/usr/include/psurface/StaticMatrix.h is in libpsurface-dev 2.0.0-2.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 | #ifndef STATIC_MATRIX_H
#define STATIC_MATRIX_H
#include "StaticVector.h"
namespace psurface {
template <class T, int N>
class StaticMatrix
: public std::tr1::array<StaticVector<T,N>, N>
{
public:
/** \brief Default constructor, doesn't initialize anything */
StaticMatrix() {}
/** \brief Construct matrix from column vectors */
StaticMatrix(const StaticVector<T,N>& a, const StaticVector<T,N>& b, const StaticVector<T,N>& c)
{
(*this)[0][0]=a[0]; (*this)[0][1]=b[0]; (*this)[0][2]=c[0];
(*this)[1][0]=a[1]; (*this)[1][1]=b[1]; (*this)[1][2]=c[1];
(*this)[2][0]=a[2]; (*this)[2][1]=b[2]; (*this)[2][2]=c[2];
}
/** \brief Constructor for 3x3 matrices from separate scalars */
StaticMatrix( const T& a00, const T& a01, const T& a02,
const T& a10, const T& a11, const T& a12,
const T& a20, const T& a21, const T& a22 )
{
assert(N==3);
(*this)[0][0]=a00; (*this)[0][1]=a01; (*this)[0][2]=a02;
(*this)[1][0]=a10; (*this)[1][1]=a11; (*this)[1][2]=a12;
(*this)[2][0]=a20; (*this)[2][1]=a21; (*this)[2][2]=a22;
}
/// Computes the determinant of the matrix.
T det() const {
T ad1 = (*this)[0][0] * ((*this)[1][1]*(*this)[2][2] - (*this)[1][2]*(*this)[2][1]);
T ad2 = (*this)[0][1] * ((*this)[1][0]*(*this)[2][2] - (*this)[1][2]*(*this)[2][0]);
T ad3 = (*this)[0][2] * ((*this)[1][0]*(*this)[2][1] - (*this)[1][1]*(*this)[2][0]);
return ad1 - ad2 + ad3;
}
StaticMatrix<T,N> inverse() const {
StaticMatrix<T,N> result;
assert(N==3);
T d = det();
result[0][0] = ((*this)[1][1]*(*this)[2][2] - (*this)[1][2]*(*this)[2][1]) / d;
result[0][1] = -((*this)[0][1]*(*this)[2][2] - (*this)[0][2]*(*this)[2][1]) / d;
result[0][2] = ((*this)[0][1]*(*this)[1][2] - (*this)[0][2]*(*this)[1][1]) / d;
result[1][0] = -((*this)[1][0]*(*this)[2][2] - (*this)[1][2]*(*this)[2][0]) / d;
result[1][1] = ((*this)[0][0]*(*this)[2][2] - (*this)[0][2]*(*this)[2][0]) / d;
result[1][2] = -((*this)[0][0]*(*this)[1][2] - (*this)[0][2]*(*this)[1][0]) / d;
result[2][0] = ((*this)[1][0]*(*this)[2][1] - (*this)[1][1]*(*this)[2][0]) / d;
result[2][1] = -((*this)[0][0]*(*this)[2][1] - (*this)[0][1]*(*this)[2][0]) / d;
result[2][2] = ((*this)[0][0]*(*this)[1][1] - (*this)[0][1]*(*this)[1][0]) / d;
return result;
}
void multMatrixVec(const StaticVector<T,N>& src, StaticVector<T,N>& dst) const {
assert(N==3);
dst[0] = src[0]*(*this)[0][0]+src[1]*(*this)[0][1]+src[2]*(*this)[0][2];
dst[1] = src[0]*(*this)[1][0]+src[1]*(*this)[1][1]+src[2]*(*this)[1][2];
dst[2] = src[0]*(*this)[2][0]+src[1]*(*this)[2][1]+src[2]*(*this)[2][2];
}
};
} // namespace psurface
#endif
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