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author John Tsiombikas <nuclear@member.fsf.org>
date Sat, 01 Feb 2014 19:58:19 +0200
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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 #include "vector.h"
25
26 #ifdef __cplusplus
27 extern "C" {
28 #endif /* __cplusplus */
29
30 /* C matrix 3x3 functions */
31 static inline void m3_identity(mat3_t m);
32 static inline void m3_cons(mat3_t m,
33 scalar_t m11, scalar_t m12, scalar_t m13,
34 scalar_t m21, scalar_t m22, scalar_t m23,
35 scalar_t m31, scalar_t m32, scalar_t m33);
36 static inline void m3_copy(mat3_t dest, mat3_t src);
37 void m3_to_m4(mat4_t dest, mat3_t src);
38
39 void m3_print(FILE *fp, mat3_t m);
40
41 /* C matrix 4x4 functions */
42 static inline void m4_identity(mat4_t m);
43 static inline void m4_cons(mat4_t m,
44 scalar_t m11, scalar_t m12, scalar_t m13, scalar_t m14,
45 scalar_t m21, scalar_t m22, scalar_t m23, scalar_t m24,
46 scalar_t m31, scalar_t m32, scalar_t m33, scalar_t m34,
47 scalar_t m41, scalar_t m42, scalar_t m43, scalar_t m44);
48 static inline void m4_copy(mat4_t dest, mat4_t src);
49 void m4_to_m3(mat3_t dest, mat4_t src);
50
51 static inline void m4_mult(mat4_t res, mat4_t m1, mat4_t m2);
52
53 void m4_set_translation(mat4_t m, scalar_t x, scalar_t y, scalar_t z);
54 void m4_translate(mat4_t m, scalar_t x, scalar_t y, scalar_t z);
55
56 void m4_rotate(mat4_t m, scalar_t x, scalar_t y, scalar_t z);
57
58 void m4_set_rotation_x(mat4_t m, scalar_t angle);
59 void m4_rotate_x(mat4_t m, scalar_t angle);
60 void m4_set_rotation_y(mat4_t m, scalar_t angle);
61 void m4_rotate_y(mat4_t m, scalar_t angle);
62 void m4_set_rotation_z(mat4_t m, scalar_t angle);
63 void m4_rotate_z(mat4_t m, scalar_t angle);
64 /* axis-angle rotation */
65 void m4_set_rotation_axis(mat4_t m, scalar_t angle, scalar_t x, scalar_t y, scalar_t z);
66 void m4_rotate_axis(mat4_t m, scalar_t angle, scalar_t x, scalar_t y, scalar_t z);
67 /* concatentate a rotation quaternion */
68 void m4_rotate_quat(mat4_t m, quat_t q);
69
70 void m4_set_scaling(mat4_t m, scalar_t x, scalar_t y, scalar_t z);
71 void m4_scale(mat4_t m, scalar_t x, scalar_t y, scalar_t z);
72
73 static inline void m4_set_column(mat4_t m, vec4_t v, int idx);
74 static inline void m4_set_row(mat4_t m, vec4_t v, int idx);
75
76 void m4_transpose(mat4_t res, mat4_t m);
77 scalar_t m4_determinant(mat4_t m);
78 void m4_adjoint(mat4_t res, mat4_t m);
79 void m4_inverse(mat4_t res, mat4_t m);
80
81 void m4_print(FILE *fp, mat4_t m);
82
83 #ifdef __cplusplus
84 }
85
86 /* when included from C++ source files, also define the matrix classes */
87 #include <iostream>
88
89 /** 3x3 matrix */
90 class Matrix3x3 {
91 public:
92 scalar_t m[3][3];
93
94 static Matrix3x3 identity;
95
96 Matrix3x3();
97 Matrix3x3( scalar_t m11, scalar_t m12, scalar_t m13,
98 scalar_t m21, scalar_t m22, scalar_t m23,
99 scalar_t m31, scalar_t m32, scalar_t m33);
100 Matrix3x3(const Vector3 &ivec, const Vector3 &jvec, const Vector3 &kvec);
101 Matrix3x3(const mat3_t cmat);
102
103 Matrix3x3(const Matrix4x4 &mat4x4);
104
105 /* binary operations matrix (op) matrix */
106 friend Matrix3x3 operator +(const Matrix3x3 &m1, const Matrix3x3 &m2);
