nuclear@0: /*
nuclear@0: libvmath - a vector math library
nuclear@0: Copyright (C) 2004-2011 John Tsiombikas <nuclear@member.fsf.org>
nuclear@0: 
nuclear@0: This program is free software: you can redistribute it and/or modify
nuclear@0: it under the terms of the GNU Lesser General Public License as published
nuclear@0: by the Free Software Foundation, either version 3 of the License, or
nuclear@0: (at your option) any later version.
nuclear@0: 
nuclear@0: This program is distributed in the hope that it will be useful,
nuclear@0: but WITHOUT ANY WARRANTY; without even the implied warranty of
nuclear@0: MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
nuclear@0: GNU Lesser General Public License for more details.
nuclear@0: 
nuclear@0: You should have received a copy of the GNU Lesser General Public License
nuclear@0: along with this program.  If not, see <http://www.gnu.org/licenses/>.
nuclear@0: */
nuclear@0: 
nuclear@0: #ifndef VMATH_MATRIX_H_
nuclear@0: #define VMATH_MATRIX_H_
nuclear@0: 
nuclear@0: #include <stdio.h>
nuclear@0: #include "vmath_types.h"
nuclear@0: #include "vector.h"
nuclear@0: 
nuclear@0: #ifdef __cplusplus
nuclear@0: extern "C" {
nuclear@0: #endif	/* __cplusplus */
nuclear@0: 
nuclear@0: /* C matrix 3x3 functions */
nuclear@0: static inline void m3_identity(mat3_t m);
nuclear@0: static inline void m3_cons(mat3_t m,
nuclear@0: 		scalar_t m11, scalar_t m12, scalar_t m13,
nuclear@0: 		scalar_t m21, scalar_t m22, scalar_t m23,
nuclear@0: 		scalar_t m31, scalar_t m32, scalar_t m33);
nuclear@0: static inline void m3_copy(mat3_t dest, mat3_t src);
nuclear@0: void m3_to_m4(mat4_t dest, mat3_t src);
nuclear@0: 
nuclear@0: void m3_print(FILE *fp, mat3_t m);
nuclear@0: 
nuclear@0: /* C matrix 4x4 functions */
nuclear@0: static inline void m4_identity(mat4_t m);
nuclear@0: static inline void m4_cons(mat4_t m,
nuclear@0: 		scalar_t m11, scalar_t m12, scalar_t m13, scalar_t m14,
nuclear@0: 		scalar_t m21, scalar_t m22, scalar_t m23, scalar_t m24,
nuclear@0: 		scalar_t m31, scalar_t m32, scalar_t m33, scalar_t m34,
nuclear@0: 		scalar_t m41, scalar_t m42, scalar_t m43, scalar_t m44);
nuclear@0: static inline void m4_copy(mat4_t dest, mat4_t src);
nuclear@0: void m4_to_m3(mat3_t dest, mat4_t src);
nuclear@0: 
nuclear@0: static inline void m4_mult(mat4_t res, mat4_t m1, mat4_t m2);
nuclear@0: 
nuclear@0: void m4_set_translation(mat4_t m, scalar_t x, scalar_t y, scalar_t z);
nuclear@0: void m4_translate(mat4_t m, scalar_t x, scalar_t y, scalar_t z);
nuclear@0: 
nuclear@0: void m4_rotate(mat4_t m, scalar_t x, scalar_t y, scalar_t z);
nuclear@0: 
nuclear@0: void m4_set_rotation_x(mat4_t m, scalar_t angle);
nuclear@0: void m4_rotate_x(mat4_t m, scalar_t angle);
nuclear@0: void m4_set_rotation_y(mat4_t m, scalar_t angle);
nuclear@0: void m4_rotate_y(mat4_t m, scalar_t angle);
nuclear@0: void m4_set_rotation_z(mat4_t m, scalar_t angle);
nuclear@0: void m4_rotate_z(mat4_t m, scalar_t angle);
nuclear@0: /* axis-angle rotation */
nuclear@0: void m4_set_rotation_axis(mat4_t m, scalar_t angle, scalar_t x, scalar_t y, scalar_t z);
nuclear@0: void m4_rotate_axis(mat4_t m, scalar_t angle, scalar_t x, scalar_t y, scalar_t z);
