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annotate prototype/vmath/matrix.h @ 54:995191474cc0

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author John Tsiombikas <nuclear@member.fsf.org>
date Wed, 19 Sep 2012 05:22:43 +0300
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nuclear@1 1 /*
nuclear@1 2 libvmath - a vector math library
nuclear@1 3 Copyright (C) 2004-2011 John Tsiombikas <nuclear@member.fsf.org>
nuclear@1 4
nuclear@1 5 This program is free software: you can redistribute it and/or modify
nuclear@1 6 it under the terms of the GNU Lesser General Public License as published
nuclear@1 7 by the Free Software Foundation, either version 3 of the License, or
nuclear@1 8 (at your option) any later version.
nuclear@1 9
nuclear@1 10 This program is distributed in the hope that it will be useful,
nuclear@1 11 but WITHOUT ANY WARRANTY; without even the implied warranty of
nuclear@1 12 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
nuclear@1 13 GNU Lesser General Public License for more details.
nuclear@1 14
nuclear@1 15 You should have received a copy of the GNU Lesser General Public License
nuclear@1 16 along with this program. If not, see <http://www.gnu.org/licenses/>.
nuclear@1 17 */
nuclear@1 18
nuclear@1 19 #ifndef VMATH_MATRIX_H_
nuclear@1 20 #define VMATH_MATRIX_H_
nuclear@1 21
nuclear@1 22 #include <stdio.h>
nuclear@1 23 #include "vmath_types.h"
nuclear@1 24
nuclear@1 25 #ifdef __cplusplus
nuclear@1 26 extern "C" {
nuclear@1 27 #endif /* __cplusplus */
nuclear@1 28
nuclear@1 29 /* C matrix 3x3 functions */
nuclear@1 30 static inline void m3_identity(mat3_t m);
nuclear@1 31 static inline void m3_cons(mat3_t m,
nuclear@1 32 scalar_t m11, scalar_t m12, scalar_t m13,
nuclear@1 33 scalar_t m21, scalar_t m22, scalar_t m23,
nuclear@1 34 scalar_t m31, scalar_t m32, scalar_t m33);
nuclear@1 35 static inline void m3_copy(mat3_t dest, mat3_t src);
nuclear@1 36 void m3_to_m4(mat4_t dest, mat3_t src);
nuclear@1 37
nuclear@1 38 void m3_print(FILE *fp, mat3_t m);
nuclear@1 39
nuclear@1 40 /* C matrix 4x4 functions */
nuclear@1 41 static inline void m4_identity(mat4_t m);
nuclear@1 42 static inline void m4_cons(mat4_t m,
nuclear@1 43 scalar_t m11, scalar_t m12, scalar_t m13, scalar_t m14,
nuclear@1 44 scalar_t m21, scalar_t m22, scalar_t m23, scalar_t m24,
nuclear@1 45 scalar_t m31, scalar_t m32, scalar_t m33, scalar_t m34,
nuclear@1 46 scalar_t m41, scalar_t m42, scalar_t m43, scalar_t m44);
nuclear@1 47 static inline void m4_copy(mat4_t dest, mat4_t src);
nuclear@1 48 void m4_to_m3(mat3_t dest, mat4_t src);
nuclear@1 49
nuclear@1 50 static inline void m4_mult(mat4_t res, mat4_t m1, mat4_t m2);
nuclear@1 51
nuclear@1 52 void m4_translate(mat4_t m, scalar_t x, scalar_t y, scalar_t z);
nuclear@1 53 void m4_rotate(mat4_t m, scalar_t x, scalar_t y, scalar_t z);
nuclear@1 54 void m4_rotate_x(mat4_t m, scalar_t angle);
nuclear@1 55 void m4_rotate_y(mat4_t m, scalar_t angle);
nuclear@1 56 void m4_rotate_z(mat4_t m, scalar_t angle);
nuclear@1 57 void m4_rotate_axis(mat4_t m, scalar_t angle, scalar_t x, scalar_t y, scalar_t z);
nuclear@1 58 void m4_rotate_quat(mat4_t m, quat_t q);
nuclear@1 59 void m4_scale(mat4_t m, scalar_t x, scalar_t y, scalar_t z);
nuclear@1 60 static inline void m4_set_column(mat4_t m, vec4_t v, int idx);
nuclear@1 61 static inline void m4_set_row(mat4_t m, vec4_t v, int idx);
