47 lines
1.5 KiB
C++
47 lines
1.5 KiB
C++
/* --------------------------------------------------------------------
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EXTREME TUXRACER
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Copyright (C) 2013 Extreme Tuxracer Team
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This program is free software; you can redistribute it and/or
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modify it under the terms of the GNU General Public License
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as published by the Free Software Foundation; either version 2
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of the License, or (at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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---------------------------------------------------------------------*/
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#ifndef MATRICES_H
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#define MATRICES_H
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#include "vectors.h"
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template<int ix, int iy>
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class TMatrix {
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double _data[ix][iy];
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public:
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constexpr TMatrix() = default;
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TMatrix(const TVector3d& w1, const TVector3d& w2, const TVector3d& w3);
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double* operator[](int index) { return _data[index]; }
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constexpr const double* operator[](int index) const { return _data[index]; }
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constexpr const double* data() const { return (double*)_data; }
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void SetIdentity();
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void SetRotationMatrix(double angle, char axis);
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void SetTranslationMatrix(double x, double y, double z);
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void SetScalingMatrix(double x, double y, double z);
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TMatrix GetTransposed() const;
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static const TMatrix<ix, iy>& getIdentity();
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};
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template<int x, int y>
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TMatrix<x, y> operator*(const TMatrix<x, y>& l, const TMatrix<x, y>& r);
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#endif
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