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annotate libs/vmath/matrix.h @ 10:c71c477521ca

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converting to GLES2 and C++
author John Tsiombikas <nuclear@member.fsf.org>
date Sun, 31 May 2015 00:40:26 +0300
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nuclear@10 1 /*
nuclear@10 2 libvmath - a vector math library
nuclear@10 3 Copyright (C) 2004-2015 John Tsiombikas <nuclear@member.fsf.org>
nuclear@10 4
nuclear@10 5 This program is free software: you can redistribute it and/or modify
nuclear@10 6 it under the terms of the GNU Lesser General Public License as published
nuclear@10 7 by the Free Software Foundation, either version 3 of the License, or
nuclear@10 8 (at your option) any later version.
nuclear@10 9
nuclear@10 10 This program is distributed in the hope that it will be useful,
nuclear@10 11 but WITHOUT ANY WARRANTY; without even the implied warranty of
nuclear@10 12 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
nuclear@10 13 GNU Lesser General Public License for more details.
nuclear@10 14
nuclear@10 15 You should have received a copy of the GNU Lesser General Public License
nuclear@10 16 along with this program. If not, see <http://www.gnu.org/licenses/>.
nuclear@10 17 */
nuclear@10 18
nuclear@10 19 #ifndef VMATH_MATRIX_H_
nuclear@10 20 #define VMATH_MATRIX_H_
nuclear@10 21
nuclear@10 22 #include <stdio.h>
nuclear@10 23 #include "vmath_types.h"
nuclear@10 24 #include "vector.h"
nuclear@10 25
nuclear@10 26 #ifdef __cplusplus
nuclear@10 27 extern "C" {
nuclear@10 28 #endif /* __cplusplus */
nuclear@10 29
nuclear@10 30 /* C matrix 3x3 functions */
nuclear@10 31 static inline void m3_identity(mat3_t m);
nuclear@10 32 static inline void m3_cons(mat3_t m,
nuclear@10 33 scalar_t m11, scalar_t m12, scalar_t m13,
nuclear@10 34 scalar_t m21, scalar_t m22, scalar_t m23,
nuclear@10 35 scalar_t m31, scalar_t m32, scalar_t m33);
nuclear@10 36 static inline void m3_copy(mat3_t dest, mat3_t src);
nuclear@10 37 void m3_to_m4(mat4_t dest, mat3_t src);
nuclear@10 38
nuclear@10 39 void m3_print(FILE *fp, mat3_t m);
nuclear@10 40
nuclear@10 41 /* C matrix 4x4 functions */
nuclear@10 42 static inline void m4_identity(mat4_t m);
nuclear@10 43 static inline void m4_cons(mat4_t m,
nuclear@10 44 scalar_t m11, scalar_t m12, scalar_t m13, scalar_t m14,
nuclear@10 45 scalar_t m21, scalar_t m22, scalar_t m23, scalar_t m24,
nuclear@10 46 scalar_t m31, scalar_t m32, scalar_t m33, scalar_t m34,
nuclear@10 47 scalar_t m41, scalar_t m42, scalar_t m43, scalar_t m44);
nuclear@10 48 static inline void m4_copy(mat4_t dest, mat4_t src);
nuclear@10 49 void m4_to_m3(mat3_t dest, mat4_t src);
nuclear@10 50
nuclear@10 51 static inline void m4_mult(mat4_t res, mat4_t m1, mat4_t m2);
nuclear@10 52
nuclear@10 53 void m4_set_translation(mat4_t m, scalar_t x, scalar_t y, scalar_t z);
nuclear@10 54 void m4_translate(mat4_t m, scalar_t x, scalar_t y, scalar_t z);
nuclear@10 55
nuclear@10 56 void m4_rotate(mat4_t m, scalar_t x, scalar_t y, scalar_t z);
nuclear@10 57
nuclear@10 58 void m4_set_rotation_x(mat4_t m, scalar_t angle);
nuclear@10 59 void m4_rotate_x(mat4_t m, scalar_t angle);
nuclear@10 60 void m4_set_rotation_y(mat4_t m, scalar_t angle);
nuclear@10 61 void m4_rotate_y(mat4_t m, scalar_t angle);
