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annotate libs/vmath/matrix.h @ 8:661bf09db398

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author John Tsiombikas <nuclear@member.fsf.org>
date Thu, 24 Sep 2015 07:09:37 +0300
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nuclear@2 1 /*
nuclear@2 2 libvmath - a vector math library
nuclear@2 3 Copyright (C) 2004-2011 John Tsiombikas <nuclear@member.fsf.org>
nuclear@2 4
nuclear@2 5 This program is free software: you can redistribute it and/or modify
nuclear@2 6 it under the terms of the GNU Lesser General Public License as published
nuclear@2 7 by the Free Software Foundation, either version 3 of the License, or
nuclear@2 8 (at your option) any later version.
nuclear@2 9
nuclear@2 10 This program is distributed in the hope that it will be useful,
nuclear@2 11 but WITHOUT ANY WARRANTY; without even the implied warranty of
nuclear@2 12 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
nuclear@2 13 GNU Lesser General Public License for more details.
nuclear@2 14
nuclear@2 15 You should have received a copy of the GNU Lesser General Public License
nuclear@2 16 along with this program. If not, see <http://www.gnu.org/licenses/>.
nuclear@2 17 */
nuclear@2 18
nuclear@2 19 #ifndef VMATH_MATRIX_H_
nuclear@2 20 #define VMATH_MATRIX_H_
nuclear@2 21
nuclear@2 22 #include <stdio.h>
nuclear@2 23 #include "vmath_types.h"
nuclear@2 24
nuclear@2 25 #ifdef __cplusplus
nuclear@2 26 extern "C" {
nuclear@2 27 #endif /* __cplusplus */
nuclear@2 28
nuclear@2 29 /* C matrix 3x3 functions */
nuclear@2 30 static inline void m3_identity(mat3_t m);
nuclear@2 31 static inline void m3_cons(mat3_t m,
nuclear@2 32 scalar_t m11, scalar_t m12, scalar_t m13,
nuclear@2 33 scalar_t m21, scalar_t m22, scalar_t m23,
nuclear@2 34 scalar_t m31, scalar_t m32, scalar_t m33);
nuclear@2 35 static inline void m3_copy(mat3_t dest, mat3_t src);
nuclear@2 36 void m3_to_m4(mat4_t dest, mat3_t src);
nuclear@2 37
nuclear@2 38 void m3_print(FILE *fp, mat3_t m);
nuclear@2 39
nuclear@2 40 /* C matrix 4x4 functions */
nuclear@2 41 static inline void m4_identity(mat4_t m);
nuclear@2 42 static inline void m4_cons(mat4_t m,
nuclear@2 43 scalar_t m11, scalar_t m12, scalar_t m13, scalar_t m14,
nuclear@2 44 scalar_t m21, scalar_t m22, scalar_t m23, scalar_t m24,
nuclear@2 45 scalar_t m31, scalar_t m32, scalar_t m33, scalar_t m34,
nuclear@2 46 scalar_t m41, scalar_t m42, scalar_t m43, scalar_t m44);
nuclear@2 47 static inline void m4_copy(mat4_t dest, mat4_t src);
nuclear@2 48 void m4_to_m3(mat3_t dest, mat4_t src);
nuclear@2 49
nuclear@2 50 static inline void m4_mult(mat4_t res, mat4_t m1, mat4_t m2);
nuclear@2 51
nuclear@2 52 void m4_translate(mat4_t m, scalar_t x, scalar_t y, scalar_t z);
nuclear@2 53 void m4_rotate(mat4_t m, scalar_t x, scalar_t y, scalar_t z);
nuclear@2 54 void m4_rotate_x(mat4_t m, scalar_t angle);
nuclear@2 55 void m4_rotate_y(mat4_t m, scalar_t angle);
nuclear@2 56 void m4_rotate_z(mat4_t m, scalar_t angle);
nuclear@2 57 void m4_rotate_axis(mat4_t m, scalar_t angle, scalar_t x, scalar_t y, scalar_t z);
nuclear@2 58 void m4_rotate_quat(mat4_t m, quat_t q);
nuclear@2 59 void m4_scale(mat4_t m, scalar_t x, scalar_t y, scalar_t z);
nuclear@2 60 static inline void m4_set_column(mat4_t m, vec4_t v, int idx);
