math_rotation_matrix.h

[詳解]

 
 
// Copyright(c) 2023-2025 Design Engineering Laboratory, Saitama University
// Released under the MIT license
// https://opensource.org/licenses/mit-license.php
 
#ifndef DESIGNLAB_MATH_ROTATION_MATRIX_H_
#define DESIGNLAB_MATH_ROTATION_MATRIX_H_
 
#include <array>
#include <string>
 
#include "math_euler.h"
#include "math_vector3.h"
 
 
namespace designlab
{
 
struct RotationMatrix3x3 final
{
    RotationMatrix3x3() :
        element({ {
          { 1.0f, 0.0f, 0.0f },
          { 0.0f, 1.0f, 0.0f },
          { 0.0f, 0.0f, 1.0f }} }) {}
    RotationMatrix3x3() : {…}
 
    RotationMatrix3x3(
      const float r11, const float r12, const float r13,
      const float r21, const float r22, const float r23,
      const float r31, const float r32, const float r33) :
        element({ {
          { r11, r12, r13 },
          { r21, r22, r23 },
          { r31, r32, r33 }} }) {}
    RotationMatrix3x3( {…}
 
    RotationMatrix3x3(const RotationMatrix3x3& other) = default;
    RotationMatrix3x3(RotationMatrix3x3&& other) noexcept = default;
    RotationMatrix3x3& operator =(const RotationMatrix3x3& other) = default;
    ~RotationMatrix3x3() = default;
 
    RotationMatrix3x3 operator* (const RotationMatrix3x3& other) const;
 
 
    [[nodiscard]] static RotationMatrix3x3 CreateRotationMatrixX(float angle);
 
    [[nodiscard]] static RotationMatrix3x3 CreateRotationMatrixY(float angle);
 
    [[nodiscard]] static RotationMatrix3x3 CreateRotationMatrixZ(float angle);
 
 
    [[nodiscard]] std::string ToString() const;
 
 
    std::array<std::array<float, 3>, 3> element;
};
struct RotationMatrix3x3 final {…};
 
 
[[nodiscard]]
Vector3 RotateVector3(const Vector3& vec, const RotationMatrix3x3& rot);
 
}  // namespace designlab
 
 
#endif  // DESIGNLAB_MATH_ROTATION_MATRIX_H_