nuclear@0: /* concatentate a rotation quaternion */
nuclear@0: void m4_rotate_quat(mat4_t m, quat_t q);
nuclear@0: 
nuclear@0: void m4_set_scaling(mat4_t m, scalar_t x, scalar_t y, scalar_t z);
nuclear@0: void m4_scale(mat4_t m, scalar_t x, scalar_t y, scalar_t z);
nuclear@0: 
nuclear@0: static inline void m4_set_column(mat4_t m, vec4_t v, int idx);
nuclear@0: static inline void m4_set_row(mat4_t m, vec4_t v, int idx);
nuclear@0: 
nuclear@0: void m4_transpose(mat4_t res, mat4_t m);
nuclear@0: scalar_t m4_determinant(mat4_t m);
nuclear@0: void m4_adjoint(mat4_t res, mat4_t m);
nuclear@0: void m4_inverse(mat4_t res, mat4_t m);
nuclear@0: 
nuclear@0: void m4_print(FILE *fp, mat4_t m);
nuclear@0: 
nuclear@0: #ifdef __cplusplus
nuclear@0: }
nuclear@0: 
nuclear@0: /* when included from C++ source files, also define the matrix classes */
nuclear@0: #include <iostream>
nuclear@0: 
nuclear@0: /** 3x3 matrix */
nuclear@0: class Matrix3x3 {
nuclear@0: public:
nuclear@0: 	scalar_t m[3][3];
nuclear@0: 
nuclear@0: 	static Matrix3x3 identity;
nuclear@0: 
nuclear@0: 	Matrix3x3();
nuclear@0: 	Matrix3x3(	scalar_t m11, scalar_t m12, scalar_t m13,
nuclear@0: 				scalar_t m21, scalar_t m22, scalar_t m23,
nuclear@0: 				scalar_t m31, scalar_t m32, scalar_t m33);
nuclear@0: 	Matrix3x3(const Vector3 &ivec, const Vector3 &jvec, const Vector3 &kvec);
nuclear@0: 	Matrix3x3(const mat3_t cmat);
nuclear@0: 
nuclear@0: 	Matrix3x3(const Matrix4x4 &mat4x4);
nuclear@0: 
nuclear@0: 	/* binary operations matrix (op) matrix */
nuclear@0: 	friend Matrix3x3 operator +(const Matrix3x3 &m1, const Matrix3x3 &m2);
nuclear@0: 	friend Matrix3x3 operator -(const Matrix3x3 &m1, const Matrix3x3 &m2);
nuclear@0: 	friend Matrix3x3 operator *(const Matrix3x3 &m1, const Matrix3x3 &m2);
nuclear@0: 
nuclear@0: 	friend void operator +=(Matrix3x3 &m1, const Matrix3x3 &m2);
nuclear@0: 	friend void operator -=(Matrix3x3 &m1, const Matrix3x3 &m2);
nuclear@0: 	friend void operator *=(Matrix3x3 &m1, const Matrix3x3 &m2);
nuclear@0: 
nuclear@0: 	/* binary operations matrix (op) scalar and scalar (op) matrix */
nuclear@0: 	friend Matrix3x3 operator *(const Matrix3x3 &mat, scalar_t scalar);
nuclear@0: 	friend Matrix3x3 operator *(scalar_t scalar, const Matrix3x3 &mat);
nuclear@0: 
nuclear@0: 	friend void operator *=(Matrix3x3 &mat, scalar_t scalar);
nuclear@0: 
nuclear@0: 	inline scalar_t *operator [](int index);
nuclear@0: 	inline const scalar_t *operator [](int index) const;
nuclear@0: 
nuclear@0: 	inline void reset_identity();
nuclear@0: 
nuclear@0: 	void translate(const Vector2 &trans);
nuclear@0: 	void set_translation(const Vector2 &trans);
nuclear@0: 
nuclear@0: 	void rotate(scalar_t angle);						/* 2d rotation */
nuclear@0: 	void rotate(const Vector3 &euler_angles);			/* 3d rotation with euler angles */
nuclear@0: 	void rotate(const Vector3 &axis, scalar_t angle);	/* 3d axis/angle rotation */
nuclear@0: 	void set_rotation(scalar_t angle);
nuclear@0: 	void set_rotation(const Vector3 &euler_angles);
nuclear@0: 	void set_rotation(const Vector3 &axis, scalar_t angle);
nuclear@0: 	Quaternion get_rotation_quat() const;
