b2Mat33 Struct Reference

A 3-by-3 matrix. Stored in column-major order. More...

#include <b2_math.h>

Public Member Functions
	b2Mat33 ()
	The default constructor does nothing (for performance).
	b2Mat33 (const b2Vec3 &c1, const b2Vec3 &c2, const b2Vec3 &c3)
	Construct this matrix using columns.
void	SetZero ()
	Set this matrix to all zeros.
b2Vec3	Solve33 (const b2Vec3 &b) const
b2Vec2	Solve22 (const b2Vec2 &b) const
void	GetInverse22 (b2Mat33 *M) const
void	GetSymInverse33 (b2Mat33 *M) const

Public Attributes
b2Vec3	ex
b2Vec3	ey
b2Vec3	ez

Detailed Description

A 3-by-3 matrix. Stored in column-major order.

Member Function Documentation

GetInverse22()

void b2Mat33::GetInverse22

(

b2Mat33 *

M

)

const

Get the inverse of this matrix as a 2-by-2. Returns the zero matrix if singular.

GetSymInverse33()

void b2Mat33::GetSymInverse33

(

b2Mat33 *

M

)

const

Get the symmetric inverse of this matrix as a 3-by-3. Returns the zero matrix if singular.

Solve22()

b2Vec2 b2Mat33::Solve22

(

const b2Vec2 &

b

)

const

Solve A * x = b, where b is a column vector. This is more efficient than computing the inverse in one-shot cases. Solve only the upper 2-by-2 matrix equation.

Solve33()

b2Vec3 b2Mat33::Solve33

(

const b2Vec3 &

b

)

const

Solve A * x = b, where b is a column vector. This is more efficient than computing the inverse in one-shot cases.

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The documentation for this struct was generated from the following file:

• include/box2d/b2_math.h