Fast 3x3 Matrix class

Common operations are implemented through the use of templated overloaded operators, allowing for very readable and fast 3D matrix calculations. This class is compiler-agnostic, and can be used on multiple platforms (including mobile) with minimal refactoring. The class can be used wherever is needed a fast fixed 3x3 matrix computations , the application ranges from game development to mathematical programs which makes use of heavy computation tasks.

Usage Examples:

CMatrix3x3f Ma,Mb,Mc;

Ma.Set (  1 , 2 , 3,
     3 , 4,  5,
     6 , 7,  1 );

           Mb.Set (  1 , 2 , 3,
               3 , 4,  5,
     6 , 7,  1 );

Mc.Set (  1 , 2 , 3,
    3 , 4,  5,
     6 , 7,  8 );

Declare a matrix using :

CMatrix2x2f Ma;    

Ma.Set (  1 ,2 ,  3 ,4 );

Mb.Set (  4 ,5 ,  6 ,7 );

Mc.Set (  1 ,2 ,  2 ,1 );

Common operations :

// multiplication

Ma=Ma * 2.0f ;      

Ma*= 2.0f ;         

Ma = Mb * 3.0f;         

Ma = 3.0f * Mb ;            

Ma = Mb / 2.0f ; // multipication by inverse of a constant

// sum and subtraction

Ma+=Mb;      

Ma-=Mb;      

Ma = Mb + Mc;

Ma = -Mb + Mc;

// matrix multilication

Ma = Mb * Mc ;

Ma= 4.0f / Mb;  

Invert(Ma);     //invert matrix 

Transpose(Ma);      //transpose matrix 

Zero(Ma);               // zero out the matrix

Identity(Ma);               // identity matrix

Ma.Get(1,0);            // gets value at coordinates

Ma[0]=2.0f;         // setting a value by direct access

// logic operations

if ( Ma!=Mb )     cout << "Matrices are different" << endl;


if ( Ma==Mb )   cout << "Matrices are equal" << endl;

Ma.Rot ( 45.0f,10.0f,90.0f ); // compute matrix rotation

GetRank(Ma);                   // gets matrix rank

float d = Ma.Determinant();   // gets determinant

// compute the trace of the matrix

float t= GetMatrixTrace( Ma );

// Determine if the matrix is lower triangular

bool b=IsLowerTriangular (Ma);

// Determine if the matrix is upper triangular

bool b=IsUpperTriangular (Ma);

// Determine if the matrix is skew-symmetric

bool b=IsSkewSimmetric(Ma) ;

// test if matrix is simmetric

bool b=IsSimmetric(Ma);

// Determine if the matrix is diagonal

bool b=IsDiagonal (Ma) ;

// calculate the condition number // which is the norm multiplied // byt the norm of the matrix // inverse

float c=ConditionNumber(Ma);

// calculate the norm of a matrix

float n=Norm (Ma);

// Determine if the matrix is singular

bool b=Ma.IsSingular (Ma) ;

// solve the system defined by the matrix

SolveLinearMatrix( Ma,V,S );