Bullet Collision Detection & Physics Library
neon/mat_aos.h
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1 /*
2  Copyright (C) 2009 Sony Computer Entertainment Inc.
3  All rights reserved.
4 
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
10 
11 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 
15 */
16 
17 #ifndef _VECTORMATH_MAT_AOS_CPP_H
18 #define _VECTORMATH_MAT_AOS_CPP_H
19 
20 namespace Vectormath {
21 namespace Aos {
22 
23 //-----------------------------------------------------------------------------
24 // Constants
25 
26 #define _VECTORMATH_PI_OVER_2 1.570796327f
27 
28 //-----------------------------------------------------------------------------
29 // Definitions
30 
31 inline Matrix3::Matrix3( const Matrix3 & mat )
32 {
33  mCol0 = mat.mCol0;
34  mCol1 = mat.mCol1;
35  mCol2 = mat.mCol2;
36 }
37 
38 inline Matrix3::Matrix3( float scalar )
39 {
40  mCol0 = Vector3( scalar );
41  mCol1 = Vector3( scalar );
42  mCol2 = Vector3( scalar );
43 }
44 
45 inline Matrix3::Matrix3( const Quat & unitQuat )
46 {
47  float qx, qy, qz, qw, qx2, qy2, qz2, qxqx2, qyqy2, qzqz2, qxqy2, qyqz2, qzqw2, qxqz2, qyqw2, qxqw2;
48  qx = unitQuat.getX();
49  qy = unitQuat.getY();
50  qz = unitQuat.getZ();
51  qw = unitQuat.getW();
52  qx2 = ( qx + qx );
53  qy2 = ( qy + qy );
54  qz2 = ( qz + qz );
55  qxqx2 = ( qx * qx2 );
56  qxqy2 = ( qx * qy2 );
57  qxqz2 = ( qx * qz2 );
58  qxqw2 = ( qw * qx2 );
59  qyqy2 = ( qy * qy2 );
60  qyqz2 = ( qy * qz2 );
61  qyqw2 = ( qw * qy2 );
62  qzqz2 = ( qz * qz2 );
63  qzqw2 = ( qw * qz2 );
64  mCol0 = Vector3( ( ( 1.0f - qyqy2 ) - qzqz2 ), ( qxqy2 + qzqw2 ), ( qxqz2 - qyqw2 ) );
65  mCol1 = Vector3( ( qxqy2 - qzqw2 ), ( ( 1.0f - qxqx2 ) - qzqz2 ), ( qyqz2 + qxqw2 ) );
66  mCol2 = Vector3( ( qxqz2 + qyqw2 ), ( qyqz2 - qxqw2 ), ( ( 1.0f - qxqx2 ) - qyqy2 ) );
67 }
68 
69 inline Matrix3::Matrix3( const Vector3 & _col0, const Vector3 & _col1, const Vector3 & _col2 )
70 {
71  mCol0 = _col0;
72  mCol1 = _col1;
73  mCol2 = _col2;
74 }
75 
76 inline Matrix3 & Matrix3::setCol0( const Vector3 & _col0 )
77 {
78  mCol0 = _col0;
79  return *this;
80 }
81 
82 inline Matrix3 & Matrix3::setCol1( const Vector3 & _col1 )
83 {
84  mCol1 = _col1;
85  return *this;
86 }
87 
88 inline Matrix3 & Matrix3::setCol2( const Vector3 & _col2 )
89 {
90  mCol2 = _col2;
91  return *this;
92 }
93 
94 inline Matrix3 & Matrix3::setCol( int col, const Vector3 & vec )
95 {
96  *(&mCol0 + col) = vec;
97  return *this;
98 }
99 
100 inline Matrix3 & Matrix3::setRow( int row, const Vector3 & vec )
101 {
102  mCol0.setElem( row, vec.getElem( 0 ) );
103  mCol1.setElem( row, vec.getElem( 1 ) );
104  mCol2.setElem( row, vec.getElem( 2 ) );
105  return *this;
106 }
107 
