): Undocumented in source. Be warned that the author may not have intended to support it.
transpose ThisT transpose(): Undocumented in source. Be warned that the author may not have intended to support it.

Properties

data ElemT[3][3] data [@property getter]: Undocumented in source. Be warned that the author may not have intended to support it.

Static functions

antiSym3 ThisT antiSym3(VectorT v): Undocumented in source. Be warned that the author may not have intended to support it.
diagonal ThisT diagonal(VectorT v): Undocumented in source. Be warned that the author may not have intended to support it.
fromCols ThisT fromCols(VectorT v1, VectorT v2, VectorT v3): Undocumented in source. Be warned that the author may not have intended to support it.
fromRows ThisT fromRows(VectorT v1, VectorT v2, VectorT v3): Undocumented in source. Be warned that the author may not have intended to support it.
identity ThisT identity(): Undocumented in source. Be warned that the author may not have intended to support it.
rodrigues ThisT rodrigues(VectorT rot): Undocumented in source. Be warned that the author may not have intended to support it.
sym3 ThisT sym3(VectorT v): Undocumented in source. Be warned that the author may not have intended to support it.
zero ThisT zero(): Undocumented in source. Be warned that the author may not have intended to support it.

Meta

Source

See Implementation

s2 util math matrix3x3 aliases

structs

Matrix3x3