nuclear@10 62 void m4_set_rotation_z(mat4_t m, scalar_t angle);
nuclear@10 63 void m4_rotate_z(mat4_t m, scalar_t angle);
nuclear@10 64 /* axis-angle rotation */
nuclear@10 65 void m4_set_rotation_axis(mat4_t m, scalar_t angle, scalar_t x, scalar_t y, scalar_t z);
nuclear@10 66 void m4_rotate_axis(mat4_t m, scalar_t angle, scalar_t x, scalar_t y, scalar_t z);
nuclear@10 67 /* concatentate a rotation quaternion */
nuclear@10 68 void m4_rotate_quat(mat4_t m, quat_t q);
nuclear@10 69
nuclear@10 70 void m4_set_scaling(mat4_t m, scalar_t x, scalar_t y, scalar_t z);
nuclear@10 71 void m4_scale(mat4_t m, scalar_t x, scalar_t y, scalar_t z);
nuclear@10 72
nuclear@10 73 static inline void m4_set_column(mat4_t m, vec4_t v, int idx);
nuclear@10 74 static inline void m4_set_row(mat4_t m, vec4_t v, int idx);
nuclear@10 75
nuclear@10 76 void m4_transpose(mat4_t res, mat4_t m);
nuclear@10 77 scalar_t m4_determinant(mat4_t m);
nuclear@10 78 void m4_adjoint(mat4_t res, mat4_t m);
nuclear@10 79 void m4_inverse(mat4_t res, mat4_t m);
nuclear@10 80
nuclear@10 81 void m4_print(FILE *fp, mat4_t m);
nuclear@10 82
nuclear@10 83 #ifdef __cplusplus
nuclear@10 84 }
nuclear@10 85
nuclear@10 86 /* when included from C++ source files, also define the matrix classes */
nuclear@10 87
nuclear@10 88 /** 3x3 matrix */
nuclear@10 89 class Matrix3x3 {
nuclear@10 90 public:
nuclear@10 91 scalar_t m[3][3];
nuclear@10 92
nuclear@10 93 static Matrix3x3 identity;
nuclear@10 94
nuclear@10 95 Matrix3x3();
nuclear@10 96 Matrix3x3( scalar_t m11, scalar_t m12, scalar_t m13,
nuclear@10 97 scalar_t m21, scalar_t m22, scalar_t m23,
nuclear@10 98 scalar_t m31, scalar_t m32, scalar_t m33);
nuclear@10 99 Matrix3x3(const Vector3 &ivec, const Vector3 &jvec, const Vector3 &kvec);
nuclear@10 100 Matrix3x3(const mat3_t cmat);
nuclear@10 101
nuclear@10 102 Matrix3x3(const Matrix4x4 &mat4x4);
nuclear@10 103
nuclear@10 104 /* binary operations matrix (op) matrix */
nuclear@10 105 friend Matrix3x3 operator +(const Matrix3x3 &m1, const Matrix3x3 &m2);
nuclear@10 106 friend Matrix3x3 operator -(const Matrix3x3 &m1, const Matrix3x3 &m2);
nuclear@10 107 friend Matrix3x3 operator *(const Matrix3x3 &m1, const Matrix3x3 &m2);
nuclear@10 108
nuclear@10 109 friend void operator +=(Matrix3x3 &m1, const Matrix3x3 &m2);
nuclear@10 110 friend void operator -=(Matrix3x3 &m1, const Matrix3x3 &m2);
nuclear@10 111 friend void operator *=(Matrix3x3 &m1, const Matrix3x3 &m2);
nuclear@10 112
nuclear@10 113 /* binary operations matrix (op) scalar and scalar (op) matrix */
nuclear@10 114 friend Matrix3x3 operator *(const Matrix3x3 &mat, scalar_t scalar);
nuclear@10 115 friend Matrix3x3 operator *(scalar_t scalar, const Matrix3x3 &mat);
nuclear@10 116
nuclear@10 117 friend void operator *=(Matrix3x3 &mat, scalar_t scalar);
nuclear@10 118
nuclear@10 119 inline scalar_t *operator [](int index);
nuclear@10 120 inline const scalar_t *operator [](int index) const;
nuclear@10 121
nuclear@10 122 inline void reset_identity();
nuclear@10 123
nuclear@10 124 void translate(const Vector2 &trans);
nuclear@10 125 void set_translation(const Vector2 &trans);
nuclear@10 126
nuclear@10 127 void rotate(scalar_t angle); /* 2d rotation */
nuclear@10 128 void rotate(const Vector3 &euler_angles); /* 3d rotation with euler angles */
