gpuray_glsl

annotate vmath/matrix.h @ 0:f234630e38ff

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author John Tsiombikas <nuclear@member.fsf.org>
date Sun, 09 Nov 2014 13:03:36 +0200
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nuclear@0 1 /*
nuclear@0 2 libvmath - a vector math library
nuclear@0 3 Copyright (C) 2004-2011 John Tsiombikas <nuclear@member.fsf.org>
nuclear@0 4
nuclear@0 5 This program is free software: you can redistribute it and/or modify
nuclear@0 6 it under the terms of the GNU Lesser General Public License as published
nuclear@0 7 by the Free Software Foundation, either version 3 of the License, or
nuclear@0 8 (at your option) any later version.
nuclear@0 9
nuclear@0 10 This program is distributed in the hope that it will be useful,
nuclear@0 11 but WITHOUT ANY WARRANTY; without even the implied warranty of
nuclear@0 12 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
nuclear@0 13 GNU Lesser General Public License for more details.
nuclear@0 14
nuclear@0 15 You should have received a copy of the GNU Lesser General Public License
nuclear@0 16 along with this program. If not, see <http://www.gnu.org/licenses/>.
nuclear@0 17 */
nuclear@0 18
nuclear@0 19 #ifndef VMATH_MATRIX_H_
nuclear@0 20 #define VMATH_MATRIX_H_
nuclear@0 21
nuclear@0 22 #include <stdio.h>
nuclear@0 23 #include "vmath_types.h"
nuclear@0 24
nuclear@0 25 #ifdef __cplusplus
nuclear@0 26 extern "C" {
nuclear@0 27 #endif /* __cplusplus */
nuclear@0 28
nuclear@0 29 /* C matrix 3x3 functions */
nuclear@0 30 static inline void m3_identity(mat3_t m);
nuclear@0 31 static inline void m3_cons(mat3_t m,
nuclear@0 32 scalar_t m11, scalar_t m12, scalar_t m13,
nuclear@0 33 scalar_t m21, scalar_t m22, scalar_t m23,
nuclear@0 34 scalar_t m31, scalar_t m32, scalar_t m33);
nuclear@0 35 static inline void m3_copy(mat3_t dest, mat3_t src);
nuclear@0 36 void m3_to_m4(mat4_t dest, mat3_t src);
nuclear@0 37
nuclear@0 38 void m3_print(FILE *fp, mat3_t m);
nuclear@0 39
nuclear@0 40 /* C matrix 4x4 functions */
nuclear@0 41 static inline void m4_identity(mat4_t m);
nuclear@0 42 static inline void m4_cons(mat4_t m,
nuclear@0 43 scalar_t m11, scalar_t m12, scalar_t m13, scalar_t m14,
nuclear@0 44 scalar_t m21, scalar_t m22, scalar_t m23, scalar_t m24,
nuclear@0 45 scalar_t m31, scalar_t m32, scalar_t m33, scalar_t m34,
nuclear@0 46 scalar_t m41, scalar_t m42, scalar_t m43, scalar_t m44);
nuclear@0 47 static inline void m4_copy(mat4_t dest, mat4_t src);
nuclear@0 48 void m4_to_m3(mat3_t dest, mat4_t src);
nuclear@0 49
nuclear@0 50 static inline void m4_mult(mat4_t res, mat4_t m1, mat4_t m2);
nuclear@0 51
nuclear@0 52 void m4_set_translation(mat4_t m, scalar_t x, scalar_t y, scalar_t z);
nuclear@0 53 void m4_translate(mat4_t m, scalar_t x, scalar_t y, scalar_t z);
nuclear@0 54
nuclear@0 55 void m4_rotate(mat4_t m, scalar_t x, scalar_t y, scalar_t z);
nuclear@0 56
nuclear@0 57 void m4_set_rotation_x(mat4_t m, scalar_t angle);
nuclear@0 58 void m4_rotate_x(mat4_t m, scalar_t angle);
nuclear@0 59 void m4_set_rotation_y(mat4_t m, scalar_t angle);
nuclear@0 60 void m4_rotate_y(mat4_t m, scalar_t angle);
nuclear@0 61 void m4_set_rotation_z(mat4_t m, scalar_t angle);
nuclear@0 62 void m4_rotate_z(mat4_t m, scalar_t angle);
