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author John Tsiombikas <nuclear@member.fsf.org>
date Thu, 18 Jun 2015 03:12:30 +0300
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1 /*
2 libvmath - a vector math library
3 Copyright (C) 2004-2015 John Tsiombikas <nuclear@member.fsf.org>
4
5 This program is free software: you can redistribute it and/or modify
6 it under the terms of the GNU Lesser General Public License as published
7 by the Free Software Foundation, either version 3 of the License, or
8 (at your option) any later version.
9
10 This program is distributed in the hope that it will be useful,
11 but WITHOUT ANY WARRANTY; without even the implied warranty of
12 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
13 GNU Lesser General Public License for more details.
14
15 You should have received a copy of the GNU Lesser General Public License
16 along with this program. If not, see <http://www.gnu.org/licenses/>.
17 */
18
19 #ifndef VMATH_MATRIX_H_
20 #define VMATH_MATRIX_H_
21
22 #include <stdio.h>
23 #include "vmath_types.h"
24 #include "vector.h"
25
26 #ifdef __cplusplus
27 extern "C" {
28 #endif /* __cplusplus */
29
30 /* C matrix 3x3 functions */
31 static inline void m3_identity(mat3_t m);
32 static inline void m3_cons(mat3_t m,
33 scalar_t m11, scalar_t m12, scalar_t m13,
34 scalar_t m21, scalar_t m22, scalar_t m23,
35 scalar_t m31, scalar_t m32, scalar_t m33);
36 static inline void m3_copy(mat3_t dest, mat3_t src);
37 void m3_to_m4(mat4_t dest, mat3_t src);
38
39 void m3_print(FILE *fp, mat3_t m);
40
41 /* C matrix 4x4 functions */
42 static inline void m4_identity(mat4_t m);
43 static inline void m4_cons(mat4_t m,
44 scalar_t m11, scalar_t m12, scalar_t m13, scalar_t m14,
45 scalar_t m21, scalar_t m22, scalar_t m23, scalar_t m24,
46 scalar_t m31, scalar_t m32, scalar_t m33, scalar_t m34,
47 scalar_t m41, scalar_t m42, scalar_t m43, scalar_t m44);
48 static inline void m4_copy(mat4_t dest, mat4_t src);
49 void m4_to_m3(mat3_t dest, mat4_t src);
50
51 static inline void m4_mult(mat4_t res, mat4_t m1, mat4_t m2);
52
53 void m4_set_translation(mat4_t m, scalar_t x, scalar_t y, scalar_t z);
54 void m4_translate(mat4_t m, scalar_t x, scalar_t y, scalar_t z);
55
56 void m4_rotate(mat4_t m, scalar_t x, scalar_t y, scalar_t z);
57
58 void m4_set_rotation_x(mat4_t m, scalar_t angle);
59 void m4_rotate_x(mat4_t m, scalar_t angle);
60 void m4_set_rotation_y(mat4_t m, scalar_t angle);
61 void m4_rotate_y(mat4_t m, scalar_t angle);
62 void m4_set_rotation_z(mat4_t m, scalar_t angle);
63 void m4_rotate_z(mat4_t m, scalar_t angle);
64 /* axis-angle rotation */
65 void m4_set_rotation_axis(mat4_t m, scalar_t angle, scalar_t x, scalar_t y, scalar_t z);
66 void m4_rotate_axis(mat4_t m, scalar_t angle, scalar_t x, scalar_t y, scalar_t z);
67 /* concatentate a rotation quaternion */
68 void m4_rotate_quat(mat4_t m, quat_t q);
69
70 void m4_set_scaling(mat4_t m, scalar_t x, scalar_t y, scalar_t z);
71 void m4_scale(mat4_t m, scalar_t x, scalar_t y, scalar_t z);
72
73 static inline void m4_set_column(mat4_t m, vec4_t v, int idx);
74 static inline void m4_set_row(mat4_t m, vec4_t v, int idx);
75
76 void m4_transpose(mat4_t res, mat4_t m);
77 scalar_t m4_determinant(mat4_t m);
78 void m4_adjoint(mat4_t res, mat4_t m);
79 void m4_inverse(mat4_t res, mat4_t m);
80
81 void m4_print(FILE *fp, mat4_t m);
82
83 #ifdef __cplusplus
84 }
85
