vrshoot
diff libs/vmath/matrix.h @ 0:b2f14e535253
initial commit
author | John Tsiombikas <nuclear@member.fsf.org> |
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date | Sat, 01 Feb 2014 19:58:19 +0200 |
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1.1 --- /dev/null Thu Jan 01 00:00:00 1970 +0000 1.2 +++ b/libs/vmath/matrix.h Sat Feb 01 19:58:19 2014 +0200 1.3 @@ -0,0 +1,264 @@ 1.4 +/* 1.5 +libvmath - a vector math library 1.6 +Copyright (C) 2004-2011 John Tsiombikas <nuclear@member.fsf.org> 1.7 + 1.8 +This program is free software: you can redistribute it and/or modify 1.9 +it under the terms of the GNU Lesser General Public License as published 1.10 +by the Free Software Foundation, either version 3 of the License, or 1.11 +(at your option) any later version. 1.12 + 1.13 +This program is distributed in the hope that it will be useful, 1.14 +but WITHOUT ANY WARRANTY; without even the implied warranty of 1.15 +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 1.16 +GNU Lesser General Public License for more details. 1.17 + 1.18 +You should have received a copy of the GNU Lesser General Public License 1.19 +along with this program. If not, see <http://www.gnu.org/licenses/>. 1.20 +*/ 1.21 + 1.22 +#ifndef VMATH_MATRIX_H_ 1.23 +#define VMATH_MATRIX_H_ 1.24 + 1.25 +#include <stdio.h> 1.26 +#include "vmath_types.h" 1.27 +#include "vector.h" 1.28 + 1.29 +#ifdef __cplusplus 1.30 +extern "C" { 1.31 +#endif /* __cplusplus */ 1.32 + 1.33 +/* C matrix 3x3 functions */ 1.34 +static inline void m3_identity(mat3_t m); 1.35 +static inline void m3_cons(mat3_t m, 1.36 + scalar_t m11, scalar_t m12, scalar_t m13, 1.37 + scalar_t m21, scalar_t m22, scalar_t m23, 1.38 + scalar_t m31, scalar_t m32, scalar_t m33); 1.39 +static inline void m3_copy(mat3_t dest, mat3_t src); 1.40 +void m3_to_m4(mat4_t dest, mat3_t src); 1.41 + 1.42 +void m3_print(FILE *fp, mat3_t m); 1.43 + 1.44 +/* C matrix 4x4 functions */ 1.45 +static inline void m4_identity(mat4_t m); 1.46 +static inline void m4_cons(mat4_t m, 1.47 + scalar_t m11, scalar_t m12, scalar_t m13, scalar_t m14, 1.48 + scalar_t m21, scalar_t m22, scalar_t m23, scalar_t m24, 1.49 + scalar_t m31, scalar_t m32, scalar_t m33, scalar_t m34, 1.50 + scalar_t m41, scalar_t m42, scalar_t m43, scalar_t m44); 1.51 +static inline void m4_copy(mat4_t dest, mat4_t src); 1.52 +void m4_to_m3(mat3_t dest, mat4_t src); 1.53 + 1.54 +static inline void m4_mult(mat4_t res, mat4_t m1, mat4_t m2); 1.55 + 1.56 +void m4_set_translation(mat4_t m, scalar_t x, scalar_t y, scalar_t z); 1.57 +void m4_translate(mat4_t m, scalar_t x, scalar_t y, scalar_t z); 1.58 + 1.59 +void m4_rotate(mat4_t m, scalar_t x, scalar_t y, scalar_t z); 1.60 + 1.61 +void m4_set_rotation_x(mat4_t m, scalar_t angle); 1.62 +void m4_rotate_x(mat4_t m, scalar_t angle); 1.63 +void m4_set_rotation_y(mat4_t m, scalar_t angle); 1.64 +void m4_rotate_y(mat4_t m, scalar_t angle); 1.65 +void m4_set_rotation_z(mat4_t