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annotate libs/vmath/matrix.h @ 0:b2f14e535253

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author John Tsiombikas <nuclear@member.fsf.org>
date Sat, 01 Feb 2014 19:58:19 +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 #include "vector.h"
nuclear@0 25
nuclear@0 26 #ifdef __cplusplus
nuclear@0 27 extern "C" {
nuclear@0 28 #endif /* __cplusplus */
nuclear@0 29
nuclear@0 30 /* C matrix 3x3 functions */
nuclear@0 31 static inline void m3_identity(mat3_t m);
nuclear@0 32 static inline void m3_cons(mat3_t m,
nuclear@0 33 scalar_t m11, scalar_t m12, scalar_t m13,
nuclear@0 34 scalar_t m21, scalar_t m22, scalar_t m23,
nuclear@0 35 scalar_t m31, scalar_t m32, scalar_t m33);
nuclear@0 36 static inline void m3_copy(mat3_t dest, mat3_t src);
nuclear@0 37 void m3_to_m4(mat4_t dest, mat3_t src);
nuclear@0 38
nuclear@0 39 void m3_print(FILE *fp, mat3_t m);
nuclear@0 40
nuclear@0 41 /* C matrix 4x4 functions */
nuclear@0 42 static inline void m4_identity(mat4_t m);
nuclear@0 43 static inline void m4_cons(mat4_t m,
nuclear@0 44 scalar_t m11, scalar_t m12, scalar_t m13, scalar_t m14,
nuclear@0 45 scalar_t m21, scalar_t m22, scalar_t m23, scalar_t m24,
nuclear@0 46 scalar_t m31, scalar_t m32, scalar_t m33, scalar_t m34,
nuclear@0 47 scalar_t m41, scalar_t m42, scalar_t m43, scalar_t m44);
nuclear@0 48 static inline void m4_copy(mat4_t dest, mat4_t src);
nuclear@0 49 void m4_to_m3(mat3_t dest, mat4_t src);
nuclear@0 50
nuclear@0 51 static inline void m4_mult(mat4_t res, mat4_t m1, mat4_t m2);
nuclear@0 52
nuclear@0 53 void m4_set_translation(mat4_t m, scalar_t x, scalar_t y, scalar_t z);
nuclear@0 54 void m4_translate(mat4_t m, scalar_t x, scalar_t y, scalar_t z);
nuclear@0 55
nuclear@0 56 void m4_rotate(mat4_t m, scalar_t x, scalar_t y, scalar_t z);
nuclear@0 57
nuclear@0 58 void m4_set_rotation_x(mat4_t m, scalar_t angle);
nuclear@0 59 void m4_rotate_x(mat4_t m, scalar_t angle);
nuclear@0 60 void m4_set_rotation_y(mat4_t m, scalar_t angle);
nuclear@0 61 void m4_rotate_y(mat4_t m, scalar_t angle);
nuclear@0 62 void m4_set_rotation_z(mat4_t m, scalar_t angle);
nuclear@0 63 void m4_rotate_z(mat4_t m, scalar_t angle);
nuclear@0 64 /* axis-angle rotation */
nuclear@0 65 void m4_set_rotation_axis(mat4_t m, scalar_t angle, scalar_t x, scalar_t y, scalar_t z);
nuclear@0 66 void m4_rotate_axis(mat4_t m, scalar_t angle, scalar_t x, scalar_t y, scalar_t z);
nuclear@0 67 /* concatentate a rotation quaternion */
nuclear@0 68 void m4_rotate_quat(mat4_t m, quat_t q);
nuclear@0 69
nuclear@0 70 void m4_set_scaling(mat4_t m, scalar_t x, scalar_t y, scalar_t z);
nuclear@0 71 void m4_scale(mat4_t m, scalar_t x, scalar_t y, scalar_t z);
nuclear@0 72
nuclear@0 73 static inline void m4_set_column(mat4_t m, vec4_t v, int idx);
nuclear@0 74 static inline void m4_set_row(mat4_t m, vec4_t v, int idx);
nuclear@0 75
nuclear@0 76 void m4_transpose(mat4_t res, mat4_t m);