nuclear@1 62
nuclear@1 63 void m4_transpose(mat4_t res, mat4_t m);
nuclear@1 64 scalar_t m4_determinant(mat4_t m);
nuclear@1 65 void m4_adjoint(mat4_t res, mat4_t m);
nuclear@1 66 void m4_inverse(mat4_t res, mat4_t m);
nuclear@1 67
nuclear@1 68 void m4_print(FILE *fp, mat4_t m);
nuclear@1 69
nuclear@1 70 #ifdef __cplusplus
nuclear@1 71 }
nuclear@1 72
nuclear@1 73 /* when included from C++ source files, also define the matrix classes */
nuclear@1 74 #include <iostream>
nuclear@1 75
nuclear@1 76 /** 3x3 matrix */
nuclear@1 77 class Matrix3x3 {
nuclear@1 78 private:
nuclear@1 79 scalar_t m[3][3];
nuclear@1 80
nuclear@1 81 public:
nuclear@1 82
nuclear@1 83 static Matrix3x3 identity;
nuclear@1 84
nuclear@1 85 Matrix3x3();
nuclear@1 86 Matrix3x3( scalar_t m11, scalar_t m12, scalar_t m13,
nuclear@1 87 scalar_t m21, scalar_t m22, scalar_t m23,
nuclear@1 88 scalar_t m31, scalar_t m32, scalar_t m33);
nuclear@1 89 Matrix3x3(const Vector3 &ivec, const Vector3 &jvec, const Vector3 &kvec);
nuclear@1 90 Matrix3x3(const mat3_t cmat);
nuclear@1 91
nuclear@1 92 Matrix3x3(const Matrix4x4 &mat4x4);
nuclear@1 93
nuclear@1 94 /* binary operations matrix (op) matrix */
nuclear@1 95 friend Matrix3x3 operator +(const Matrix3x3 &m1, const Matrix3x3 &m2);
nuclear@1 96 friend Matrix3x3 operator -(const Matrix3x3 &m1, const Matrix3x3 &m2);
nuclear@1 97 friend Matrix3x3 operator *(const Matrix3x3 &m1, const Matrix3x3 &m2);
nuclear@1 98
nuclear@1 99 friend void operator +=(Matrix3x3 &m1, const Matrix3x3 &m2);
nuclear@1 100 friend void operator -=(Matrix3x3 &m1, const Matrix3x3 &m2);
nuclear@1 101 friend void operator *=(Matrix3x3 &m1, const Matrix3x3 &m2);
nuclear@1 102
nuclear@1 103 /* binary operations matrix (op) scalar and scalar (op) matrix */
nuclear@1 104 friend Matrix3x3 operator *(const Matrix3x3 &mat, scalar_t scalar);
nuclear@1 105 friend Matrix3x3 operator *(scalar_t scalar, const Matrix3x3 &mat);
nuclear@1 106
nuclear@1 107 friend void operator *=(Matrix3x3 &mat, scalar_t scalar);
nuclear@1 108
nuclear@1 109 inline scalar_t *operator [](int index);
nuclear@1 110 inline const scalar_t *operator [](int index) const;
nuclear@1 111
nuclear@1 112 inline void reset_identity();
nuclear@1 113
nuclear@1 114 void translate(const Vector2 &trans);
nuclear@1 115 void set_translation(const Vector2 &trans);
nuclear@1 116
nuclear@1 117 void rotate(scalar_t angle); /* 2d rotation */
nuclear@1 118 void rotate(const Vector3 &euler_angles); /* 3d rotation with euler angles */
nuclear@1 119 void rotate(const Vector3 &axis, scalar_t angle); /* 3d axis/angle rotation */
nuclear@1 120 void set_rotation(scalar_t angle);
nuclear@1 121 void set_rotation(const Vector3 &euler_angles);
nuclear@1 122 void set_rotation(const Vector3 &axis, scalar_t angle);
nuclear@1 123
nuclear@1 124 void scale(const Vector3 &scale_vec);
nuclear@1 125 void set_scaling(const Vector3 &scale_vec);
nuclear@1 126
nuclear@1 127 void set_column_vector(const Vector3 &vec, unsigned int col_index);
nuclear@1 128 void set_row_vector(const Vector3 &vec, unsigned int row_index);
nuclear@1 129 Vector3 get_column_vector(unsigned int col_index) const;
nuclear@1 130 Vector3 get_row_vector(unsigned int row_index) const;
nuclear@1 131
nuclear@1 132 void transpose();
nuclear@1 133 Matrix3x3 transposed() const;
