| 41 |
|
Rotating points in space can be performed by a vector-matrix |
| 42 |
|
multiplication. The matrix3x3 class is designed as a helper to the |
| 43 |
|
vector3 class for rotating points in space. The rotation matrix may be |
| 44 |
< |
initialised by passing in the array of doubleing point values, by |
| 44 |
> |
initialised by passing in the array of floating point values, by |
| 45 |
|
passing euler angles, or a rotation vector and angle of rotation about |
| 46 |
|
that vector. Once set, the matrix3x3 class can be used to rotate |
| 47 |
|
vectors by the overloaded multiplication operator. The following |
| 102 |
|
generate the 0-matrix. If the length of the axis is close to |
| 103 |
|
zero, but not == 0.0, this method may behave in unexpected |
| 104 |
|
ways and return almost random results; details may depend on |
| 105 |
< |
your particular doubleing point implementation. The use of this |
| 105 |
> |
your particular floating point implementation. The use of this |
| 106 |
|
method is therefore highly discouraged, unless you are certain |
| 107 |
|
that the length is in a reasonable range, away from 0.0 |
| 108 |
|
(Stefan Kebekus) |
| 137 |
|
generate the 0-matrix. If the length of the axis is close to |
| 138 |
|
zero, but not == 0.0, this method may behave in unexpected ways |
| 139 |
|
and return almost random results; details may depend on your |
| 140 |
< |
particular doubleing point implementation. The use of this method |
| 140 |
> |
particular floating point implementation. The use of this method |
| 141 |
|
is therefore highly discouraged, unless you are certain that the |
| 142 |
|
length is in a reasonable range, away from 0.0 (Stefan |
| 143 |
|
Kebekus) |
| 177 |
|
#undef y |
| 178 |
|
#undef z |
| 179 |
|
|
| 180 |
< |
void matrix3x3::SetColumn(int col, const vector3 &v) |
| 180 |
> |
void matrix3x3::SetColumn(int col, const vector3 &v) throw(OBError) |
| 181 |
|
{ |
| 182 |
|
if (col > 2) |
| 183 |
|
{ |
| 184 |
< |
obErrorLog.ThrowError(__func__, |
| 185 |
< |
"The method was called with col > 2.", obError); |
| 184 |
> |
OBError er("matrix3x3::SetColumn(int col, const vector3 &v)", |
| 185 |
> |
"The method was called with col > 2.", |
| 186 |
> |
"This is a programming error in your application."); |
| 187 |
> |
throw er; |
| 188 |
|
} |
| 189 |
|
|
| 190 |
|
ele[0][col] = v.x(); |
| 192 |
|
ele[2][col] = v.z(); |
| 193 |
|
} |
| 194 |
|
|
| 195 |
< |
void matrix3x3::SetRow(int row, const vector3 &v) |
| 195 |
> |
void matrix3x3::SetRow(int row, const vector3 &v) throw(OBError) |
| 196 |
|
{ |
| 197 |
|
if (row > 2) |
| 198 |
|
{ |
| 199 |
< |
obErrorLog.ThrowError(__func__, |
| 200 |
< |
"The method was called with row > 2.", obError); |
| 199 |
> |
OBError er("matrix3x3::SetRow(int row, const vector3 &v)", |
| 200 |
> |
"The method was called with row > 2.", |
| 201 |
> |
"This is a programming error in your application."); |
| 202 |
> |
throw er; |
| 203 |
|
} |
| 204 |
|
|
| 205 |
|
ele[row][0] = v.x(); |
| 207 |
|
ele[row][2] = v.z(); |
| 208 |
|
} |
| 209 |
|
|
| 210 |
< |
vector3 matrix3x3::GetColumn(unsigned int col) |
| 210 |
> |
vector3 matrix3x3::GetColumn(unsigned int col) const throw(OBError) |