108 inline Matrix3 & Matrix3::setElem( int col, int row, float val )
109 {
110  Vector3 tmpV3_0;
111  tmpV3_0 = this->getCol( col );
112  tmpV3_0.setElem( row, val );
113  this->setCol( col, tmpV3_0 );
114  return *this;
115 }
116 
117 inline float Matrix3::getElem( int col, int row ) const
118 {
119  return this->getCol( col ).getElem( row );
120 }
121 
122 inline const Vector3 Matrix3::getCol0( ) const
123 {
124  return mCol0;
125 }
126 
127 inline const Vector3 Matrix3::getCol1( ) const
128 {
129  return mCol1;
130 }
131 
132 inline const Vector3 Matrix3::getCol2( ) const
133 {
134  return mCol2;
135 }
136 
137 inline const Vector3 Matrix3::getCol( int col ) const
138 {
139  return *(&mCol0 + col);
140 }
141 
142 inline const Vector3 Matrix3::getRow( int row ) const
143 {
144  return Vector3( mCol0.getElem( row ), mCol1.getElem( row ), mCol2.getElem( row ) );
145 }
146 
147 inline Vector3 & Matrix3::operator []( int col )
148 {
149  return *(&mCol0 + col);
150 }
151 
152 inline const Vector3 Matrix3::operator []( int col ) const
153 {
154  return *(&mCol0 + col);
155 }
156 
157 inline Matrix3 & Matrix3::operator =( const Matrix3 & mat )
158 {
159  mCol0 = mat.mCol0;
160  mCol1 = mat.mCol1;
161  mCol2 = mat.mCol2;
162  return *this;
163 }
164 
165 inline const Matrix3 transpose( const Matrix3 & mat )
166 {
167  return Matrix3(
168  Vector3( mat.getCol0().getX(), mat.getCol1().getX(), mat.getCol2().getX() ),
169  Vector3( mat.getCol0().getY(), mat.getCol1().getY(), mat.getCol2().getY() ),
170  Vector3( mat.getCol0().getZ(), mat.getCol1().getZ(), mat.getCol2().getZ() )
171  );
172 }
173 
174 inline const Matrix3 inverse( const Matrix3 & mat )
175 {
176  Vector3 tmp0, tmp1, tmp2;
177  float detinv;
178  tmp0 = cross( mat.getCol1(), mat.getCol2() );
179  tmp1 = cross( mat.getCol2(), mat.getCol0() );
180  tmp2 = cross( mat.getCol0(), mat.getCol1() );
181  detinv = ( 1.0f / dot( mat.getCol2(), tmp2 ) );
182  return Matrix3(
183  Vector3( ( tmp0.getX() * detinv ), ( tmp1.getX() * detinv ), ( tmp2.getX() * detinv ) ),
184  Vector3( ( tmp0.getY() * detinv ), ( tmp1.getY() * detinv ), ( tmp2.getY() * detinv ) ),
185  Vector3( ( tmp0.getZ() * detinv ), ( tmp1.getZ() * detinv ), ( tmp2.getZ() * detinv ) )
186  );
187 }
188 
189 inline float determinant( const Matrix3 & mat )
190 {
191  return dot( mat.getCol2(), cross( mat.getCol0(), mat.getCol1() ) );
192 }
193 
194 inline const Matrix3 Matrix3::operator +( const Matrix3 & mat ) const
195 {
196  return Matrix3(
197  ( mCol0 + mat.mCol0 ),
198  ( mCol1 + mat.mCol1 ),
199  ( mCol2 + mat.mCol2 )
200  );
201 }
202 
203 inline const Matrix3 Matrix3::operator -( const Matrix3 & mat ) const
204 {
205  return Matrix3(
206  ( mCol0 - mat.mCol0 ),
207  ( mCol1 - mat.mCol1 ),