nuclear@10 129 void rotate(const Vector3 &axis, scalar_t angle); /* 3d axis/angle rotation */
nuclear@10 130 void set_rotation(scalar_t angle);
nuclear@10 131 void set_rotation(const Vector3 &euler_angles);
nuclear@10 132 void set_rotation(const Vector3 &axis, scalar_t angle);
nuclear@10 133 Quaternion get_rotation_quat() const;
nuclear@10 134
nuclear@10 135 void scale(const Vector3 &scale_vec);
nuclear@10 136 void set_scaling(const Vector3 &scale_vec);
nuclear@10 137
nuclear@10 138 void set_column_vector(const Vector3 &vec, unsigned int col_index);
nuclear@10 139 void set_row_vector(const Vector3 &vec, unsigned int row_index);
nuclear@10 140 Vector3 get_column_vector(unsigned int col_index) const;
nuclear@10 141 Vector3 get_row_vector(unsigned int row_index) const;
nuclear@10 142
nuclear@10 143 void transpose();
nuclear@10 144 Matrix3x3 transposed() const;
nuclear@10 145 scalar_t determinant() const;
nuclear@10 146 Matrix3x3 inverse() const;
nuclear@10 147 };
nuclear@10 148
nuclear@10 149 /* binary operations matrix (op) matrix */
nuclear@10 150 Matrix3x3 operator +(const Matrix3x3 &m1, const Matrix3x3 &m2);
nuclear@10 151 Matrix3x3 operator -(const Matrix3x3 &m1, const Matrix3x3 &m2);
nuclear@10 152 Matrix3x3 operator *(const Matrix3x3 &m1, const Matrix3x3 &m2);
nuclear@10 153
nuclear@10 154 void operator +=(Matrix3x3 &m1, const Matrix3x3 &m2);
nuclear@10 155 void operator -=(Matrix3x3 &m1, const Matrix3x3 &m2);
nuclear@10 156 void operator *=(Matrix3x3 &m1, const Matrix3x3 &m2);
nuclear@10 157
nuclear@10 158 /* binary operations matrix (op) scalar and scalar (op) matrix */
nuclear@10 159 Matrix3x3 operator *(const Matrix3x3 &mat, scalar_t scalar);
nuclear@10 160 Matrix3x3 operator *(scalar_t scalar, const Matrix3x3 &mat);
nuclear@10 161
nuclear@10 162 void operator *=(Matrix3x3 &mat, scalar_t scalar);
nuclear@10 163
nuclear@10 164
nuclear@10 165
nuclear@10 166 /** 4x4 matrix */
nuclear@10 167 class Matrix4x4 {
nuclear@10 168 public:
nuclear@10 169 scalar_t m[4][4];
nuclear@10 170
nuclear@10 171 static Matrix4x4 identity;
nuclear@10 172
nuclear@10 173 Matrix4x4();
nuclear@10 174 Matrix4x4( scalar_t m11, scalar_t m12, scalar_t m13, scalar_t m14,
nuclear@10 175 scalar_t m21, scalar_t m22, scalar_t m23, scalar_t m24,
nuclear@10 176 scalar_t m31, scalar_t m32, scalar_t m33, scalar_t m34,
nuclear@10 177 scalar_t m41, scalar_t m42, scalar_t m43, scalar_t m44);
nuclear@10 178 Matrix4x4(const mat4_t cmat);
nuclear@10 179
nuclear@10 180 Matrix4x4(const Matrix3x3 &mat3x3);
nuclear@10 181
nuclear@10 182 /* binary operations matrix (op) matrix */
nuclear@10 183 friend Matrix4x4 operator +(const Matrix4x4 &m1, const Matrix4x4 &m2);
nuclear@10 184 friend Matrix4x4 operator -(const Matrix4x4 &m1, const Matrix4x4 &m2);
nuclear@10 185 friend Matrix4x4 operator *(const Matrix4x4 &m1, const Matrix4x4 &m2);
nuclear@10 186
nuclear@10 187 friend void operator +=(Matrix4x4 &m1, const Matrix4x4 &m2);
nuclear@10 188 friend void operator -=(Matrix4x4 &m1, const Matrix4x4 &m2);
nuclear@10 189 friend inline void operator *=(Matrix4x4 &m1, const Matrix4x4 &m2);
nuclear@10 190
nuclear@10 191 /* binary operations matrix (op) scalar and scalar (op) matrix */
nuclear@10 192 friend Matrix4x4 operator *(const Matrix4x4 &mat, scalar_t scalar);
nuclear@10 193 friend Matrix4x4 operator *(scalar_t scalar, const Matrix4x4 &mat);
