void bbe::Mat3x3::inverse()
{
float det = valeurs[0] * (valeurs[4] * valeurs[8] - valeurs[7] * valeurs[5])
- valeurs[1] * (valeurs[3] * valeurs[8] - valeurs[6] * valeurs[5])
+ valeurs[2] * (valeurs[3] * valeurs[7] - valeurs[6] * valeurs[4]);
if(fabs(det) < 0.0005)
{
return;
}
float newmat[9];
newmat[0] = valeurs[4] * valeurs[8] - valeurs[5] * valeurs[7] / det;
newmat[1] = -(valeurs[1] * valeurs[8] - valeurs[7] * valeurs[2]) / det;
newmat[2] = valeurs[1] * valeurs[5] - valeurs[4] * valeurs[2] / det;
newmat[3] = -(valeurs[3] * valeurs[8] - valeurs[5] * valeurs[6]) / det;
newmat[4] = valeurs[0] * valeurs[8] - valeurs[6] * valeurs[2] / det;
newmat[5] = -(valeurs[0] * valeurs[5] - valeurs[3] * valeurs[2]) / det;
newmat[6] = valeurs[3] * valeurs[7] - valeurs[6] * valeurs[4] / det;
newmat[7] = -(valeurs[0] * valeurs[7] - valeurs[6] * valeurs[1]) / det;
newmat[8] = valeurs[0] * valeurs[4] - valeurs[1] * valeurs[3] / det;
*this = Mat3x3(newmat);
}
Mat3x3 Mat3x3::operator*(const float _value) const
{
return Mat3x3(entries[0] * _value,
entries[1] * _value,
entries[2] * _value,
entries[3] * _value,
entries[4] * _value,
entries[5] * _value,
entries[6] * _value,
entries[7] * _value,
entries[8] * _value);
}
Mat3x3 Mat3x3::operator -(const Mat3x3 & _value) const
{
return Mat3x3(entries[0] - _value.entries[0],
entries[1] - _value.entries[1],
entries[2] - _value.entries[2],
entries[3] - _value.entries[3],
entries[4] - _value.entries[4],
entries[5] - _value.entries[5],
entries[6] - _value.entries[6],
entries[7] - _value.entries[7],
entries[8] - _value.entries[8]);
}
Mat3x3 Mat3x3::operator+(const Mat3x3 & _value) const
{
return Mat3x3(entries[0] + _value.entries[0],
entries[1] + _value.entries[1],
entries[2] + _value.entries[2],
entries[3] + _value.entries[3],
entries[4] + _value.entries[4],
entries[5] + _value.entries[5],
entries[6] + _value.entries[6],
entries[7] + _value.entries[7],
entries[8] + _value.entries[8]);
}
//Transform matrix by X and Y
Mat3x3 Mat3x3::TransformMat3(float xChange, float yChange, Mat3x3 &otherMatrix)
{
//Create change matrix
std::vector<std::vector<float>> changeMatrix =
{
{ 1, 0, 0 },
{ 0, 1, 0 },
{ xChange, yChange, 1 }
};
//Turn change matrix into a mat3x3
Mat3x3 ChangeMat = Mat3x3(changeMatrix);
//Multiply and return the result
return ChangeMat * otherMatrix;
}
//Rotate Mat3x3 on the Z-axis by x degrees
Mat3x3 Mat3x3::RotMat3_Z(float degreeChange, Mat3x3 &otherMatrix)
{
//Create change matrix
std::vector<std::vector<float>> changeMatrix =
{
{ (cos(degreeChange)), (sin(degreeChange)), 0 },
{ (asin(degreeChange)), (cos(degreeChange)), 0 },
{ 0, 0, 1 }
};
//Turn change matrix into a mat3x3
Mat3x3 ChangeMat = Mat3x3(changeMatrix);
//Multiply and return the result
return ChangeMat * otherMatrix;
}
