Represents a 3D rotation matrix and provides operations for rotation and matrix manipulation. More...

#include <RotationMatrix.h>

Collaboration diagram for RotationMatrix:

Public Member Functions
Vector3D	ConvertCoordinateToVector ()
	Converts the current coordinate system to a vector representation.

void	ReadjustMatrix ()
	Recalculates and adjusts the rotation matrix axes to maintain orthogonality.

Vector3D	Rotate (Vector3D rotation)
	Rotates the matrix by a given rotation vector.

Vector3D	RotateX (float theta)
	Rotates the matrix around the X-axis.

Vector3D	RotateY (float theta)
	Rotates the matrix around the Y-axis.

Vector3D	RotateZ (float theta)
	Rotates the matrix around the Z-axis.

void	RotateRelative (RotationMatrix rM)
	Rotates this matrix relative to another rotation matrix.

	RotationMatrix ()
	Default constructor. Initializes the matrix to the identity matrix.

	RotationMatrix (Vector3D axes)
	Constructs a rotation matrix from a single vector.

	RotationMatrix (Vector3D X, Vector3D Y, Vector3D Z)
	Constructs a rotation matrix from three orthogonal vectors.

RotationMatrix	Multiply (float d)
	Multiplies the rotation matrix by a scalar.

RotationMatrix	Multiply (RotationMatrix rM)
	Multiplies the rotation matrix by another rotation matrix.

RotationMatrix	Normalize ()
	Normalizes the rotation matrix to ensure orthogonality.

RotationMatrix	Transpose ()
	Transposes the rotation matrix.

RotationMatrix	Inverse ()
	Inverts the rotation matrix.

bool	IsEqual (RotationMatrix rM)
	Checks if two rotation matrices are equal.

float	Determinant ()
	Computes the determinant of the rotation matrix.

String	ToString ()
	Converts the rotation matrix to a string representation.

RotationMatrix	operator= (RotationMatrix rM)
	Assignment operator for rotation matrices.

Static Public Member Functions
static Vector3D	RotateVector (Vector3D rotate, Vector3D coordinates)
	Rotates a vector using the rotation matrix.

Public Attributes
Vector3D	XAxis
	X-axis vector of the rotation matrix.

Vector3D	YAxis
	Y-axis vector of the rotation matrix.

Vector3D	ZAxis
	Z-axis vector of the rotation matrix.

Private Attributes
Vector3D	InitialVector
	Initial vector used for transformations.

bool	didRotate
	Tracks whether the matrix has been rotated.

Detailed Description

Represents a 3D rotation matrix and provides operations for rotation and matrix manipulation.

Definition at line 23 of file RotationMatrix.h.

Constructor & Destructor Documentation

◆ RotationMatrix() [1/3]

RotationMatrix ( )

Default constructor. Initializes the matrix to the identity matrix.

Definition at line 86 of file RotationMatrix.cpp.

References XAxis, YAxis, and ZAxis.

Referenced by RotateVector().

◆ RotationMatrix() [2/3]

RotationMatrix ( Vector3D axes )

Constructs a rotation matrix from a single vector.

Parameters

axes	A vector representing the axes for rotation.

Definition at line 92 of file RotationMatrix.cpp.

References XAxis, YAxis, and ZAxis.

◆ RotationMatrix() [3/3]

RotationMatrix	(	Vector3D	X,
		Vector3D	Y,
		Vector3D	Z
	)

Constructs a rotation matrix from three orthogonal vectors.

Parameters

X	X-axis vector.
Y	Y-axis vector.
Z	Z-axis vector.

Definition at line 98 of file RotationMatrix.cpp.

References XAxis, YAxis, and ZAxis.

Member Function Documentation

◆ ConvertCoordinateToVector()

Vector3D ConvertCoordinateToVector ( )

Converts the current coordinate system to a vector representation.

Returns: A vector representing the transformed coordinate.

Definition at line 3 of file RotationMatrix.cpp.

References didRotate, InitialVector, Vector3D::X, XAxis, Vector3D::Y, YAxis, Vector3D::Z, and ZAxis.

Referenced by Rotate(), RotateX(), RotateY(), and RotateZ().

◆ Determinant()

float Determinant ( )

Computes the determinant of the rotation matrix.