nuclear@0 77 scalar_t m4_determinant(mat4_t m);
nuclear@0 78 void m4_adjoint(mat4_t res, mat4_t m);
nuclear@0 79 void m4_inverse(mat4_t res, mat4_t m);
nuclear@0 80
nuclear@0 81 void m4_print(FILE *fp, mat4_t m);
nuclear@0 82
nuclear@0 83 #ifdef __cplusplus
nuclear@0 84 }
nuclear@0 85
nuclear@0 86 /* when included from C++ source files, also define the matrix classes */
nuclear@0 87 #include <iostream>
nuclear@0 88
nuclear@0 89 /** 3x3 matrix */
nuclear@0 90 class Matrix3x3 {
nuclear@0 91 public:
nuclear@0 92 scalar_t m[3][3];
nuclear@0 93
nuclear@0 94 static Matrix3x3 identity;
nuclear@0 95
nuclear@0 96 Matrix3x3();
nuclear@0 97 Matrix3x3( scalar_t m11, scalar_t m12, scalar_t m13,
nuclear@0 98 scalar_t m21, scalar_t m22, scalar_t m23,
nuclear@0 99 scalar_t m31, scalar_t m32, scalar_t m33);
nuclear@0 100 Matrix3x3(const Vector3 &ivec, const Vector3 &jvec, const Vector3 &kvec);
nuclear@0 101 Matrix3x3(const mat3_t cmat);
nuclear@0 102
nuclear@0 103 Matrix3x3(const Matrix4x4 &mat4x4);
nuclear@0 104
nuclear@0 105 /* binary operations matrix (op) matrix */
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 friend Matrix3x3 operator *(const Matrix3x3 &m1, const Matrix3x3 &m2);
nuclear@0 109
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 friend void operator *=(Matrix3x3 &m1, const Matrix3x3 &m2);
nuclear@0 113
nuclear@0 114 /* binary operations matrix (op) scalar and scalar (op) matrix */
nuclear@0 115 friend Matrix3x3 operator *(const Matrix3x3 &mat, scalar_t scalar);
nuclear@0 116 friend Matrix3x3 operator *(scalar_t scalar, const Matrix3x3 &mat);
nuclear@0 117
nuclear@0 118 friend void operator *=(Matrix3x3 &mat, scalar_t scalar);
nuclear@0 119
nuclear@0 120 inline scalar_t *operator [](int index);
nuclear@0 121 inline const scalar_t *operator [](int index) const;
nuclear@0 122
nuclear@0 123 inline void reset_identity();
nuclear@0 124
nuclear@0 125 void translate(const Vector2 &trans);
nuclear@0 126 void set_translation(const Vector2 &trans);
nuclear@0 127
nuclear@0 128 void rotate(scalar_t angle); /* 2d rotation */
nuclear@0 129 void rotate(const Vector3 &euler_angles); /* 3d rotation with euler angles */
nuclear@0 130 void rotate(const Vector3 &axis, scalar_t angle); /* 3d axis/angle rotation */
nuclear@0 131 void set_rotation(scalar_t angle);
nuclear@0 132 void set_rotation(const Vector3 &euler_angles);
nuclear@0 133 void set_rotation(const Vector3 &axis, scalar_t angle);
nuclear@0 134 Quaternion get_rotation_quat() const;
nuclear@0 135
nuclear@0 136 void scale(const Vector3 &scale_vec);
nuclear@0 137 void set_scaling(const Vector3 &scale_vec);
nuclear@0 138
nuclear@0 139 void set_column_vector(const Vector3 &vec, unsigned int col_index);
nuclear@0 140 void set_row_vector(const Vector3 &vec, unsigned int row_index);
nuclear@0 141 Vector3 get_column_vector(unsigned int col_index) const;
nuclear@0 142 Vector3 get_row_vector(unsigned int row_index) const;
nuclear@0 143