107 friend Matrix3x3 operator -(const Matrix3x3 &m1, const Matrix3x3 &m2);
108 friend Matrix3x3 operator *(const Matrix3x3 &m1, const Matrix3x3 &m2);
109
110 friend void operator +=(Matrix3x3 &m1, const Matrix3x3 &m2);
111 friend void operator -=(Matrix3x3 &m1, const Matrix3x3 &m2);
112 friend void operator *=(Matrix3x3 &m1, const Matrix3x3 &m2);
113
114 /* binary operations matrix (op) scalar and scalar (op) matrix */
115 friend Matrix3x3 operator *(const Matrix3x3 &mat, scalar_t scalar);
116 friend Matrix3x3 operator *(scalar_t scalar, const Matrix3x3 &mat);
117
118 friend void operator *=(Matrix3x3 &mat, scalar_t scalar);
119
120 inline scalar_t *operator [](int index);
121 inline const scalar_t *operator [](int index) const;
122
123 inline void reset_identity();
124
125 void translate(const Vector2 &trans);
126 void set_translation(const Vector2 &trans);
127
128 void rotate(scalar_t angle); /* 2d rotation */
129 void rotate(const Vector3 &euler_angles); /* 3d rotation with euler angles */
130 void rotate(const Vector3 &axis, scalar_t angle); /* 3d axis/angle rotation */
131 void set_rotation(scalar_t angle);
132 void set_rotation(const Vector3 &euler_angles);
133 void set_rotation(const Vector3 &axis, scalar_t angle);
134 Quaternion get_rotation_quat() const;
135
136 void scale(const Vector3 &scale_vec);
137 void set_scaling(const Vector3 &scale_vec);
138
139 void set_column_vector(const Vector3 &vec, unsigned int col_index);
140 void set_row_vector(const Vector3 &vec, unsigned int row_index);
141 Vector3 get_column_vector(unsigned int col_index) const;
142 Vector3 get_row_vector(unsigned int row_index) const;
143
144 void transpose();
145 Matrix3x3 transposed() const;
146 scalar_t determinant() const;
147 Matrix3x3 inverse() const;
148
149 friend std::ostream &operator <<(std::ostream &out, const Matrix3x3 &mat);
150 };
151
152 /* binary operations matrix (op) matrix */
153 Matrix3x3 operator +(const Matrix3x3 &m1, const Matrix3x3 &m2);
154 Matrix3x3 operator -(const Matrix3x3 &m1, const Matrix3x3 &m2);
155 Matrix3x3 operator *(const Matrix3x3 &m1, const Matrix3x3 &m2);
156
157 void operator +=(Matrix3x3 &m1, const Matrix3x3 &m2);
158 void operator -=(Matrix3x3 &m1, const Matrix3x3 &m2);
159 void operator *=(Matrix3x3 &m1, const Matrix3x3 &m2);
160
161 /* binary operations matrix (op) scalar and scalar (op) matrix */
162 Matrix3x3 operator *(const Matrix3x3 &mat, scalar_t scalar);
163 Matrix3x3 operator *(scalar_t scalar, const Matrix3x3 &mat);
164
165 void operator *=(Matrix3x3 &mat, scalar_t scalar);
166
167 std::ostream &operator <<(std::ostream &out, const Matrix3x3 &mat);
168
169
170
171 /** 4x4 matrix */
172 class Matrix4x4 {
173 public:
174 scalar_t m[4][4];
175
176 static Matrix4x4 identity;
177
178 Matrix4x4();
179 Matrix4x4( scalar_t m11, scalar_t m12, scalar_t m13, scalar_t m14,
180 scalar_t m21, scalar_t m22, scalar_t m23, scalar_t m24,
181 scalar_t m31, scalar_t m32, scalar_t m33, scalar_t m34,
182 scalar_t m41, scalar_t m42, scalar_t m43, scalar_t m44);
183 Matrix4x4(const mat4_t cmat);
184
185 Matrix4x4(const Matrix3x3 &mat3x3);
186
187 /* binary operations matrix (op) matrix */
188 friend Matrix4x4 operator +(const Matrix4x4 &m1, const Matrix4x4 &m2);
189 friend Matrix4x4 operator -(const Matrix4x4 &m1, const Matrix4x4 &m2);