Returns: The determinant value.

Definition at line 156 of file RotationMatrix.cpp.

References Vector3D::X, XAxis, Vector3D::Y, YAxis, Vector3D::Z, and ZAxis.

Referenced by Inverse().

◆ Inverse()

RotationMatrix Inverse ( )

Inverts the rotation matrix.

Returns: The inverted rotation matrix.

Definition at line 139 of file RotationMatrix.cpp.

References Vector3D::CrossProduct(), Determinant(), Multiply(), Transpose(), XAxis, YAxis, and ZAxis.

◆ IsEqual()

bool IsEqual ( RotationMatrix rM )

Checks if two rotation matrices are equal.

Parameters

rM	The rotation matrix to compare with.

Returns: True if the matrices are equal, false otherwise.

Definition at line 152 of file RotationMatrix.cpp.

References Vector3D::IsEqual(), XAxis, YAxis, and ZAxis.

◆ Multiply() [1/2]

RotationMatrix Multiply ( float d )

Multiplies the rotation matrix by a scalar.

Parameters

d	The scalar value to multiply.

Returns: The resulting scaled rotation matrix.

Definition at line 104 of file RotationMatrix.cpp.

References Vector3D::Multiply(), XAxis, YAxis, and ZAxis.

Referenced by Inverse(), and RotateRelative().

◆ Multiply() [2/2]

RotationMatrix Multiply ( RotationMatrix rM )

Multiplies the rotation matrix by another rotation matrix.

Parameters

rM	The rotation matrix to multiply by.

Returns: The resulting rotation matrix.

Definition at line 112 of file RotationMatrix.cpp.

References Vector3D::Multiply(), XAxis, YAxis, and ZAxis.

◆ Normalize()

RotationMatrix Normalize ( )

Normalizes the rotation matrix to ensure orthogonality.

Returns: The normalized rotation matrix.

Definition at line 120 of file RotationMatrix.cpp.

References Vector3D::CrossProduct(), Vector3D::UnitSphere(), XAxis, and YAxis.

◆ operator=()

RotationMatrix operator= ( RotationMatrix rM )

Assignment operator for rotation matrices.

Parameters

rM	The rotation matrix to assign.

Returns: The resulting rotation matrix.

Definition at line 184 of file RotationMatrix.cpp.

References XAxis, YAxis, and ZAxis.

◆ ReadjustMatrix()

void ReadjustMatrix ( )

Recalculates and adjusts the rotation matrix axes to maintain orthogonality.

Definition at line 12 of file RotationMatrix.cpp.

References Vector3D::X, XAxis, Vector3D::Y, YAxis, Vector3D::Z, and ZAxis.

Referenced by Rotate().

◆ Rotate()

Vector3D Rotate ( Vector3D rotation )

Rotates the matrix by a given rotation vector.

Parameters

rotation A vector representing the rotation in radians for each axis.

Returns: The resulting rotated vector.

Definition at line 22 of file RotationMatrix.cpp.

References ConvertCoordinateToVector(), didRotate, ReadjustMatrix(), RotateX(), RotateY(), RotateZ(), Vector3D::X, Vector3D::Y, and Vector3D::Z.

◆ RotateRelative()

void RotateRelative ( RotationMatrix rM )

Rotates this matrix relative to another rotation matrix.

Parameters

rM	The rotation matrix to apply.

Definition at line 82 of file RotationMatrix.cpp.

References Multiply().

◆ RotateVector()

Vector3D RotateVector	(	Vector3D	rotate,
		Vector3D	coordinates
	)

static

Rotates a vector using the rotation matrix.

Parameters

rotate	The vector to rotate.
coordinates	The rotation coordinates.

Returns: The rotated vector.

Definition at line 162 of file RotationMatrix.cpp.

References RotationMatrix().

Referenced by Rotation::DirectionAngleToQuaternion().

◆ RotateX()

Vector3D RotateX ( float theta )

Rotates the matrix around the X-axis.

Parameters

theta The angle in radians to rotate.

Returns: The resulting rotated vector.

Definition at line 49 of file RotationMatrix.cpp.