nuclear@0 144 void transpose();
nuclear@0 145 Matrix3x3 transposed() const;
nuclear@0 146 scalar_t determinant() const;
nuclear@0 147 Matrix3x3 inverse() const;
nuclear@0 148
nuclear@0 149 friend std::ostream &operator <<(std::ostream &out, const Matrix3x3 &mat);
nuclear@0 150 };
nuclear@0 151
nuclear@0 152 /* binary operations matrix (op) matrix */
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 Matrix3x3 operator *(const Matrix3x3 &m1, const Matrix3x3 &m2);
nuclear@0 156
nuclear@0 157 void operator +=(Matrix3x3 &m1, const Matrix3x3 &m2);
nuclear@0 158 void operator -=(Matrix3x3 &m1, const Matrix3x3 &m2);
nuclear@0 159 void operator *=(Matrix3x3 &m1, const Matrix3x3 &m2);
nuclear@0 160
nuclear@0 161 /* binary operations matrix (op) scalar and scalar (op) matrix */
nuclear@0 162 Matrix3x3 operator *(const Matrix3x3 &mat, scalar_t scalar);
nuclear@0 163 Matrix3x3 operator *(scalar_t scalar, const Matrix3x3 &mat);
nuclear@0 164
nuclear@0 165 void operator *=(Matrix3x3 &mat, scalar_t scalar);
nuclear@0 166
nuclear@0 167 std::ostream &operator <<(std::ostream &out, const Matrix3x3 &mat);
nuclear@0 168
nuclear@0 169
nuclear@0 170
nuclear@0 171 /** 4x4 matrix */
nuclear@0 172 class Matrix4x4 {
nuclear@0 173 public:
nuclear@0 174 scalar_t m[4][4];
nuclear@0 175
nuclear@0 176 static Matrix4x4 identity;
nuclear@0 177
nuclear@0 178 Matrix4x4();
nuclear@0 179 Matrix4x4( scalar_t m11, scalar_t m12, scalar_t m13, scalar_t m14,
nuclear@0 180 scalar_t m21, scalar_t m22, scalar_t m23, scalar_t m24,
nuclear@0 181 scalar_t m31, scalar_t m32, scalar_t m33, scalar_t m34,
nuclear@0 182 scalar_t m41, scalar_t m42, scalar_t m43, scalar_t m44);
nuclear@0 183 Matrix4x4(const mat4_t cmat);
nuclear@0 184
nuclear@0 185 Matrix4x4(const Matrix3x3 &mat3x3);
nuclear@0 186
nuclear@0 187 /* binary operations matrix (op) matrix */
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 friend Matrix4x4 operator *(const Matrix4x4 &m1, const Matrix4x4 &m2);
nuclear@0 191
nuclear@0 192 friend void operator +=(Matrix4x4 &m1, const Matrix4x4 &m2);
nuclear@0 193 friend void operator -=(Matrix4x4 &m1, const Matrix4x4 &m2);
nuclear@0 194 friend inline void operator *=(Matrix4x4 &m1, const Matrix4x4 &m2);
nuclear@0 195
nuclear@0 196 /* binary operations matrix (op) scalar and scalar (op) matrix */
nuclear@0 197 friend Matrix4x4 operator *(const Matrix4x4 &mat, scalar_t scalar);
nuclear@0 198 friend Matrix4x4 operator *(scalar_t scalar, const Matrix4x4 &mat);
nuclear@0 199
nuclear@0 200 friend void operator *=(Matrix4x4 &mat, scalar_t scalar);
nuclear@0 201
nuclear@0 202 inline scalar_t *operator [](int index);
nuclear@0 203 inline const scalar_t *operator [](int index) const;
nuclear@0 204
nuclear@0 205 inline void reset_identity();
nuclear@0 206
nuclear@0 207 void translate(const Vector3 &trans);
nuclear@0 208 void set_translation(const Vector3 &trans);
nuclear@0 209 Vector3 get_translation() const; /* extract translation */
