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internalized libanim, libimago2, and libpsys
author John Tsiombikas <nuclear@member.fsf.org>
date Sun, 07 Oct 2012 02:04:00 +0300
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1 /*
2 libvmath - a vector math library
3 Copyright (C) 2004-2011 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
25 #ifdef __cplusplus
26 extern "C" {
27 #endif /* __cplusplus */
28
29 /* C matrix 3x3 functions */
30 static inline void m3_identity(mat3_t m);
31 static inline void m3_cons(mat3_t m,
32 scalar_t m11, scalar_t m12, scalar_t m13,
33 scalar_t m21, scalar_t m22, scalar_t m23,
34 scalar_t m31, scalar_t m32, scalar_t m33);
35 static inline void m3_copy(mat3_t dest, mat3_t src);
36 void m3_to_m4(mat4_t dest, mat3_t src);
37
38 void m3_print(FILE *fp, mat3_t m);
39
40 /* C matrix 4x4 functions */
41 static inline void m4_identity(mat4_t m);
42 static inline void m4_cons(mat4_t m,
43 scalar_t m11, scalar_t m12, scalar_t m13, scalar_t m14,
44 scalar_t m21, scalar_t m22, scalar_t m23, scalar_t m24,
45 scalar_t m31, scalar_t m32, scalar_t m33, scalar_t m34,
46 scalar_t m41, scalar_t m42, scalar_t m43, scalar_t m44);
47 static inline void m4_copy(mat4_t dest, mat4_t src);
48 void m4_to_m3(mat3_t dest, mat4_t src);
49
50 static inline void m4_mult(mat4_t res, mat4_t m1, mat4_t m2);
51
52 void m4_translate(mat4_t m, scalar_t x, scalar_t y, scalar_t z);
53 void m4_rotate(mat4_t m, scalar_t x, scalar_t y, scalar_t z);
54 void m4_rotate_x(mat4_t m, scalar_t angle);
55 void m4_rotate_y(mat4_t m, scalar_t angle);
56 void m4_rotate_z(mat4_t m, scalar_t angle);
57 void m4_rotate_axis(mat4_t m, scalar_t angle, scalar_t x, scalar_t y, scalar_t z);
58 void m4_rotate_quat(mat4_t m, quat_t q);
59 void m4_scale(mat4_t m, scalar_t x, scalar_t y, scalar_t z);
60 static inline void m4_set_column(mat4_t m, vec4_t v, int idx);
61 static inline void m4_set_row(mat4_t m, vec4_t v, int idx);
62
63 void m4_transpose(mat4_t res, mat4_t m);
64 scalar_t m4_determinant(mat4_t m);
65 void m4_adjoint(mat4_t res, mat4_t m);
66 void m4_inverse(mat4_t res, mat4_t m);
67
68 void m4_print(FILE *fp, mat4_t m);
69
70 #ifdef __cplusplus
71 }
72
73 /* when included from C++ source files, also define the matrix classes */
74 #include <iostream>
75
76 /** 3x3 matrix */
77 class Matrix3x3 {
78 private:
79 scalar_t m[3][3];
80
81 public:
82
83 static Matrix3x3 identity;
84
85 Matrix3x3();
86 Matrix3x3( scalar_t m11, scalar_t m12, scalar_t m13,
87 scalar_t m21, scalar_t m22, scalar_t m23,
88 scalar_t m31, scalar_t m32, scalar_t m33);
89 Matrix3x3(const Vector3 &ivec, const Vector3 &jvec, const Vector3 &kvec);
90 Matrix3x3(const mat3_t cmat);
91
92 Matrix3x3(const Matrix4x4 &mat4x4);
93
94 /* binary operations matrix (op) matrix */
95 friend Matrix3x3 operator +(const Matrix3x3 &m1, const Matrix3x3 &m2);
96 friend Matrix3x3 operator -(const Matrix3x3 &m1, const Matrix3x3 &m2);
97 friend Matrix3x3 operator *(const Matrix3x3 &m1, const Matrix3x3 &m2);
98
99 friend void operator +=(Matrix3x3 &m1, const Matrix3x3 &m2);
100 friend void operator -=(Matrix3x3 &m1, const Matrix3x3 &m2);
101 friend void operator *=(Matrix3x3 &m1, const Matrix3x3 &m2);
102
103 /* binary operations matrix (op) scalar and scalar (op) matrix */
104 friend Matrix3x3 operator *(const Matrix3x3 &mat, scalar_t scalar);
105 friend Matrix3x3 operator *(scalar_t scalar, const Matrix3x3 &mat);
106
107 friend void operator *=(Matrix3x3 &mat, scalar_t scalar);
108
109 inline scalar_t *operator [](int index);
110 inline const scalar_t *operator [](int index) const;