m, scalar_t angle); 1.66 +void m4_rotate_z(mat4_t m, scalar_t angle); 1.67 +/* axis-angle rotation */ 1.68 +void m4_set_rotation_axis(mat4_t m, scalar_t angle, scalar_t x, scalar_t y, scalar_t z); 1.69 +void m4_rotate_axis(mat4_t m, scalar_t angle, scalar_t x, scalar_t y, scalar_t z); 1.70 +/* concatentate a rotation quaternion */ 1.71 +void m4_rotate_quat(mat4_t m, quat_t q); 1.72 + 1.73 +void m4_set_scaling(mat4_t m, scalar_t x, scalar_t y, scalar_t z); 1.74 +void m4_scale(mat4_t m, scalar_t x, scalar_t y, scalar_t z); 1.75 + 1.76 +static inline void m4_set_column(mat4_t m, vec4_t v, int idx); 1.77 +static inline void m4_set_row(mat4_t m, vec4_t v, int idx); 1.78 + 1.79 +void m4_transpose(mat4_t res, mat4_t m); 1.80 +scalar_t m4_determinant(mat4_t m); 1.81 +void m4_adjoint(mat4_t res, mat4_t m); 1.82 +void m4_inverse(mat4_t res, mat4_t m); 1.83 + 1.84 +void m4_print(FILE *fp, mat4_t m); 1.85 + 1.86 +#ifdef __cplusplus 1.87 +} 1.88 + 1.89 +/* when included from C++ source files, also define the matrix classes */ 1.90 +#include <iostream> 1.91 + 1.92 +/** 3x3 matrix */ 1.93 +class Matrix3x3 { 1.94 +public: 1.95 + scalar_t m[3][3]; 1.96 + 1.97 + static Matrix3x3 identity; 1.98 + 1.99 + Matrix3x3(); 1.100 + Matrix3x3( scalar_t m11, scalar_t m12, scalar_t m13, 1.101 + scalar_t m21, scalar_t m22, scalar_t m23, 1.102 + scalar_t m31, scalar_t m32, scalar_t m33); 1.103 + Matrix3x3(const Vector3 &ivec, const Vector3 &jvec, const Vector3 &kvec); 1.104 + Matrix3x3(const mat3_t cmat); 1.105 + 1.106 + Matrix3x3(const Matrix4x4 &mat4x4); 1.107 + 1.108 + /* binary operations matrix (op) matrix */ 1.109 + friend Matrix3x3 operator +(const Matrix3x3 &m1, const Matrix3x3 &m2); 1.110 + friend Matrix3x3 operator -(const Matrix3x3 &m1, const Matrix3x3 &m2); 1.111 + friend Matrix3x3 operator *(const Matrix3x3 &m1, const Matrix3x3 &m2); 1.112 + 1.113 + friend void operator +=(Matrix3x3 &m1, const Matrix3x3 &m2); 1.114 + friend void operator -=(Matrix3x3 &m1, const Matrix3x3 &m2); 1.115 + friend void operator *=(Matrix3x3 &m1, const Matrix3x3 &m2); 1.116 + 1.117 + /* binary operations matrix (op) scalar and scalar (op) matrix */ 1.118 + friend Matrix3x3 operator *(const Matrix3x3 &mat, scalar_t scalar); 1.119 + friend Matrix3x3 operator *(scalar_t scalar, const Matrix3x3 &mat); 1.120 + 1.121 + friend void operator *=(Matrix3x3 &mat, scalar_t scalar); 1.122 + 1.123 + inline scalar_t *operator [](int index); 1.124 + inline const scalar_t *operator [](int index) const; 1.125 + 1.126 + inline void reset_identity(); 1.127 + 1.128 + void translate(const Vector2 &trans); 1.129 + void set_translation(const Vector2 &trans); 1.130 + 1.131 + void rotate(scalar_t angle); /* 2d rotation */ 1.132 + void rotate(const Vector3 &euler_angles); /* 3d rotation with euler angles */ 1.133 + void rotate(const Vector3 &axis, scalar_t angle); /* 3d axis/angle rotation */ 1.134 + void set_rotation(scalar_t angle); 1.135 + void set_rotation(const Vector3 &euler_angles); 1.136 + void set_rotation(const Vector3 &axis, scalar_t angle); 1.137 + Quaternion get_rotation_quat() const; 1.138 + 1.139 + void scale(const Vector3 &scale_vec); 1.140 + void set_scaling(const Vector3 &scale_vec); 1.141 + 1.142 + void set_column_vector(const Vector3 &vec, unsigned int col_index); 1.143 + void set_row_vector(const Vector3 &vec, unsigned int row_index); 1.144 + Vector3 get_column_vector(unsigned int col_index) const; 1.145 + Vector3 get_row_vector(unsigned int row_index) const; 1.146 + 1.147 + void transpose(); 1.148 + Matrix3x3 transposed() const; 1.149 + scalar_t determinant() const; 1.150 + Matrix3x3 inverse() const; 1.151 + 1.152 + friend std::ostream &operator <<(std::ostream &out, const Matrix3x3 &mat); 1.153 +}; 1.154 + 1.155 +/* binary operations matrix (op) matrix */ 1.156 +Matrix3x3 operator +(const Matrix3x3 &m1, const Matrix3x3 &m2); 1.157 +Matrix3x3 operator -(const Matrix3x3 &m1, const Matrix3x3 &m2); 1.158 +Matrix3x3 operator *(const Matrix3x3 &m1, const Matrix3x3 &m2); 1.159 + 1.160 +void operator +=(Matrix3x3 &m1, const Matrix3x3 &m2); 1.161 +void operator -=(Matrix3x3 &m1, const Matrix3x3 &m2); 1.162 +void operator *=(Matrix3x3 &m1, const Matrix3x3 &m2); 1.163 + 1.164 +/* binary operations matrix (op) scalar and scalar (op) matrix */ 1.165 +Matrix3x3 operator *(const Matrix3x3 &mat, scalar_t scalar); 1.166 +Matrix3x3 operator *(scalar_t scalar, const Matrix3x3 &mat); 1.167 + 1.168 +void operator *=(Matrix3x3 &mat, scalar_t scalar); 1.169 + 1.170 +std::ostream &operator <<(std::ostream &out, const Matrix3x3 &mat); 1.171 + 1.172 + 1.173 + 1.174 +/** 4x4 matrix */ 1.175 +class Matrix4x4 { 1.176 +public: 1.177 + scalar_t m[4][4]; 1.178 + 1.179 + static Matrix4x4 identity; 1.180 + 1.181 + Matrix4x4(); 1.182 + Matrix4x4( scalar_t m11, scalar_t m12, scalar_t m13, scalar_t m14, 1.183 + scalar_t m21, scalar_t m22, scalar_t m23, scalar_t m24, 1.184 + scalar_t m31, scalar_t m32, scalar_t m33, scalar_t m34, 1.185 + scalar_t m41, scalar_t m42, scalar_t m43, scalar_t m44); 1.186 + Matrix4x4(const mat4_t cmat); 1.187 + 1.188 + Matrix4x4(const Matrix3x3 &mat3x3); 1.189 + 1.190 + /* binary operations matrix (op) matrix */ 1.191 + friend Matrix4x4 operator +(const Matrix4x4 &m1, const Matrix4x4 &m2); 1.192 + friend Matrix4x4 operator -(const Matrix4x4 &m1, const Matrix4x4 &m2); 1.193 + friend Matrix4x4 operator *(const Matrix4x4 &m1, const Matrix4x4 &m2); 1.194 + 1.195 + friend void operator +=(Matrix4x4 &m1, const Matrix4x4 &m2); 1.196 + friend void operator -=(Matrix4x4 &m1, const Matrix4x4 &m2); 1.197 + friend inline void operator *=(Matrix4x4 &m1, const Matrix4x4 &m2); 1.198 + 1.199 + /* binary operations matrix (op) scalar and scalar (op) matrix */ 1.200 + friend Matrix4x4 operator *(const Matrix4x4 &mat, scalar_t scalar); 1.201 + friend Matrix4x4 operator *(scalar_t scalar, const Matrix4x4 &mat); 1.202 + 1.203 + friend void operator *=(Matrix4x4 &mat, scalar_t