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https://github.com/UberGuidoZ/Flipper.git
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66 lines
2.5 KiB
C++
66 lines
2.5 KiB
C++
/*
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* Copyright 2019 Google Inc. All Rights Reserved.
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#ifndef CARDBOARD_SDK_UTIL_MATRIXUTILS_H_
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#define CARDBOARD_SDK_UTIL_MATRIXUTILS_H_
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//
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// This file contains operators and free functions that define generic Matrix
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// operations.
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//
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#include "matrix_3x3.h"
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#include "rotation.h"
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#include "vector.h"
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namespace cardboard {
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// Returns the transpose of a matrix.
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Matrix3x3 Transpose(const Matrix3x3& m);
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// Multiplies a Matrix and a column Vector of the same Dimension to produce
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// another column Vector.
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Vector3 operator*(const Matrix3x3& m, const Vector3& v);
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// Returns the determinant of the matrix. This function is defined for all the
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// typedef'ed Matrix types.
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double Determinant(const Matrix3x3& m);
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// Returns the adjugate of the matrix, which is defined as the transpose of the
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// cofactor matrix. This function is defined for all the typedef'ed Matrix
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// types. The determinant of the matrix is computed as a side effect, so it is
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// returned in the determinant parameter if it is not null.
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Matrix3x3 AdjugateWithDeterminant(const Matrix3x3& m, double* determinant);
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// Returns the inverse of the matrix. This function is defined for all the
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// typedef'ed Matrix types. The determinant of the matrix is computed as a
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// side effect, so it is returned in the determinant parameter if it is not
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// null. If the determinant is 0, the returned matrix has all zeroes.
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Matrix3x3 InverseWithDeterminant(const Matrix3x3& m, double* determinant);
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// Returns the inverse of the matrix. This function is defined for all the
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// typedef'ed Matrix types. If the determinant of the matrix is 0, the returned
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// matrix has all zeroes.
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Matrix3x3 Inverse(const Matrix3x3& m);
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// Returns a 3x3 Matrix representing a 3D rotation. This creates a Matrix that
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// does not work with homogeneous coordinates, so the function name ends in
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// "NH".
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Matrix3x3 RotationMatrixNH(const Rotation& r);
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} // namespace cardboard
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#endif // CARDBOARD_SDK_UTIL_MATRIXUTILS_H_
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