111
112 inline void reset_identity();
113
114 void translate(const Vector2 &trans);
115 void set_translation(const Vector2 &trans);
116
117 void rotate(scalar_t angle); /* 2d rotation */
118 void rotate(const Vector3 &euler_angles); /* 3d rotation with euler angles */
119 void rotate(const Vector3 &axis, scalar_t angle); /* 3d axis/angle rotation */
120 void set_rotation(scalar_t angle);
121 void set_rotation(const Vector3 &euler_angles);
122 void set_rotation(const Vector3 &axis, scalar_t angle);
123
124 void scale(const Vector3 &scale_vec);
125 void set_scaling(const Vector3 &scale_vec);
126
127 void set_column_vector(const Vector3 &vec, unsigned int col_index);
128 void set_row_vector(const Vector3 &vec, unsigned int row_index);
129 Vector3 get_column_vector(unsigned int col_index) const;
130 Vector3 get_row_vector(unsigned int row_index) const;
131
132 void transpose();
133 Matrix3x3 transposed() const;
134 scalar_t determinant() const;
135 Matrix3x3 inverse() const;
136
137 friend std::ostream &operator <<(std::ostream &out, const Matrix3x3 &mat);
138 };
139
140 /** 4x4 matrix */
141 class Matrix4x4 {
142 private:
143 scalar_t m[4][4];
144
145 public:
146
147 static Matrix4x4 identity;
148
149 Matrix4x4();
150 Matrix4x4( scalar_t m11, scalar_t m12, scalar_t m13, scalar_t m14,
151 scalar_t m21, scalar_t m22, scalar_t m23, scalar_t m24,
152 scalar_t m31, scalar_t m32, scalar_t m33, scalar_t m34,
153 scalar_t m41, scalar_t m42, scalar_t m43, scalar_t m44);
154 Matrix4x4(const mat4_t cmat);
155
156 Matrix4x4(const Matrix3x3 &mat3x3);
157
158 /* binary operations matrix (op) matrix */
159 friend Matrix4x4 operator +(const Matrix4x4 &m1, const Matrix4x4 &m2);
160 friend Matrix4x4 operator -(const Matrix4x4 &m1, const Matrix4x4 &m2);
161 friend Matrix4x4 operator *(const Matrix4x4 &m1, const Matrix4x4 &m2);
162
163 friend void operator +=(Matrix4x4 &m1, const Matrix4x4 &m2);
164 friend void operator -=(Matrix4x4 &m1, const Matrix4x4 &m2);
165 friend inline void operator *=(Matrix4x4 &m1, const Matrix4x4 &m2);
166
167 /* binary operations matrix (op) scalar and scalar (op) matrix */
168 friend Matrix4x4 operator *(const Matrix4x4 &mat, scalar_t scalar);
169 friend Matrix4x4 operator *(scalar_t scalar, const Matrix4x4 &mat);
170
171 friend void operator *=(Matrix4x4 &mat, scalar_t scalar);
172
173 inline scalar_t *operator [](int index);
174 inline const scalar_t *operator [](int index) const;
175
176 inline void reset_identity();
177
178 void translate(const Vector3 &trans);
179 void set_translation(const Vector3 &trans);
180
181 void rotate(const Vector3 &euler_angles); /* 3d rotation with euler angles */
182 void rotate(const Vector3 &axis, scalar_t angle); /* 3d axis/angle rotation */
183 void set_rotation(const Vector3 &euler_angles);
184 void set_rotation(const Vector3 &axis, scalar_t angle);
185
186 void scale(const Vector4 &scale_vec);
187 void set_scaling(const Vector4 &scale_vec);
188
189 void set_column_vector(const Vector4 &vec, unsigned int col_index);
190 void set_row_vector(const Vector4 &vec, unsigned int row_index);
191 Vector4 get_column_vector(unsigned int col_index) const;
192 Vector4 get_row_vector(unsigned int row_index) const;
193
194 void transpose();
195 Matrix4x4 transposed() const;
196 scalar_t determinant() const;
197 Matrix4x4 adjoint() const;
198 Matrix4x4 inverse() const;
199
200 friend std::ostream &operator <<(std::ostream &out, const Matrix4x4 &mat);
201 };
202 #endif /* __cplusplus */
203
204 #include "matrix.inl"
205
206 #endif /* VMATH_MATRIX_H_ */