nuclear@2 61 static inline void m4_set_row(mat4_t m, vec4_t v, int idx);
nuclear@2 62
nuclear@2 63 void m4_transpose(mat4_t res, mat4_t m);
nuclear@2 64 scalar_t m4_determinant(mat4_t m);
nuclear@2 65 void m4_adjoint(mat4_t res, mat4_t m);
nuclear@2 66 void m4_inverse(mat4_t res, mat4_t m);
nuclear@2 67
nuclear@2 68 void m4_print(FILE *fp, mat4_t m);
nuclear@2 69
nuclear@2 70 #ifdef __cplusplus
nuclear@2 71 }
nuclear@2 72
nuclear@2 73 /* when included from C++ source files, also define the matrix classes */
nuclear@2 74 #include <iostream>
nuclear@2 75
nuclear@2 76 /** 3x3 matrix */
nuclear@2 77 class Matrix3x3 {
nuclear@2 78 private:
nuclear@2 79 scalar_t m[3][3];
nuclear@2 80
nuclear@2 81 public:
nuclear@2 82
nuclear@2 83 static Matrix3x3 identity;
nuclear@2 84
nuclear@2 85 Matrix3x3();
nuclear@2 86 Matrix3x3( scalar_t m11, scalar_t m12, scalar_t m13,
nuclear@2 87 scalar_t m21, scalar_t m22, scalar_t m23,
nuclear@2 88 scalar_t m31, scalar_t m32, scalar_t m33);
nuclear@2 89 Matrix3x3(const mat3_t cmat);
nuclear@2 90
nuclear@2 91 Matrix3x3(const Matrix4x4 &mat4x4);
nuclear@2 92
nuclear@2 93 /* binary operations matrix (op) matrix */
nuclear@2 94 friend Matrix3x3 operator +(const Matrix3x3 &m1, const Matrix3x3 &m2);
nuclear@2 95 friend Matrix3x3 operator -(const Matrix3x3 &m1, const Matrix3x3 &m2);
nuclear@2 96 friend Matrix3x3 operator *(const Matrix3x3 &m1, const Matrix3x3 &m2);
nuclear@2 97
nuclear@2 98 friend void operator +=(Matrix3x3 &m1, const Matrix3x3 &m2);
nuclear@2 99 friend void operator -=(Matrix3x3 &m1, const Matrix3x3 &m2);
nuclear@2 100 friend void operator *=(Matrix3x3 &m1, const Matrix3x3 &m2);
nuclear@2 101
nuclear@2 102 /* binary operations matrix (op) scalar and scalar (op) matrix */
nuclear@2 103 friend Matrix3x3 operator *(const Matrix3x3 &mat, scalar_t scalar);
nuclear@2 104 friend Matrix3x3 operator *(scalar_t scalar, const Matrix3x3 &mat);
nuclear@2 105
nuclear@2 106 friend void operator *=(Matrix3x3 &mat, scalar_t scalar);
nuclear@2 107
nuclear@2 108 inline scalar_t *operator [](int index);
nuclear@2 109 inline const scalar_t *operator [](int index) const;
nuclear@2 110
nuclear@2 111 inline void reset_identity();
nuclear@2 112
nuclear@2 113 void translate(const Vector2 &trans);
nuclear@2 114 void set_translation(const Vector2 &trans);
nuclear@2 115
nuclear@2 116 void rotate(scalar_t angle); /* 2d rotation */
nuclear@2 117 void rotate(const Vector3 &euler_angles); /* 3d rotation with euler angles */
nuclear@2 118 void rotate(const Vector3 &axis, scalar_t angle); /* 3d axis/angle rotation */
nuclear@2 119 void set_rotation(scalar_t angle);
nuclear@2 120 void set_rotation(const Vector3 &euler_angles);
nuclear@2 121 void set_rotation(const Vector3 &axis, scalar_t angle);
nuclear@2 122
nuclear@2 123 void scale(const Vector3 &scale_vec);
nuclear@2 124 void set_scaling(const Vector3 &scale_vec);
nuclear@2 125
nuclear@2 126 void set_column_vector(const Vector3 &vec, unsigned int col_index);
nuclear@2 127 void set_row_vector(const Vector3 &vec, unsigned int row_index);
nuclear@2 128 Vector3 get_column_vector(unsigned int col_index) const;
nuclear@2 129 Vector3 get_row_vector(unsigned int row_index) const;
nuclear@2 130
nuclear@2 131 void transpose();
nuclear@2 132 Matrix3x3 transposed() const;
nuclear@2 133 scalar_t determinant() const;