scalar); 1.204 + 1.205 + inline scalar_t *operator [](int index); 1.206 + inline const scalar_t *operator [](int index) const; 1.207 + 1.208 + inline void reset_identity(); 1.209 + 1.210 + void translate(const Vector3 &trans); 1.211 + void set_translation(const Vector3 &trans); 1.212 + Vector3 get_translation() const; /* extract translation */ 1.213 + 1.214 + void rotate(const Vector3 &euler_angles); /* 3d rotation with euler angles */ 1.215 + void rotate(const Vector3 &axis, scalar_t angle); /* 3d axis/angle rotation */ 1.216 + void rotate(const Quaternion &quat); 1.217 + void set_rotation(const Vector3 &euler_angles); 1.218 + void set_rotation(const Vector3 &axis, scalar_t angle); 1.219 + void set_rotation(const Quaternion &quat); 1.220 + Quaternion get_rotation_quat() const; /* extract rotation */ 1.221 + 1.222 + void scale(const Vector4 &scale_vec); 1.223 + void set_scaling(const Vector4 &scale_vec); 1.224 + Vector3 get_scaling() const; /* extract scaling */ 1.225 + 1.226 + void set_frustum(float left, float right, float top, float bottom, float znear, float zfar); 1.227 + void set_perspective(float vfov, float aspect, float znear, float zfar); 1.228 + void set_orthographic(float left, float right, float bottom, float top, float znear = -1.0, float zfar = 1.0); 1.229 + 1.230 + void set_lookat(const Vector3 &pos, const Vector3 &targ = Vector3(0, 0, 0), const Vector3 &up = Vector3(0, 1, 0)); 1.231 + 1.232 + void set_column_vector(const Vector4 &vec, unsigned int col_index); 1.233 + void set_row_vector(const Vector4 &vec, unsigned int row_index); 1.234 + Vector4 get_column_vector(unsigned int col_index) const; 1.235 + Vector4 get_row_vector(unsigned int row_index) const; 1.236 + 1.237 + void transpose(); 1.238 + Matrix4x4 transposed() const; 1.239 + scalar_t determinant() const; 1.240 + Matrix4x4 adjoint() const; 1.241 + Matrix4x4 inverse() const; 1.242 + 1.243 + friend std::ostream &operator <<(std::ostream &out, const Matrix4x4 &mat); 1.244 +}; 1.245 + 1.246 +/* binary operations matrix (op) matrix */ 1.247 +Matrix4x4 operator +(const Matrix4x4 &m1, const Matrix4x4 &m2); 1.248 +Matrix4x4 operator -(const Matrix4x4 &m1, const Matrix4x4 &m2); 1.249 +inline Matrix4x4 operator *(const Matrix4x4 &m1, const Matrix4x4 &m2); 1.250 + 1.251 +void operator +=(Matrix4x4 &m1, const Matrix4x4 &m2); 1.252 +void operator -=(Matrix4x4 &m1, const Matrix4x4 &m2); 1.253 +inline void operator *=(Matrix4x4 &m1, const Matrix4x4 &m2); 1.254 + 1.255 +/* binary operations matrix (op) scalar and scalar (op) matrix */ 1.256 +Matrix4x4 operator *(const Matrix4x4 &mat, scalar_t scalar); 1.257 +Matrix4x4 operator *(scalar_t scalar, const Matrix4x4 &mat); 1.258 + 1.259 +void operator *=(Matrix4x4 &mat, scalar_t scalar); 1.260 + 1.261 +std::ostream &operator <<(std::ostream &out, const Matrix4x4 &mat); 1.262 + 1.263 +#endif /* __cplusplus */ 1.264 + 1.265 +#include "matrix.inl" 1.266 + 1.267 +#endif /* VMATH_MATRIX_H_ */