86 /* when included from C++ source files, also define the matrix classes */
87
88 /** 3x3 matrix */
89 class Matrix3x3 {
90 public:
91 scalar_t m[3][3];
92
93 static Matrix3x3 identity;
94
95 Matrix3x3();
96 Matrix3x3( scalar_t m11, scalar_t m12, scalar_t m13,
97 scalar_t m21, scalar_t m22, scalar_t m23,
98 scalar_t m31, scalar_t m32, scalar_t m33);
99 Matrix3x3(const Vector3 &ivec, const Vector3 &jvec, const Vector3 &kvec);
100 Matrix3x3(const mat3_t cmat);
101
102 Matrix3x3(const Matrix4x4 &mat4x4);
103
104 /* binary operations matrix (op) matrix */
105 friend Matrix3x3 operator +(const Matrix3x3 &m1, const Matrix3x3 &m2);
106 friend Matrix3x3 operator -(const Matrix3x3 &m1, const Matrix3x3 &m2);
107 friend Matrix3x3 operator *(const Matrix3x3 &m1, const Matrix3x3 &m2);
108
109 friend void operator +=(Matrix3x3 &m1, const Matrix3x3 &m2);
110 friend void operator -=(Matrix3x3 &m1, const Matrix3x3 &m2);
111 friend void operator *=(Matrix3x3 &m1, const Matrix3x3 &m2);
112
113 /* binary operations matrix (op) scalar and scalar (op) matrix */
114 friend Matrix3x3 operator *(const Matrix3x3 &mat, scalar_t scalar);
115 friend Matrix3x3 operator *(scalar_t scalar, const Matrix3x3 &mat);
116
117 friend void operator *=(Matrix3x3 &mat, scalar_t scalar);
118
119 inline scalar_t *operator [](int index);
120 inline const scalar_t *operator [](int index) const;
121
122 inline void reset_identity();
123
124 void translate(const Vector2 &trans);
125 void set_translation(const Vector2 &trans);
126
127 void rotate(scalar_t angle); /* 2d rotation */
128 void rotate(const Vector3 &euler_angles); /* 3d rotation with euler angles */
129 void rotate(const Vector3 &axis, scalar_t angle); /* 3d axis/angle rotation */
130 void set_rotation(scalar_t angle);
131 void set_rotation(const Vector3 &euler_angles);
132 void set_rotation(const Vector3 &axis, scalar_t angle);
133 Quaternion get_rotation_quat() const;
134
135 void scale(const Vector3 &scale_vec);
136 void set_scaling(const Vector3 &scale_vec);
137
138 void set_column_vector(const Vector3 &vec, unsigned int col_index);
139 void set_row_vector(const Vector3 &vec, unsigned int row_index);
140 Vector3 get_column_vector(unsigned int col_index) const;
141 Vector3 get_row_vector(unsigned int row_index) const;
142
143 void transpose();
144 Matrix3x3 transposed() const;
145 scalar_t determinant() const;
146 Matrix3x3 inverse() const;
147 };
148
149 /* binary operations matrix (op) matrix */
150 Matrix3x3 operator +(const Matrix3x3 &m1, const Matrix3x3 &m2);
151 Matrix3x3 operator -(const Matrix3x3 &m1, const Matrix3x3 &m2);
152 Matrix3x3 operator *(const Matrix3x3 &m1, const Matrix3x3 &m2);
153
154 void operator +=(Matrix3x3 &m1, const Matrix3x3 &m2);
155 void operator -=(Matrix3x3 &m1, const Matrix3x3 &m2);
156 void operator *=(Matrix3x3 &m1, const Matrix3x3 &m2);
157
158 /* binary operations matrix (op) scalar and scalar (op) matrix */
159 Matrix3x3 operator *(const Matrix3x3 &mat, scalar_t scalar);
160 Matrix3x3 operator *(scalar_t scalar, const Matrix3x3 &mat);
161
162 void operator *=(Matrix3x3 &mat, scalar_t scalar);
163
164
165
166 /** 4x4 matrix */
167 class Matrix4x4 {
168 public:
169 scalar_t m[4][4];
170
171 static Matrix4x4 identity;
172
173 Matrix4x4();
174 Matrix4x4( scalar_t m11, scalar_t m12, scalar_t m13, scalar_t m14,
175 scalar_t m21, scalar_t m22, scalar_t m23, scalar_t m24,
176 scalar_t m31, scalar_t m32, scalar_t m33, scalar_t m34,