nuclear@0 63 /* axis-angle rotation */
nuclear@0 64 void m4_set_rotation_axis(mat4_t m, scalar_t angle, scalar_t x, scalar_t y, scalar_t z);
nuclear@0 65 void m4_rotate_axis(mat4_t m, scalar_t angle, scalar_t x, scalar_t y, scalar_t z);
nuclear@0 66 /* concatentate a rotation quaternion */
nuclear@0 67 void m4_rotate_quat(mat4_t m, quat_t q);
nuclear@0 68
nuclear@0 69 void m4_set_scaling(mat4_t m, scalar_t x, scalar_t y, scalar_t z);
nuclear@0 70 void m4_scale(mat4_t m, scalar_t x, scalar_t y, scalar_t z);
nuclear@0 71
nuclear@0 72 static inline void m4_set_column(mat4_t m, vec4_t v, int idx);
nuclear@0 73 static inline void m4_set_row(mat4_t m, vec4_t v, int idx);
nuclear@0 74
nuclear@0 75 void m4_transpose(mat4_t res, mat4_t m);
nuclear@0 76 scalar_t m4_determinant(mat4_t m);
nuclear@0 77 void m4_adjoint(mat4_t res, mat4_t m);
nuclear@0 78 void m4_inverse(mat4_t res, mat4_t m);
nuclear@0 79
nuclear@0 80 void m4_print(FILE *fp, mat4_t m);
nuclear@0 81
nuclear@0 82 #ifdef __cplusplus
nuclear@0 83 }
nuclear@0 84
nuclear@0 85 /* when included from C++ source files, also define the matrix classes */
nuclear@0 86 #include <iostream>
nuclear@0 87
nuclear@0 88 /** 3x3 matrix */
nuclear@0 89 class Matrix3x3 {
nuclear@0 90 public:
nuclear@0 91 scalar_t m[3][3];
nuclear@0 92
nuclear@0 93 static Matrix3x3 identity;
nuclear@0 94
nuclear@0 95 Matrix3x3();
nuclear@0 96 Matrix3x3( scalar_t m11, scalar_t m12, scalar_t m13,
nuclear@0 97 scalar_t m21, scalar_t m22, scalar_t m23,
nuclear@0 98 scalar_t m31, scalar_t m32, scalar_t m33);
nuclear@0 99 Matrix3x3(const Vector3 &ivec, const Vector3 &jvec, const Vector3 &kvec);
nuclear@0 100 Matrix3x3(const mat3_t cmat);
nuclear@0 101
nuclear@0 102 Matrix3x3(const Matrix4x4 &mat4x4);
nuclear@0 103
nuclear@0 104 /* binary operations matrix (op) matrix */
nuclear@0 105 friend Matrix3x3 operator +(const Matrix3x3 &m1, const Matrix3x3 &m2);
nuclear@0 106 friend Matrix3x3 operator -(const Matrix3x3 &m1, const Matrix3x3 &m2);
nuclear@0 107 friend Matrix3x3 operator *(const Matrix3x3 &m1, const Matrix3x3 &m2);
nuclear@0 108
nuclear@0 109 friend void operator +=(Matrix3x3 &m1, const Matrix3x3 &m2);
nuclear@0 110 friend void operator -=(Matrix3x3 &m1, const Matrix3x3 &m2);
nuclear@0 111 friend void operator *=(Matrix3x3 &m1, const Matrix3x3 &m2);
nuclear@0 112
nuclear@0 113 /* binary operations matrix (op) scalar and scalar (op) matrix */
nuclear@0 114 friend Matrix3x3 operator *(const Matrix3x3 &mat, scalar_t scalar);
nuclear@0 115 friend Matrix3x3 operator *(scalar_t scalar, const Matrix3x3 &mat);
nuclear@0 116
nuclear@0 117 friend void operator *=(Matrix3x3 &mat, scalar_t scalar);
nuclear@0 118
nuclear@0 119 inline scalar_t *operator [](int index);
nuclear@0 120 inline const scalar_t *operator [](int index) const;
nuclear@0 121
nuclear@0 122 inline void reset_identity();
nuclear@0 123
nuclear@0 124 void translate(const Vector2 &trans);
nuclear@0 125 void set_translation(const Vector2 &trans);
nuclear@0 126
nuclear@0 127 void rotate(scalar_t angle); /* 2d rotation */
nuclear@0 128 void rotate(const Vector3 &euler_angles); /* 3d rotation with euler angles */
nuclear@0 129 void rotate(const Vector3 &axis, scalar_t angle); /* 3d axis/angle rotation */