| 211 |
|
{ |
| 212 |
|
if (col > 2) |
| 213 |
|
{ |
| 214 |
< |
obErrorLog.ThrowError(__func__, |
| 215 |
< |
"The method was called with col > 2.", obError); |
| 214 |
> |
OBError er("matrix3x3::GetColumn(unsigned int col) const", |
| 215 |
> |
"The method was called with col > 2.", |
| 216 |
> |
"This is a programming error in your application."); |
| 217 |
> |
throw er; |
| 218 |
|
} |
| 219 |
|
|
| 220 |
|
return vector3(ele[0][col], ele[1][col], ele[2][col]); |
| 221 |
|
} |
| 222 |
|
|
| 223 |
< |
vector3 matrix3x3::GetRow(unsigned int row) |
| 223 |
> |
vector3 matrix3x3::GetRow(unsigned int row) const throw(OBError) |
| 224 |
|
{ |
| 225 |
|
if (row > 2) |
| 226 |
|
{ |
| 227 |
< |
obErrorLog.ThrowError(__func__, |
| 228 |
< |
"The method was called with row > 2.", obError); |
| 227 |
> |
OBError er("matrix3x3::GetRow(unsigned int row) const", |
| 228 |
> |
"The method was called with row > 2.", |
| 229 |
> |
"This is a programming error in your application."); |
| 230 |
> |
throw er; |
| 231 |
|
} |
| 232 |
|
|
| 233 |
|
return vector3(ele[row][0], ele[row][1], ele[row][2]); |
| 289 |
|
|
| 290 |
|
\warning If the determinant is close to zero, but not == 0.0, |
| 291 |
|
this method may behave in unexpected ways and return almost |
| 292 |
< |
random results; details may depend on your particular doubleing |
| 292 |
> |
random results; details may depend on your particular floating |
| 293 |
|
point implementation. The use of this method is therefore highly |
| 294 |
|
discouraged, unless you are certain that the determinant is in a |
| 295 |
|
reasonable range, away from 0.0 (Stefan Kebekus) |
| 296 |
|
*/ |
| 297 |
< |
matrix3x3 matrix3x3::inverse(void) |
| 297 |
> |
matrix3x3 matrix3x3::inverse(void) const throw(OBError) |
| 298 |
|
{ |
| 299 |
|
double det = determinant(); |
| 300 |
|
if (fabs(det) <= 1e-6) |
| 301 |
|
{ |
| 302 |
< |
obErrorLog.ThrowError(__func__, |
| 303 |
< |
"The method was called on a matrix with |determinant| <= 1e-6.", obError); |
| 302 |
> |
OBError er("matrix3x3::invert(void)", |
| 303 |
> |
"The method was called on a matrix with |determinant| <= 1e-6.", |
| 304 |
> |
"This is a runtime or a programming error in your application."); |
| 305 |
> |
throw er; |
| 306 |
|
} |
| 307 |
|
|
| 308 |
|
matrix3x3 inverse; |
| 435 |
|
\endcode |
| 436 |
|
|
| 437 |
|
*/ |
| 438 |
< |
matrix3x3 matrix3x3::findEigenvectorsIfSymmetric(vector3 &eigenvals) |
| 438 |
> |
matrix3x3 matrix3x3::findEigenvectorsIfSymmetric(vector3 &eigenvals) const throw(OBError) |
| 439 |
|
{ |
| 440 |
|
matrix3x3 result; |
| 441 |
|
|
| 442 |
|
if (!isSymmetric()) |
| 443 |
|
{ |
| 444 |
< |
obErrorLog.ThrowError(__func__, |
| 445 |
< |
"The method was called on a matrix that was not symmetric, i.e. where isSymetric() == false.", obError); |
| 444 |
> |
OBError er("matrix3x3::findEigenvectorsIfSymmetric(vector3 &eigenvals) const throw(OBError)", |
| 445 |
> |
"The method was called on a matrix that was not symmetric, i.e. where isSymetric() == false.", |
| 446 |
> |
"This is a runtime or a programming error in your application."); |
| 447 |
> |
throw er; |
| 448 |
|
} |
| 449 |
|
|
| 450 |
|
double d[3]; |
