TaoDeMatrix6Inl.h

/* Copyright (c) 2005 Arachi, Inc. and Stanford University. All rights reserved.
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#ifndef _deMatrix6_inl
#define _deMatrix6_inl

DE_MATH_API deFloat& deMatrix6::elementAt(const deInt i, const deInt j) { 
  return _mat3[(i / 3) * 2 + (j / 3)].elementAt(i % 3, j % 3); 
}
DE_MATH_API const deFloat& deMatrix6::elementAt(const deInt i, const deInt j) const {
  return _mat3[(i / 3) * 2 + (j / 3)].elementAt(i % 3, j % 3); 
}
DE_MATH_API void deMatrix6::operator=(const deMatrix6& m) {
  _mat3[0] = m._mat3[0];  _mat3[1] = m._mat3[1];
  _mat3[2] = m._mat3[2];  _mat3[3] = m._mat3[3];
}
DE_MATH_API void deMatrix6::zero() {
  _mat3[0].zero();  _mat3[1].zero();
  _mat3[2].zero();  _mat3[3].zero();
}
DE_MATH_API void deMatrix6::identity() {
  _mat3[0].identity();  _mat3[1].zero();
  _mat3[2].zero();    _mat3[3].identity();
}
DE_MATH_API void deMatrix6::negate(const deMatrix6& m) {
  _mat3[0].negate(m._mat3[0]);  _mat3[1].negate(m._mat3[1]);
  _mat3[2].negate(m._mat3[2]);  _mat3[3].negate(m._mat3[3]);
}
DE_MATH_API void deMatrix6::add(const deMatrix6& m1, const deMatrix6& m2) {
  _mat3[0].add(m1._mat3[0], m2._mat3[0]); _mat3[1].add(m1._mat3[1], m2._mat3[1]);
  _mat3[2].add(m1._mat3[2], m2._mat3[2]); _mat3[3].add(m1._mat3[3], m2._mat3[3]);
}
DE_MATH_API void deMatrix6::subtract(const deMatrix6& m1, const deMatrix6& m2) {
  _mat3[0].subtract(m1._mat3[0], m2._mat3[0]);  _mat3[1].subtract(m1._mat3[1], m2._mat3[1]);
  _mat3[2].subtract(m1._mat3[2], m2._mat3[2]);  _mat3[3].subtract(m1._mat3[3], m2._mat3[3]);
}
DE_MATH_API void deMatrix6::multiply(const deMatrix6& m, const deFloat s) {
  _mat3[0].multiply(m._mat3[0], s); _mat3[1].multiply(m._mat3[1], s);
  _mat3[2].multiply(m._mat3[2], s); _mat3[3].multiply(m._mat3[3], s);
}
DE_MATH_API void deMatrix6::operator+=(const deMatrix6& m) {
  _mat3[0] += m._mat3[0]; _mat3[1] += m._mat3[1];
  _mat3[2] += m._mat3[2]; _mat3[3] += m._mat3[3];
}
DE_MATH_API void deMatrix6::operator-=(const deMatrix6& m) {
  _mat3[0] -= m._mat3[0]; _mat3[1] -= m._mat3[1];
  _mat3[2] -= m._mat3[2]; _mat3[3] -= m._mat3[3];
}
DE_MATH_API void deMatrix6::operator*=(const deFloat s) {
  _mat3[0] *= s;  _mat3[1] *= s;
  _mat3[2] *= s;  _mat3[3] *= s;
}
DE_MATH_API void deMatrix6::transpose(const deMatrix6& m) {
  _mat3[0].transpose(m._mat3[0]); _mat3[1].transpose(m._mat3[2]);
  _mat3[2].transpose(m._mat3[1]); _mat3[3].transpose(m._mat3[3]);
}
DE_MATH_API void deMatrix6::set(const deTransform& t) {
  _mat3[0] = t.rotation();
  _mat3[1].zero();
  _mat3[2].crossMultiply(t.translation(), _mat3[0]);
  _mat3[3] = _mat3[0];
}

#endif // _deMatrix6_inl