208  ( mCol2 - mat.mCol2 )
209  );
210 }
211 
212 inline Matrix3 & Matrix3::operator +=( const Matrix3 & mat )
213 {
214  *this = *this + mat;
215  return *this;
216 }
217 
218 inline Matrix3 & Matrix3::operator -=( const Matrix3 & mat )
219 {
220  *this = *this - mat;
221  return *this;
222 }
223 
224 inline const Matrix3 Matrix3::operator -( ) const
225 {
226  return Matrix3(
227  ( -mCol0 ),
228  ( -mCol1 ),
229  ( -mCol2 )
230  );
231 }
232 
233 inline const Matrix3 absPerElem( const Matrix3 & mat )
234 {
235  return Matrix3(
236  absPerElem( mat.getCol0() ),
237  absPerElem( mat.getCol1() ),
238  absPerElem( mat.getCol2() )
239  );
240 }
241 
242 inline const Matrix3 Matrix3::operator *( float scalar ) const
243 {
244  return Matrix3(
245  ( mCol0 * scalar ),
246  ( mCol1 * scalar ),
247  ( mCol2 * scalar )
248  );
249 }
250 
251 inline Matrix3 & Matrix3::operator *=( float scalar )
252 {
253  *this = *this * scalar;
254  return *this;
255 }
256 
257 inline const Matrix3 operator *( float scalar, const Matrix3 & mat )
258 {
259  return mat * scalar;
260 }
261 
262 inline const Vector3 Matrix3::operator *( const Vector3 & vec ) const
263 {
264  return Vector3(
265  ( ( ( mCol0.getX() * vec.getX() ) + ( mCol1.getX() * vec.getY() ) ) + ( mCol2.getX() * vec.getZ() ) ),
266  ( ( ( mCol0.getY() * vec.getX() ) + ( mCol1.getY() * vec.getY() ) ) + ( mCol2.getY() * vec.getZ() ) ),
267  ( ( ( mCol0.getZ() * vec.getX() ) + ( mCol1.getZ() * vec.getY() ) ) + ( mCol2.getZ() * vec.getZ() ) )
268  );
269 }
270 
271 inline const Matrix3 Matrix3::operator *( const Matrix3 & mat ) const
272 {
273  return Matrix3(
274  ( *this * mat.mCol0 ),
275  ( *this * mat.mCol1 ),
276  ( *this * mat.mCol2 )
277  );
278 }
279 
280 inline Matrix3 & Matrix3::operator *=( const Matrix3 & mat )
281 {
282  *this = *this * mat;
283  return *this;
284 }
285 
286 inline const Matrix3 mulPerElem( const Matrix3 & mat0, const Matrix3 & mat1 )
287 {
288  return Matrix3(
289  mulPerElem( mat0.getCol0(), mat1.getCol0() ),
290  mulPerElem( mat0.getCol1(), mat1.getCol1() ),
291  mulPerElem( mat0.getCol2(), mat1.getCol2() )
292  );
293 }
294 
295 inline const Matrix3 Matrix3::identity( )
296 {
297  return Matrix3(
298  Vector3::xAxis( ),
299  Vector3::yAxis( ),
300  Vector3::zAxis( )
301  );
302 }
303 
304 inline const Matrix3 Matrix3::rotationX( float radians )
305 {
306  float s, c;
307  s = sinf( radians );
308  c = cosf( radians );
309  return Matrix3(
310  Vector3::xAxis( ),
311  Vector3( 0.0f, c, s ),
312  Vector3( 0.0f, -s, c )
313  );
314 }
315 
316 inline const Matrix3 Matrix3::rotationY( float radians )
317 {
318  float s, c;
319  s = sinf( radians );
320  c = cosf( radians );
321  return Matrix3(