nuclear@0: 
nuclear@0: 	void scale(const Vector3 &scale_vec);
nuclear@0: 	void set_scaling(const Vector3 &scale_vec);
nuclear@0: 
nuclear@0: 	void set_column_vector(const Vector3 &vec, unsigned int col_index);
nuclear@0: 	void set_row_vector(const Vector3 &vec, unsigned int row_index);
nuclear@0: 	Vector3 get_column_vector(unsigned int col_index) const;
nuclear@0: 	Vector3 get_row_vector(unsigned int row_index) const;
nuclear@0: 
nuclear@0: 	void transpose();
nuclear@0: 	Matrix3x3 transposed() const;
nuclear@0: 	scalar_t determinant() const;
nuclear@0: 	Matrix3x3 inverse() const;
nuclear@0: 
nuclear@0: 	friend std::ostream &operator <<(std::ostream &out, const Matrix3x3 &mat);
nuclear@0: };
nuclear@0: 
nuclear@0: /* binary operations matrix (op) matrix */
nuclear@0: Matrix3x3 operator +(const Matrix3x3 &m1, const Matrix3x3 &m2);
nuclear@0: Matrix3x3 operator -(const Matrix3x3 &m1, const Matrix3x3 &m2);
nuclear@0: Matrix3x3 operator *(const Matrix3x3 &m1, const Matrix3x3 &m2);
nuclear@0: 
nuclear@0: void operator +=(Matrix3x3 &m1, const Matrix3x3 &m2);
nuclear@0: void operator -=(Matrix3x3 &m1, const Matrix3x3 &m2);
nuclear@0: void operator *=(Matrix3x3 &m1, const Matrix3x3 &m2);
nuclear@0: 
nuclear@0: /* binary operations matrix (op) scalar and scalar (op) matrix */
nuclear@0: Matrix3x3 operator *(const Matrix3x3 &mat, scalar_t scalar);
nuclear@0: Matrix3x3 operator *(scalar_t scalar, const Matrix3x3 &mat);
nuclear@0: 
nuclear@0: void operator *=(Matrix3x3 &mat, scalar_t scalar);
nuclear@0: 
nuclear@0: std::ostream &operator <<(std::ostream &out, const Matrix3x3 &mat);
nuclear@0: 
nuclear@0: 
nuclear@0: 
nuclear@0: /** 4x4 matrix */
nuclear@0: class Matrix4x4 {
nuclear@0: public:
nuclear@0: 	scalar_t m[4][4];
nuclear@0: 
nuclear@0: 	static Matrix4x4 identity;
nuclear@0: 
nuclear@0: 	Matrix4x4();
nuclear@0: 	Matrix4x4(	scalar_t m11, scalar_t m12, scalar_t m13, scalar_t m14,
nuclear@0: 				scalar_t m21, scalar_t m22, scalar_t m23, scalar_t m24,
nuclear@0: 				scalar_t m31, scalar_t m32, scalar_t m33, scalar_t m34,
nuclear@0: 				scalar_t m41, scalar_t m42, scalar_t m43, scalar_t m44);
nuclear@0: 	Matrix4x4(const mat4_t cmat);
nuclear@0: 
nuclear@0: 	Matrix4x4(const Matrix3x3 &mat3x3);
nuclear@0: 
nuclear@0: 	/* binary operations matrix (op) matrix */
nuclear@0: 	friend Matrix4x4 operator +(const Matrix4x4 &m1, const Matrix4x4 &m2);
nuclear@0: 	friend Matrix4x4 operator -(const Matrix4x4 &m1, const Matrix4x4 &m2);
nuclear@0: 	friend Matrix4x4 operator *(const Matrix4x4 &m1, const Matrix4x4 &m2);
nuclear@0: 
nuclear@0: 	friend void operator +=(Matrix4x4 &m1, const Matrix4x4 &m2);
nuclear@0: 	friend void operator -=(Matrix4x4 &m1, const Matrix4x4 &m2);
nuclear@0: 	friend inline void operator *=(Matrix4x4 &m1, const Matrix4x4 &m2);
nuclear@0: 
nuclear@0: 	/* binary operations matrix (op) scalar and scalar (op) matrix */
nuclear@0: 	friend Matrix4x4 operator *(const Matrix4x4 &mat, scalar_t scalar);
nuclear@0: 	friend Matrix4x4 operator *(scalar_t scalar, const Matrix4x4 &mat);
nuclear@0: 
nuclear@0: 	friend void operator *=(Matrix4x4 &mat, scalar_t scalar);
nuclear@0: 
nuclear@0: 	inline scalar_t *operator [](int index);