nuclear@2 134 Matrix3x3 inverse() const;
nuclear@2 135
nuclear@2 136 friend std::ostream &operator <<(std::ostream &out, const Matrix3x3 &mat);
nuclear@2 137 };
nuclear@2 138
nuclear@2 139 /** 4x4 matrix */
nuclear@2 140 class Matrix4x4 {
nuclear@2 141 private:
nuclear@2 142 scalar_t m[4][4];
nuclear@2 143
nuclear@2 144 public:
nuclear@2 145
nuclear@2 146 static Matrix4x4 identity;
nuclear@2 147
nuclear@2 148 Matrix4x4();
nuclear@2 149 Matrix4x4( scalar_t m11, scalar_t m12, scalar_t m13, scalar_t m14,
nuclear@2 150 scalar_t m21, scalar_t m22, scalar_t m23, scalar_t m24,
nuclear@2 151 scalar_t m31, scalar_t m32, scalar_t m33, scalar_t m34,
nuclear@2 152 scalar_t m41, scalar_t m42, scalar_t m43, scalar_t m44);
nuclear@2 153 Matrix4x4(const mat4_t cmat);
nuclear@2 154
nuclear@2 155 Matrix4x4(const Matrix3x3 &mat3x3);
nuclear@2 156
nuclear@2 157 /* binary operations matrix (op) matrix */
nuclear@2 158 friend Matrix4x4 operator +(const Matrix4x4 &m1, const Matrix4x4 &m2);
nuclear@2 159 friend Matrix4x4 operator -(const Matrix4x4 &m1, const Matrix4x4 &m2);
nuclear@2 160 friend Matrix4x4 operator *(const Matrix4x4 &m1, const Matrix4x4 &m2);
nuclear@2 161
nuclear@2 162 friend void operator +=(Matrix4x4 &m1, const Matrix4x4 &m2);
nuclear@2 163 friend void operator -=(Matrix4x4 &m1, const Matrix4x4 &m2);
nuclear@2 164 friend inline void operator *=(Matrix4x4 &m1, const Matrix4x4 &m2);
nuclear@2 165
nuclear@2 166 /* binary operations matrix (op) scalar and scalar (op) matrix */
nuclear@2 167 friend Matrix4x4 operator *(const Matrix4x4 &mat, scalar_t scalar);
nuclear@2 168 friend Matrix4x4 operator *(scalar_t scalar, const Matrix4x4 &mat);
nuclear@2 169
nuclear@2 170 friend void operator *=(Matrix4x4 &mat, scalar_t scalar);
nuclear@2 171
nuclear@2 172 inline scalar_t *operator [](int index);
nuclear@2 173 inline const scalar_t *operator [](int index) const;
nuclear@2 174
nuclear@2 175 inline void reset_identity();
nuclear@2 176
nuclear@2 177 void translate(const Vector3 &trans);
nuclear@2 178 void set_translation(const Vector3 &trans);
nuclear@2 179
nuclear@2 180 void rotate(const Vector3 &euler_angles); /* 3d rotation with euler angles */
nuclear@2 181 void rotate(const Vector3 &axis, scalar_t angle); /* 3d axis/angle rotation */
nuclear@2 182 void set_rotation(const Vector3 &euler_angles);
nuclear@2 183 void set_rotation(const Vector3 &axis, scalar_t angle);
nuclear@2 184
nuclear@2 185 void scale(const Vector4 &scale_vec);
nuclear@2 186 void set_scaling(const Vector4 &scale_vec);
nuclear@2 187
nuclear@2 188 void set_column_vector(const Vector4 &vec, unsigned int col_index);
nuclear@2 189 void set_row_vector(const Vector4 &vec, unsigned int row_index);
nuclear@2 190 Vector4 get_column_vector(unsigned int col_index) const;
nuclear@2 191 Vector4 get_row_vector(unsigned int row_index) const;
nuclear@2 192
nuclear@2 193 void transpose();
nuclear@2 194 Matrix4x4 transposed() const;
nuclear@2 195 scalar_t determinant() const;
nuclear@2 196 Matrix4x4 adjoint() const;
nuclear@2 197 Matrix4x4 inverse() const;
nuclear@2 198
nuclear@2 199 friend std::ostream &operator <<(std::ostream &out, const Matrix4x4 &mat);
nuclear@2 200 };
nuclear@2 201 #endif /* __cplusplus */
nuclear@2 202
nuclear@2 203 #include "matrix.inl"
nuclear@2 204
nuclear@2 205 #endif /* VMATH_MATRIX_H_ */