nuclear@10 194
nuclear@10 195 friend void operator *=(Matrix4x4 &mat, scalar_t scalar);
nuclear@10 196
nuclear@10 197 inline scalar_t *operator [](int index);
nuclear@10 198 inline const scalar_t *operator [](int index) const;
nuclear@10 199
nuclear@10 200 inline void reset_identity();
nuclear@10 201
nuclear@10 202 void translate(const Vector3 &trans);
nuclear@10 203 void set_translation(const Vector3 &trans);
nuclear@10 204 Vector3 get_translation() const; /* extract translation */
nuclear@10 205
nuclear@10 206 void rotate(const Vector3 &euler_angles); /* 3d rotation with euler angles */
nuclear@10 207 void rotate(const Vector3 &axis, scalar_t angle); /* 3d axis/angle rotation */
nuclear@10 208 void rotate(const Quaternion &quat);
nuclear@10 209 void set_rotation(const Vector3 &euler_angles);
nuclear@10 210 void set_rotation(const Vector3 &axis, scalar_t angle);
nuclear@10 211 void set_rotation(const Quaternion &quat);
nuclear@10 212 Quaternion get_rotation_quat() const; /* extract rotation */
nuclear@10 213
nuclear@10 214 void scale(const Vector4 &scale_vec);
nuclear@10 215 void set_scaling(const Vector4 &scale_vec);
nuclear@10 216 Vector3 get_scaling() const; /* extract scaling */
nuclear@10 217
nuclear@10 218 void set_frustum(float left, float right, float top, float bottom, float znear, float zfar);
nuclear@10 219 void set_perspective(float vfov, float aspect, float znear, float zfar);
nuclear@10 220 void set_orthographic(float left, float right, float bottom, float top, float znear = -1.0, float zfar = 1.0);
nuclear@10 221
nuclear@10 222 void set_lookat(const Vector3 &pos, const Vector3 &targ = Vector3(0, 0, 0), const Vector3 &up = Vector3(0, 1, 0));
nuclear@10 223
nuclear@10 224 void set_column_vector(const Vector4 &vec, unsigned int col_index);
nuclear@10 225 void set_row_vector(const Vector4 &vec, unsigned int row_index);
nuclear@10 226 Vector4 get_column_vector(unsigned int col_index) const;
nuclear@10 227 Vector4 get_row_vector(unsigned int row_index) const;
nuclear@10 228
nuclear@10 229 void transpose();
nuclear@10 230 Matrix4x4 transposed() const;
nuclear@10 231 scalar_t determinant() const;
nuclear@10 232 Matrix4x4 adjoint() const;
nuclear@10 233 Matrix4x4 inverse() const;
nuclear@10 234 };
nuclear@10 235
nuclear@10 236 /* binary operations matrix (op) matrix */
nuclear@10 237 Matrix4x4 operator +(const Matrix4x4 &m1, const Matrix4x4 &m2);
nuclear@10 238 Matrix4x4 operator -(const Matrix4x4 &m1, const Matrix4x4 &m2);
nuclear@10 239 inline Matrix4x4 operator *(const Matrix4x4 &m1, const Matrix4x4 &m2);
nuclear@10 240
nuclear@10 241 void operator +=(Matrix4x4 &m1, const Matrix4x4 &m2);
nuclear@10 242 void operator -=(Matrix4x4 &m1, const Matrix4x4 &m2);
nuclear@10 243 inline void operator *=(Matrix4x4 &m1, const Matrix4x4 &m2);
nuclear@10 244
nuclear@10 245 /* binary operations matrix (op) scalar and scalar (op) matrix */
nuclear@10 246 Matrix4x4 operator *(const Matrix4x4 &mat, scalar_t scalar);
nuclear@10 247 Matrix4x4 operator *(scalar_t scalar, const Matrix4x4 &mat);
nuclear@10 248
nuclear@10 249 void operator *=(Matrix4x4 &mat, scalar_t scalar);
nuclear@10 250
nuclear@10 251 #endif /* __cplusplus */
nuclear@10 252
nuclear@10 253 #include "matrix.inl"
nuclear@10 254
nuclear@10 255 #endif /* VMATH_MATRIX_H_ */