Matrix3x3.h

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#pragma once
#include <glm/mat3x3.hpp>
#include "Vector.h"
#include "SquareMatrix.h"
 
namespace dyno {
 
    template <typename T, int Dim> class Vector;
 
    /*
     * SquareMatrix<T,3> are defined for C++ fundamental integers types and floating-point types
     * Elements are stored in a column-major order
     */
    template <typename T>
    class SquareMatrix<T, 3>
    {
    public:
        typedef T VarType;
 
        DYN_FUNC SquareMatrix();
        DYN_FUNC explicit SquareMatrix(T);
        DYN_FUNC SquareMatrix(T x00, T x01, T x02, T x10, T x11, T x12, T x20, T x21, T x22);
        DYN_FUNC SquareMatrix(const Vector<T, 3> &row1, const Vector<T, 3> &row2, const Vector<T, 3> &row3);
 
        DYN_FUNC SquareMatrix(const SquareMatrix<T, 3>&);
        DYN_FUNC ~SquareMatrix();
 
        DYN_FUNC  static unsigned int rows() { return 3; }
        DYN_FUNC  static unsigned int cols() { return 3; }
 
        DYN_FUNC T& operator() (unsigned int i, unsigned int j);
        DYN_FUNC const T& operator() (unsigned int i, unsigned int j) const;
 
        DYN_FUNC const Vector<T, 3> row(unsigned int i) const;
        DYN_FUNC const Vector<T, 3> col(unsigned int i) const;
 
        DYN_FUNC void setRow(unsigned int i, const Vector<T, 3>& vec);
        DYN_FUNC void setCol(unsigned int j, const Vector<T, 3>& vec);
 
        DYN_FUNC const SquareMatrix<T, 3> operator+ (const SquareMatrix<T, 3> &) const;
        DYN_FUNC SquareMatrix<T, 3>& operator+= (const SquareMatrix<T, 3> &);
        DYN_FUNC const SquareMatrix<T, 3> operator- (const SquareMatrix<T, 3> &) const;
        DYN_FUNC SquareMatrix<T, 3>& operator-= (const SquareMatrix<T, 3> &);
        DYN_FUNC const SquareMatrix<T, 3> operator* (const SquareMatrix<T, 3> &) const;
        DYN_FUNC SquareMatrix<T, 3>& operator*= (const SquareMatrix<T, 3> &);
        DYN_FUNC const SquareMatrix<T, 3> operator/ (const SquareMatrix<T, 3> &) const;
        DYN_FUNC SquareMatrix<T, 3>& operator/= (const SquareMatrix<T, 3> &);
 
        DYN_FUNC SquareMatrix<T, 3>& operator= (const SquareMatrix<T, 3> &);
 
        DYN_FUNC bool operator== (const SquareMatrix<T, 3> &) const;
        DYN_FUNC bool operator!= (const SquareMatrix<T, 3> &) const;
 
        DYN_FUNC const SquareMatrix<T, 3> operator* (const T&) const;
        DYN_FUNC SquareMatrix<T, 3>& operator*= (const T&);
        DYN_FUNC const SquareMatrix<T, 3> operator/ (const T&) const;
        DYN_FUNC SquareMatrix<T, 3>& operator/= (const T&);
 
        DYN_FUNC const Vector<T, 3> operator* (const Vector<T, 3> &) const;
 
        DYN_FUNC const SquareMatrix<T, 3> operator- (void) const;
 
        DYN_FUNC const SquareMatrix<T, 3> transpose() const;
        DYN_FUNC const SquareMatrix<T, 3> inverse() const;
 
        DYN_FUNC T determinant() const;
        DYN_FUNC T trace() const;
        DYN_FUNC T doubleContraction(const SquareMatrix<T, 3> &) const;//double contraction
        DYN_FUNC T frobeniusNorm() const;
        DYN_FUNC T oneNorm() const;
        DYN_FUNC T infNorm() const;
 
        DYN_FUNC static const SquareMatrix<T, 3> identityMatrix();
        DYN_FUNC static const SquareMatrix<T, 3> diagonalMatrix(const Vector<T, 3> vec);
 
        DYN_FUNC T* getDataPtr() { return &data_[0].x; }
 
    protected:
        Vector<T, 3> data_[3]; //default: zero matrix
    };
 
    //make * operator commutative
    template <typename S, typename T>
    DYN_FUNC  const SquareMatrix<T, 3> operator* (S scale, const SquareMatrix<T, 3> &mat)
    {
        return mat * scale;
    }
 
    template class SquareMatrix<float, 3>;
    template class SquareMatrix<double, 3>;
    //convenient typedefs
    typedef SquareMatrix<float, 3> Mat3f;
    typedef SquareMatrix<double, 3> Mat3d;
 
}  //end of namespace dyno
 
#include "Matrix3x3.inl"