nuclear@0: 	inline const scalar_t *operator [](int index) const;
nuclear@0: 
nuclear@0: 	inline void reset_identity();
nuclear@0: 
nuclear@0: 	void translate(const Vector3 &trans);
nuclear@0: 	void set_translation(const Vector3 &trans);
nuclear@0: 	Vector3 get_translation() const;	/* extract translation */
nuclear@0: 
nuclear@0: 	void rotate(const Vector3 &euler_angles);			/* 3d rotation with euler angles */
nuclear@0: 	void rotate(const Vector3 &axis, scalar_t angle);	/* 3d axis/angle rotation */
nuclear@0: 	void rotate(const Quaternion &quat);
nuclear@0: 	void set_rotation(const Vector3 &euler_angles);
nuclear@0: 	void set_rotation(const Vector3 &axis, scalar_t angle);
nuclear@0: 	void set_rotation(const Quaternion &quat);
nuclear@0: 	Quaternion get_rotation_quat() const;		/* extract rotation */
nuclear@0: 
nuclear@0: 	void scale(const Vector4 &scale_vec);
nuclear@0: 	void set_scaling(const Vector4 &scale_vec);
nuclear@0: 	Vector3 get_scaling() const;		/* extract scaling */
nuclear@0: 
nuclear@0: 	void set_frustum(float left, float right, float top, float bottom, float znear, float zfar);
nuclear@0: 	void set_perspective(float vfov, float aspect, float znear, float zfar);
nuclear@0: 	void set_orthographic(float left, float right, float bottom, float top, float znear = -1.0, float zfar = 1.0);
nuclear@0: 
nuclear@0: 	void set_lookat(const Vector3 &pos, const Vector3 &targ = Vector3(0, 0, 0), const Vector3 &up = Vector3(0, 1, 0));
nuclear@0: 
nuclear@0: 	void set_column_vector(const Vector4 &vec, unsigned int col_index);
nuclear@0: 	void set_row_vector(const Vector4 &vec, unsigned int row_index);
nuclear@0: 	Vector4 get_column_vector(unsigned int col_index) const;
nuclear@0: 	Vector4 get_row_vector(unsigned int row_index) const;
nuclear@0: 
nuclear@0: 	void transpose();
nuclear@0: 	Matrix4x4 transposed() const;
nuclear@0: 	scalar_t determinant() const;
nuclear@0: 	Matrix4x4 adjoint() const;
nuclear@0: 	Matrix4x4 inverse() const;
nuclear@0: 
nuclear@0: 	friend std::ostream &operator <<(std::ostream &out, const Matrix4x4 &mat);
nuclear@0: };
nuclear@0: 
nuclear@0: /* binary operations matrix (op) matrix */
nuclear@0: Matrix4x4 operator +(const Matrix4x4 &m1, const Matrix4x4 &m2);
nuclear@0: Matrix4x4 operator -(const Matrix4x4 &m1, const Matrix4x4 &m2);
nuclear@0: inline Matrix4x4 operator *(const Matrix4x4 &m1, const Matrix4x4 &m2);
nuclear@0: 
nuclear@0: void operator +=(Matrix4x4 &m1, const Matrix4x4 &m2);
nuclear@0: void operator -=(Matrix4x4 &m1, const Matrix4x4 &m2);
nuclear@0: inline void operator *=(Matrix4x4 &m1, const Matrix4x4 &m2);
nuclear@0: 
nuclear@0: /* binary operations matrix (op) scalar and scalar (op) matrix */
nuclear@0: Matrix4x4 operator *(const Matrix4x4 &mat, scalar_t scalar);
nuclear@0: Matrix4x4 operator *(scalar_t scalar, const Matrix4x4 &mat);
nuclear@0: 
nuclear@0: void operator *=(Matrix4x4 &mat, scalar_t scalar);
nuclear@0: 
nuclear@0: std::ostream &operator <<(std::ostream &out, const Matrix4x4 &mat);
nuclear@0: 
nuclear@0: #endif	/* __cplusplus */
nuclear@0: 
nuclear@0: #include "matrix.inl"
nuclear@0: 
nuclear@0: #endif	/* VMATH_MATRIX_H_ */