177 scalar_t m41, scalar_t m42, scalar_t m43, scalar_t m44);
178 Matrix4x4(const mat4_t cmat);
179
180 Matrix4x4(const Matrix3x3 &mat3x3);
181
182 /* binary operations matrix (op) matrix */
183 friend Matrix4x4 operator +(const Matrix4x4 &m1, const Matrix4x4 &m2);
184 friend Matrix4x4 operator -(const Matrix4x4 &m1, const Matrix4x4 &m2);
185 friend Matrix4x4 operator *(const Matrix4x4 &m1, const Matrix4x4 &m2);
186
187 friend void operator +=(Matrix4x4 &m1, const Matrix4x4 &m2);
188 friend void operator -=(Matrix4x4 &m1, const Matrix4x4 &m2);
189 friend inline void operator *=(Matrix4x4 &m1, const Matrix4x4 &m2);
190
191 /* binary operations matrix (op) scalar and scalar (op) matrix */
192 friend Matrix4x4 operator *(const Matrix4x4 &mat, scalar_t scalar);
193 friend Matrix4x4 operator *(scalar_t scalar, const Matrix4x4 &mat);
194
195 friend void operator *=(Matrix4x4 &mat, scalar_t scalar);
196
197 inline scalar_t *operator [](int index);
198 inline const scalar_t *operator [](int index) const;
199
200 inline void reset_identity();
201
202 void translate(const Vector3 &trans);
203 void set_translation(const Vector3 &trans);
204 Vector3 get_translation() const; /* extract translation */
205
206 void rotate(const Vector3 &euler_angles); /* 3d rotation with euler angles */
207 void rotate(const Vector3 &axis, scalar_t angle); /* 3d axis/angle rotation */
208 void rotate(const Quaternion &quat);
209 void set_rotation(const Vector3 &euler_angles);
210 void set_rotation(const Vector3 &axis, scalar_t angle);
211 void set_rotation(const Quaternion &quat);
212 Quaternion get_rotation_quat() const; /* extract rotation */
213
214 void scale(const Vector4 &scale_vec);
215 void set_scaling(const Vector4 &scale_vec);
216 Vector3 get_scaling() const; /* extract scaling */
217
218 void set_frustum(float left, float right, float top, float bottom, float znear, float zfar);
219 void set_perspective(float vfov, float aspect, float znear, float zfar);
220 void set_orthographic(float left, float right, float bottom, float top, float znear = -1.0, float zfar = 1.0);
221
222 void set_lookat(const Vector3 &pos, const Vector3 &targ = Vector3(0, 0, 0), const Vector3 &up = Vector3(0, 1, 0));
223
224 void set_column_vector(const Vector4 &vec, unsigned int col_index);
225 void set_row_vector(const Vector4 &vec, unsigned int row_index);
226 Vector4 get_column_vector(unsigned int col_index) const;
227 Vector4 get_row_vector(unsigned int row_index) const;
228
229 void transpose();
230 Matrix4x4 transposed() const;
231 scalar_t determinant() const;
232 Matrix4x4 adjoint() const;
233 Matrix4x4 inverse() const;
234 };
235
236 /* binary operations matrix (op) matrix */
237 Matrix4x4 operator +(const Matrix4x4 &m1, const Matrix4x4 &m2);
238 Matrix4x4 operator -(const Matrix4x4 &m1, const Matrix4x4 &m2);
239 inline Matrix4x4 operator *(const Matrix4x4 &m1, const Matrix4x4 &m2);
240
241 void operator +=(Matrix4x4 &m1, const Matrix4x4 &m2);
242 void operator -=(Matrix4x4 &m1, const Matrix4x4 &m2);
243 inline void operator *=(Matrix4x4 &m1, const Matrix4x4 &m2);
244
245 /* binary operations matrix (op) scalar and scalar (op) matrix */
246 Matrix4x4 operator *(const Matrix4x4 &mat, scalar_t scalar);
247 Matrix4x4 operator *(scalar_t scalar, const Matrix4x4 &mat);
248
249 void operator *=(Matrix4x4 &mat, scalar_t scalar);
250
251 #endif /* __cplusplus */
252
253 #include "matrix.inl"
254
255 #endif /* VMATH_MATRIX_H_ */