322  Vector3( c, 0.0f, -s ),
323  Vector3::yAxis( ),
324  Vector3( s, 0.0f, c )
325  );
326 }
327 
328 inline const Matrix3 Matrix3::rotationZ( float radians )
329 {
330  float s, c;
331  s = sinf( radians );
332  c = cosf( radians );
333  return Matrix3(
334  Vector3( c, s, 0.0f ),
335  Vector3( -s, c, 0.0f ),
336  Vector3::zAxis( )
337  );
338 }
339 
340 inline const Matrix3 Matrix3::rotationZYX( const Vector3 & radiansXYZ )
341 {
342  float sX, cX, sY, cY, sZ, cZ, tmp0, tmp1;
343  sX = sinf( radiansXYZ.getX() );
344  cX = cosf( radiansXYZ.getX() );
345  sY = sinf( radiansXYZ.getY() );
346  cY = cosf( radiansXYZ.getY() );
347  sZ = sinf( radiansXYZ.getZ() );
348  cZ = cosf( radiansXYZ.getZ() );
349  tmp0 = ( cZ * sY );
350  tmp1 = ( sZ * sY );
351  return Matrix3(
352  Vector3( ( cZ * cY ), ( sZ * cY ), -sY ),
353  Vector3( ( ( tmp0 * sX ) - ( sZ * cX ) ), ( ( tmp1 * sX ) + ( cZ * cX ) ), ( cY * sX ) ),
354  Vector3( ( ( tmp0 * cX ) + ( sZ * sX ) ), ( ( tmp1 * cX ) - ( cZ * sX ) ), ( cY * cX ) )
355  );
356 }
357 
358 inline const Matrix3 Matrix3::rotation( float radians, const Vector3 & unitVec )
359 {
360  float x, y, z, s, c, oneMinusC, xy, yz, zx;
361  s = sinf( radians );
362  c = cosf( radians );
363  x = unitVec.getX();
364  y = unitVec.getY();
365  z = unitVec.getZ();
366  xy = ( x * y );
367  yz = ( y * z );
368  zx = ( z * x );
369  oneMinusC = ( 1.0f - c );
370  return Matrix3(
371  Vector3( ( ( ( x * x ) * oneMinusC ) + c ), ( ( xy * oneMinusC ) + ( z * s ) ), ( ( zx * oneMinusC ) - ( y * s ) ) ),
372  Vector3( ( ( xy * oneMinusC ) - ( z * s ) ), ( ( ( y * y ) * oneMinusC ) + c ), ( ( yz * oneMinusC ) + ( x * s ) ) ),
373  Vector3( ( ( zx * oneMinusC ) + ( y * s ) ), ( ( yz * oneMinusC ) - ( x * s ) ), ( ( ( z * z ) * oneMinusC ) + c ) )
374  );
375 }
376 
377 inline const Matrix3 Matrix3::rotation( const Quat & unitQuat )
378 {
379  return Matrix3( unitQuat );
380 }
381 
382 inline const Matrix3 Matrix3::scale( const Vector3 & scaleVec )
383 {
384  return Matrix3(
385  Vector3( scaleVec.getX(), 0.0f, 0.0f ),
386  Vector3( 0.0f, scaleVec.getY(), 0.0f ),
387  Vector3( 0.0f, 0.0f, scaleVec.getZ() )
388  );
389 }
390 
391 inline const Matrix3 appendScale( const Matrix3 & mat, const Vector3 & scaleVec )
392 {
393  return Matrix3(
394  ( mat.getCol0() * scaleVec.getX( ) ),
395  ( mat.getCol1() * scaleVec.getY( ) ),
396  ( mat.getCol2() * scaleVec.getZ( ) )
397  );
398 }
399 
400 inline const Matrix3 prependScale( const Vector3 & scaleVec, const Matrix3 & mat )
401 {
402  return Matrix3(
403  mulPerElem( mat.getCol0(), scaleVec ),
404  mulPerElem( mat.getCol1(), scaleVec ),
405  mulPerElem( mat.getCol2(), scaleVec )
406  );
407 }
408 
409 inline const Matrix3 select( const Matrix3 & mat0, const Matrix3 & mat1, bool select1 )