nuclear@0 210
nuclear@0 211 void rotate(const Vector3 &euler_angles); /* 3d rotation with euler angles */
nuclear@0 212 void rotate(const Vector3 &axis, scalar_t angle); /* 3d axis/angle rotation */
nuclear@0 213 void rotate(const Quaternion &quat);
nuclear@0 214 void set_rotation(const Vector3 &euler_angles);
nuclear@0 215 void set_rotation(const Vector3 &axis, scalar_t angle);
nuclear@0 216 void set_rotation(const Quaternion &quat);
nuclear@0 217 Quaternion get_rotation_quat() const; /* extract rotation */
nuclear@0 218
nuclear@0 219 void scale(const Vector4 &scale_vec);
nuclear@0 220 void set_scaling(const Vector4 &scale_vec);
nuclear@0 221 Vector3 get_scaling() const; /* extract scaling */
nuclear@0 222
nuclear@0 223 void set_frustum(float left, float right, float top, float bottom, float znear, float zfar);
nuclear@0 224 void set_perspective(float vfov, float aspect, float znear, float zfar);
nuclear@0 225 void set_orthographic(float left, float right, float bottom, float top, float znear = -1.0, float zfar = 1.0);
nuclear@0 226
nuclear@0 227 void set_lookat(const Vector3 &pos, const Vector3 &targ = Vector3(0, 0, 0), const Vector3 &up = Vector3(0, 1, 0));
nuclear@0 228
nuclear@0 229 void set_column_vector(const Vector4 &vec, unsigned int col_index);
nuclear@0 230 void set_row_vector(const Vector4 &vec, unsigned int row_index);
nuclear@0 231 Vector4 get_column_vector(unsigned int col_index) const;
nuclear@0 232 Vector4 get_row_vector(unsigned int row_index) const;
nuclear@0 233
nuclear@0 234 void transpose();
nuclear@0 235 Matrix4x4 transposed() const;
nuclear@0 236 scalar_t determinant() const;
nuclear@0 237 Matrix4x4 adjoint() const;
nuclear@0 238 Matrix4x4 inverse() const;
nuclear@0 239
nuclear@0 240 friend std::ostream &operator <<(std::ostream &out, const Matrix4x4 &mat);
nuclear@0 241 };
nuclear@0 242
nuclear@0 243 /* binary operations matrix (op) matrix */
nuclear@0 244 Matrix4x4 operator +(const Matrix4x4 &m1, const Matrix4x4 &m2);
nuclear@0 245 Matrix4x4 operator -(const Matrix4x4 &m1, const Matrix4x4 &m2);
nuclear@0 246 inline Matrix4x4 operator *(const Matrix4x4 &m1, const Matrix4x4 &m2);
nuclear@0 247
nuclear@0 248 void operator +=(Matrix4x4 &m1, const Matrix4x4 &m2);
nuclear@0 249 void operator -=(Matrix4x4 &m1, const Matrix4x4 &m2);
nuclear@0 250 inline void operator *=(Matrix4x4 &m1, const Matrix4x4 &m2);
nuclear@0 251
nuclear@0 252 /* binary operations matrix (op) scalar and scalar (op) matrix */
nuclear@0 253 Matrix4x4 operator *(const Matrix4x4 &mat, scalar_t scalar);
nuclear@0 254 Matrix4x4 operator *(scalar_t scalar, const Matrix4x4 &mat);
nuclear@0 255
nuclear@0 256 void operator *=(Matrix4x4 &mat, scalar_t scalar);
nuclear@0 257
nuclear@0 258 std::ostream &operator <<(std::ostream &out, const Matrix4x4 &mat);
nuclear@0 259
nuclear@0 260 #endif /* __cplusplus */
nuclear@0 261
nuclear@0 262 #include "matrix.inl"
nuclear@0 263
nuclear@0 264 #endif /* VMATH_MATRIX_H_ */