nuclear@0 130 void set_rotation(scalar_t angle);
nuclear@0 131 void set_rotation(const Vector3 &euler_angles);
nuclear@0 132 void set_rotation(const Vector3 &axis, scalar_t angle);
nuclear@0 133 Quaternion get_rotation_quat() const;
nuclear@0 134
nuclear@0 135 void scale(const Vector3 &scale_vec);
nuclear@0 136 void set_scaling(const Vector3 &scale_vec);
nuclear@0 137
nuclear@0 138 void set_column_vector(const Vector3 &vec, unsigned int col_index);
nuclear@0 139 void set_row_vector(const Vector3 &vec, unsigned int row_index);
nuclear@0 140 Vector3 get_column_vector(unsigned int col_index) const;
nuclear@0 141 Vector3 get_row_vector(unsigned int row_index) const;
nuclear@0 142
nuclear@0 143 void transpose();
nuclear@0 144 Matrix3x3 transposed() const;
nuclear@0 145 scalar_t determinant() const;
nuclear@0 146 Matrix3x3 inverse() const;
nuclear@0 147
nuclear@0 148 friend std::ostream &operator <<(std::ostream &out, const Matrix3x3 &mat);
nuclear@0 149 };
nuclear@0 150
nuclear@0 151 /* binary operations matrix (op) matrix */
nuclear@0 152 Matrix3x3 operator +(const Matrix3x3 &m1, const Matrix3x3 &m2);
nuclear@0 153 Matrix3x3 operator -(const Matrix3x3 &m1, const Matrix3x3 &m2);
nuclear@0 154 Matrix3x3 operator *(const Matrix3x3 &m1, const Matrix3x3 &m2);
nuclear@0 155
nuclear@0 156 void operator +=(Matrix3x3 &m1, const Matrix3x3 &m2);
nuclear@0 157 void operator -=(Matrix3x3 &m1, const Matrix3x3 &m2);
nuclear@0 158 void operator *=(Matrix3x3 &m1, const Matrix3x3 &m2);
nuclear@0 159
nuclear@0 160 /* binary operations matrix (op) scalar and scalar (op) matrix */
nuclear@0 161 Matrix3x3 operator *(const Matrix3x3 &mat, scalar_t scalar);
nuclear@0 162 Matrix3x3 operator *(scalar_t scalar, const Matrix3x3 &mat);
nuclear@0 163
nuclear@0 164 void operator *=(Matrix3x3 &mat, scalar_t scalar);
nuclear@0 165
nuclear@0 166 std::ostream &operator <<(std::ostream &out, const Matrix3x3 &mat);
nuclear@0 167
nuclear@0 168
nuclear@0 169
nuclear@0 170 /** 4x4 matrix */
nuclear@0 171 class Matrix4x4 {
nuclear@0 172 public:
nuclear@0 173 scalar_t m[4][4];
nuclear@0 174
nuclear@0 175 static Matrix4x4 identity;
nuclear@0 176
nuclear@0 177 Matrix4x4();
nuclear@0 178 Matrix4x4( scalar_t m11, scalar_t m12, scalar_t m13, scalar_t m14,
nuclear@0 179 scalar_t m21, scalar_t m22, scalar_t m23, scalar_t m24,
nuclear@0 180 scalar_t m31, scalar_t m32, scalar_t m33, scalar_t m34,
nuclear@0 181 scalar_t m41, scalar_t m42, scalar_t m43, scalar_t m44);
nuclear@0 182 Matrix4x4(const mat4_t cmat);
nuclear@0 183
nuclear@0 184 Matrix4x4(const Matrix3x3 &mat3x3);
nuclear@0 185
nuclear@0 186 /* binary operations matrix (op) matrix */
nuclear@0 187 friend Matrix4x4 operator +(const Matrix4x4 &m1, const Matrix4x4 &m2);
nuclear@0 188 friend Matrix4x4 operator -(const Matrix4x4 &m1, const Matrix4x4 &m2);
nuclear@0 189 friend Matrix4x4 operator *(const Matrix4x4 &m1, const Matrix4x4 &m2);
nuclear@0 190
nuclear@0 191 friend void operator +=(Matrix4x4 &m1, const Matrix4x4 &m2);
nuclear@0 192 friend void operator -=(Matrix4x4 &m1, const Matrix4x4 &m2);
nuclear@0 193 friend inline void operator *=(Matrix4x4 &m1, const Matrix4x4 &m2);
nuclear@0 194
nuclear@0 195 /* binary operations matrix (op) scalar and scalar (op) matrix */