190 friend Matrix4x4 operator *(const Matrix4x4 &m1, const Matrix4x4 &m2);
191
192 friend void operator +=(Matrix4x4 &m1, const Matrix4x4 &m2);
193 friend void operator -=(Matrix4x4 &m1, const Matrix4x4 &m2);
194 friend inline void operator *=(Matrix4x4 &m1, const Matrix4x4 &m2);
195
196 /* binary operations matrix (op) scalar and scalar (op) matrix */
197 friend Matrix4x4 operator *(const Matrix4x4 &mat, scalar_t scalar);
198 friend Matrix4x4 operator *(scalar_t scalar, const Matrix4x4 &mat);
199
200 friend void operator *=(Matrix4x4 &mat, scalar_t scalar);
201
202 inline scalar_t *operator [](int index);
203 inline const scalar_t *operator [](int index) const;
204
205 inline void reset_identity();
206
207 void translate(const Vector3 &trans);
208 void set_translation(const Vector3 &trans);
209 Vector3 get_translation() const; /* extract translation */
210
211 void rotate(const Vector3 &euler_angles); /* 3d rotation with euler angles */
212 void rotate(const Vector3 &axis, scalar_t angle); /* 3d axis/angle rotation */
213 void rotate(const Quaternion &quat);
214 void set_rotation(const Vector3 &euler_angles);
215 void set_rotation(const Vector3 &axis, scalar_t angle);
216 void set_rotation(const Quaternion &quat);
217 Quaternion get_rotation_quat() const; /* extract rotation */
218
219 void scale(const Vector4 &scale_vec);
220 void set_scaling(const Vector4 &scale_vec);
221 Vector3 get_scaling() const; /* extract scaling */
222
223 void set_frustum(float left, float right, float top, float bottom, float znear, float zfar);
224 void set_perspective(float vfov, float aspect, float znear, float zfar);
225 void set_orthographic(float left, float right, float bottom, float top, float znear = -1.0, float zfar = 1.0);
226
227 void set_lookat(const Vector3 &pos, const Vector3 &targ = Vector3(0, 0, 0), const Vector3 &up = Vector3(0, 1, 0));
228
229 void set_column_vector(const Vector4 &vec, unsigned int col_index);
230 void set_row_vector(const Vector4 &vec, unsigned int row_index);
231 Vector4 get_column_vector(unsigned int col_index) const;
232 Vector4 get_row_vector(unsigned int row_index) const;
233
234 void transpose();
235 Matrix4x4 transposed() const;
236 scalar_t determinant() const;
237 Matrix4x4 adjoint() const;
238 Matrix4x4 inverse() const;
239
240 friend std::ostream &operator <<(std::ostream &out, const Matrix4x4 &mat);
241 };
242
243 /* binary operations matrix (op) matrix */
244 Matrix4x4 operator +(const Matrix4x4 &m1, const Matrix4x4 &m2);
245 Matrix4x4 operator -(const Matrix4x4 &m1, const Matrix4x4 &m2);
246 inline Matrix4x4 operator *(const Matrix4x4 &m1, const Matrix4x4 &m2);
247
248 void operator +=(Matrix4x4 &m1, const Matrix4x4 &m2);
249 void operator -=(Matrix4x4 &m1, const Matrix4x4 &m2);
250 inline void operator *=(Matrix4x4 &m1, const Matrix4x4 &m2);
251
252 /* binary operations matrix (op) scalar and scalar (op) matrix */
253 Matrix4x4 operator *(const Matrix4x4 &mat, scalar_t scalar);
254 Matrix4x4 operator *(scalar_t scalar, const Matrix4x4 &mat);
255
256 void operator *=(Matrix4x4 &mat, scalar_t scalar);
257
258 std::ostream &operator <<(std::ostream &out, const Matrix4x4 &mat);
259
260 #endif /* __cplusplus */
261
262 #include "matrix.inl"
263
264 #endif /* VMATH_MATRIX_H_ */