References ConvertCoordinateToVector(), Mathematics::DegreesToRadians(), Vector3D::Multiply(), XAxis, YAxis, and ZAxis.

Referenced by Rotate().

◆ RotateY()

Vector3D RotateY ( float theta )

Rotates the matrix around the Y-axis.

Parameters

theta The angle in radians to rotate.

Returns: The resulting rotated vector.

Definition at line 60 of file RotationMatrix.cpp.

References ConvertCoordinateToVector(), Mathematics::DegreesToRadians(), Vector3D::Multiply(), XAxis, YAxis, and ZAxis.

Referenced by Rotate().

◆ RotateZ()

Vector3D RotateZ ( float theta )

Rotates the matrix around the Z-axis.

Parameters

theta The angle in radians to rotate.

Returns: The resulting rotated vector.

Definition at line 71 of file RotationMatrix.cpp.

References ConvertCoordinateToVector(), Mathematics::DegreesToRadians(), Vector3D::Multiply(), XAxis, YAxis, and ZAxis.

Referenced by Rotate().

◆ ToString()

String ToString ( )

Converts the rotation matrix to a string representation.

Returns: A string representing the matrix.

Definition at line 176 of file RotationMatrix.cpp.

References Vector3D::ToString(), XAxis, YAxis, and ZAxis.

◆ Transpose()

RotationMatrix Transpose ( )

Transposes the rotation matrix.

Returns: The transposed rotation matrix.

Definition at line 131 of file RotationMatrix.cpp.

References Vector3D::X, XAxis, Vector3D::Y, YAxis, Vector3D::Z, and ZAxis.

Referenced by Inverse().

Member Data Documentation

◆ didRotate

bool didRotate

private

Tracks whether the matrix has been rotated.

Definition at line 26 of file RotationMatrix.h.

Referenced by ConvertCoordinateToVector(), and Rotate().

◆ InitialVector

Vector3D InitialVector

private

Initial vector used for transformations.

Definition at line 25 of file RotationMatrix.h.

Referenced by ConvertCoordinateToVector().

◆ XAxis

Vector3D XAxis

X-axis vector of the rotation matrix.

Definition at line 29 of file RotationMatrix.h.

Referenced by ConvertCoordinateToVector(), Determinant(), Inverse(), IsEqual(), Multiply(), Multiply(), Normalize(), operator=(), ReadjustMatrix(), RotateX(), RotateY(), RotateZ(), RotationMatrix(), RotationMatrix(), RotationMatrix(), ToString(), and Transpose().

◆ YAxis

Vector3D YAxis

Y-axis vector of the rotation matrix.

Definition at line 30 of file RotationMatrix.h.

Referenced by ConvertCoordinateToVector(), Determinant(), Inverse(), IsEqual(), Multiply(), Multiply(), Normalize(), operator=(), ReadjustMatrix(), RotateX(), RotateY(), RotateZ(), RotationMatrix(), RotationMatrix(), RotationMatrix(), ToString(), and Transpose().

◆ ZAxis

Vector3D ZAxis

Z-axis vector of the rotation matrix.

Definition at line 31 of file RotationMatrix.h.

Referenced by ConvertCoordinateToVector(), Determinant(), Inverse(), IsEqual(), Multiply(), Multiply(), operator=(), ReadjustMatrix(), RotateX(), RotateY(), RotateZ(), RotationMatrix(), RotationMatrix(), RotationMatrix(), ToString(), and Transpose().

The documentation for this class was generated from the following files:

Public Member Functions

Static Public Member Functions

Public Attributes

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ RotationMatrix() [1/3]

◆ RotationMatrix() [2/3]

◆ RotationMatrix() [3/3]

Member Function Documentation

◆ ConvertCoordinateToVector()

◆ Determinant()

◆ Inverse()

◆ IsEqual()

◆ Multiply() [1/2]

◆ Multiply() [2/2]

◆ Normalize()

◆ operator=()

◆ ReadjustMatrix()

◆ Rotate()

◆ RotateRelative()

◆ RotateVector()

◆ RotateX()

◆ RotateY()

◆ RotateZ()

◆ ToString()

◆ Transpose()

Member Data Documentation

◆ didRotate

◆ InitialVector

◆ XAxis

◆ YAxis

◆ ZAxis