nuclear@0 196 friend Matrix4x4 operator *(const Matrix4x4 &mat, scalar_t scalar);
nuclear@0 197 friend Matrix4x4 operator *(scalar_t scalar, const Matrix4x4 &mat);
nuclear@0 198
nuclear@0 199 friend void operator *=(Matrix4x4 &mat, scalar_t scalar);
nuclear@0 200
nuclear@0 201 inline scalar_t *operator [](int index);
nuclear@0 202 inline const scalar_t *operator [](int index) const;
nuclear@0 203
nuclear@0 204 inline void reset_identity();
nuclear@0 205
nuclear@0 206 void translate(const Vector3 &trans);
nuclear@0 207 void set_translation(const Vector3 &trans);
nuclear@0 208 Vector3 get_translation() const; /* extract translation */
nuclear@0 209
nuclear@0 210 void rotate(const Vector3 &euler_angles); /* 3d rotation with euler angles */
nuclear@0 211 void rotate(const Vector3 &axis, scalar_t angle); /* 3d axis/angle rotation */
nuclear@0 212 void rotate(const Quaternion &quat);
nuclear@0 213 void set_rotation(const Vector3 &euler_angles);
nuclear@0 214 void set_rotation(const Vector3 &axis, scalar_t angle);
nuclear@0 215 void set_rotation(const Quaternion &quat);
nuclear@0 216 Quaternion get_rotation_quat() const; /* extract rotation */
nuclear@0 217
nuclear@0 218 void scale(const Vector4 &scale_vec);
nuclear@0 219 void set_scaling(const Vector4 &scale_vec);
nuclear@0 220 Vector3 get_scaling() const; /* extract scaling */
nuclear@0 221
nuclear@0 222 void set_column_vector(const Vector4 &vec, unsigned int col_index);
nuclear@0 223 void set_row_vector(const Vector4 &vec, unsigned int row_index);
nuclear@0 224 Vector4 get_column_vector(unsigned int col_index) const;
nuclear@0 225 Vector4 get_row_vector(unsigned int row_index) const;
nuclear@0 226
nuclear@0 227 void transpose();
nuclear@0 228 Matrix4x4 transposed() const;
nuclear@0 229 scalar_t determinant() const;
nuclear@0 230 Matrix4x4 adjoint() const;
nuclear@0 231 Matrix4x4 inverse() const;
nuclear@0 232
nuclear@0 233 void keep_upper_left();
nuclear@0 234 void clear_upper_left();
nuclear@0 235
nuclear@0 236 friend std::ostream &operator <<(std::ostream &out, const Matrix4x4 &mat);
nuclear@0 237 };
nuclear@0 238
nuclear@0 239 /* binary operations matrix (op) matrix */
nuclear@0 240 Matrix4x4 operator +(const Matrix4x4 &m1, const Matrix4x4 &m2);
nuclear@0 241 Matrix4x4 operator -(const Matrix4x4 &m1, const Matrix4x4 &m2);
nuclear@0 242 inline Matrix4x4 operator *(const Matrix4x4 &m1, const Matrix4x4 &m2);
nuclear@0 243
nuclear@0 244 void operator +=(Matrix4x4 &m1, const Matrix4x4 &m2);
nuclear@0 245 void operator -=(Matrix4x4 &m1, const Matrix4x4 &m2);
nuclear@0 246 inline void operator *=(Matrix4x4 &m1, const Matrix4x4 &m2);
nuclear@0 247
nuclear@0 248 /* binary operations matrix (op) scalar and scalar (op) matrix */
nuclear@0 249 Matrix4x4 operator *(const Matrix4x4 &mat, scalar_t scalar);
nuclear@0 250 Matrix4x4 operator *(scalar_t scalar, const Matrix4x4 &mat);
nuclear@0 251
nuclear@0 252 void operator *=(Matrix4x4 &mat, scalar_t scalar);
nuclear@0 253
nuclear@0 254 std::ostream &operator <<(std::ostream &out, const Matrix4x4 &mat);
nuclear@0 255
nuclear@0 256 #endif /* __cplusplus */
nuclear@0 257
nuclear@0 258 #include "matrix.inl"
nuclear@0 259
nuclear@0 260 #endif /* VMATH_MATRIX_H_ */