nuclear@1 134 scalar_t determinant() const;
nuclear@1 135 Matrix3x3 inverse() const;
nuclear@1 136
nuclear@1 137 friend std::ostream &operator <<(std::ostream &out, const Matrix3x3 &mat);
nuclear@1 138 };
nuclear@1 139
nuclear@1 140 /** 4x4 matrix */
nuclear@1 141 class Matrix4x4 {
nuclear@1 142 private:
nuclear@1 143 scalar_t m[4][4];
nuclear@1 144
nuclear@1 145 public:
nuclear@1 146
nuclear@1 147 static Matrix4x4 identity;
nuclear@1 148
nuclear@1 149 Matrix4x4();
nuclear@1 150 Matrix4x4( scalar_t m11, scalar_t m12, scalar_t m13, scalar_t m14,
nuclear@1 151 scalar_t m21, scalar_t m22, scalar_t m23, scalar_t m24,
nuclear@1 152 scalar_t m31, scalar_t m32, scalar_t m33, scalar_t m34,
nuclear@1 153 scalar_t m41, scalar_t m42, scalar_t m43, scalar_t m44);
nuclear@1 154 Matrix4x4(const mat4_t cmat);
nuclear@1 155
nuclear@1 156 Matrix4x4(const Matrix3x3 &mat3x3);
nuclear@1 157
nuclear@1 158 /* binary operations matrix (op) matrix */
nuclear@1 159 friend Matrix4x4 operator +(const Matrix4x4 &m1, const Matrix4x4 &m2);
nuclear@1 160 friend Matrix4x4 operator -(const Matrix4x4 &m1, const Matrix4x4 &m2);
nuclear@1 161 friend Matrix4x4 operator *(const Matrix4x4 &m1, const Matrix4x4 &m2);
nuclear@1 162
nuclear@1 163 friend void operator +=(Matrix4x4 &m1, const Matrix4x4 &m2);
nuclear@1 164 friend void operator -=(Matrix4x4 &m1, const Matrix4x4 &m2);
nuclear@1 165 friend inline void operator *=(Matrix4x4 &m1, const Matrix4x4 &m2);
nuclear@1 166
nuclear@1 167 /* binary operations matrix (op) scalar and scalar (op) matrix */
nuclear@1 168 friend Matrix4x4 operator *(const Matrix4x4 &mat, scalar_t scalar);
nuclear@1 169 friend Matrix4x4 operator *(scalar_t scalar, const Matrix4x4 &mat);
nuclear@1 170
nuclear@1 171 friend void operator *=(Matrix4x4 &mat, scalar_t scalar);
nuclear@1 172
nuclear@1 173 inline scalar_t *operator [](int index);
nuclear@1 174 inline const scalar_t *operator [](int index) const;
nuclear@1 175
nuclear@1 176 inline void reset_identity();
nuclear@1 177
nuclear@1 178 void translate(const Vector3 &trans);
nuclear@1 179 void set_translation(const Vector3 &trans);
nuclear@1 180
nuclear@1 181 void rotate(const Vector3 &euler_angles); /* 3d rotation with euler angles */
nuclear@1 182 void rotate(const Vector3 &axis, scalar_t angle); /* 3d axis/angle rotation */
nuclear@1 183 void set_rotation(const Vector3 &euler_angles);
nuclear@1 184 void set_rotation(const Vector3 &axis, scalar_t angle);
nuclear@1 185
nuclear@1 186 void scale(const Vector4 &scale_vec);
nuclear@1 187 void set_scaling(const Vector4 &scale_vec);
nuclear@1 188
nuclear@1 189 void set_column_vector(const Vector4 &vec, unsigned int col_index);
nuclear@1 190 void set_row_vector(const Vector4 &vec, unsigned int row_index);
nuclear@1 191 Vector4 get_column_vector(unsigned int col_index) const;
nuclear@1 192 Vector4 get_row_vector(unsigned int row_index) const;
nuclear@1 193
nuclear@1 194 void transpose();
nuclear@1 195 Matrix4x4 transposed() const;
nuclear@1 196 scalar_t determinant() const;
nuclear@1 197 Matrix4x4 adjoint() const;
nuclear@1 198 Matrix4x4 inverse() const;
nuclear@1 199
nuclear@1 200 friend std::ostream &operator <<(std::ostream &out, const Matrix4x4 &mat);
nuclear@1 201 };
nuclear@1 202 #endif /* __cplusplus */
nuclear@1 203
nuclear@1 204 #include "matrix.inl"
nuclear@1 205
nuclear@1 206 #endif /* VMATH_MATRIX_H_ */