410 {
411  return Matrix3(
412  select( mat0.getCol0(), mat1.getCol0(), select1 ),
413  select( mat0.getCol1(), mat1.getCol1(), select1 ),
414  select( mat0.getCol2(), mat1.getCol2(), select1 )
415  );
416 }
417 
418 #ifdef _VECTORMATH_DEBUG
419 
420 inline void print( const Matrix3 & mat )
421 {
422  print( mat.getRow( 0 ) );
423  print( mat.getRow( 1 ) );
424  print( mat.getRow( 2 ) );
425 }
426 
427 inline void print( const Matrix3 & mat, const char * name )
428 {
429  printf("%s:\n", name);
430  print( mat );
431 }
432 
433 #endif
434 
435 inline Matrix4::Matrix4( const Matrix4 & mat )
436 {
437  mCol0 = mat.mCol0;
438  mCol1 = mat.mCol1;
439  mCol2 = mat.mCol2;
440  mCol3 = mat.mCol3;
441 }
442 
443 inline Matrix4::Matrix4( float scalar )
444 {
445  mCol0 = Vector4( scalar );
446  mCol1 = Vector4( scalar );
447  mCol2 = Vector4( scalar );
448  mCol3 = Vector4( scalar );
449 }
450 
451 inline Matrix4::Matrix4( const Transform3 & mat )
452 {
453  mCol0 = Vector4( mat.getCol0(), 0.0f );
454  mCol1 = Vector4( mat.getCol1(), 0.0f );
455  mCol2 = Vector4( mat.getCol2(), 0.0f );
456  mCol3 = Vector4( mat.getCol3(), 1.0f );
457 }
458 
459 inline Matrix4::Matrix4( const Vector4 & _col0, const Vector4 & _col1, const Vector4 & _col2, const Vector4 & _col3 )
460 {
461  mCol0 = _col0;
462  mCol1 = _col1;
463  mCol2 = _col2;
464  mCol3 = _col3;
465 }
466 
467 inline Matrix4::Matrix4( const Matrix3 & mat, const Vector3 & translateVec )
468 {
469  mCol0 = Vector4( mat.getCol0(), 0.0f );
470  mCol1 = Vector4( mat.getCol1(), 0.0f );
471  mCol2 = Vector4( mat.getCol2(), 0.0f );
472  mCol3 = Vector4( translateVec, 1.0f );
473 }
474 
475 inline Matrix4::Matrix4( const Quat & unitQuat, const Vector3 & translateVec )
476 {
477  Matrix3 mat;
478  mat = Matrix3( unitQuat );
479  mCol0 = Vector4( mat.getCol0(), 0.0f );
480  mCol1 = Vector4( mat.getCol1(), 0.0f );
481  mCol2 = Vector4( mat.getCol2(), 0.0f );
482  mCol3 = Vector4( translateVec, 1.0f );
483 }
484 
485 inline Matrix4 & Matrix4::setCol0( const Vector4 & _col0 )
486 {
487  mCol0 = _col0;
488  return *this;
489 }
490 
491 inline Matrix4 & Matrix4::setCol1( const Vector4 & _col1 )
492 {
493  mCol1 = _col1;
494  return *this;
495 }
496 
497 inline Matrix4 & Matrix4::setCol2( const Vector4 & _col2 )
498 {
499  mCol2 = _col2;
500  return *this;
501 }
502 
503 inline Matrix4 & Matrix4::setCol3( const Vector4 & _col3 )
504 {
505  mCol3 = _col3;
506  return *this;
507 }
508 
509 inline Matrix4 & Matrix4::setCol( int col, const Vector4 & vec )
510 {
511  *(&mCol0 + col) = vec;
512  return *this;
513 }
514 
515 inline Matrix4 & Matrix4::setRow( int row, const Vector4 & vec )
516 {
517  mCol0.setElem( row, vec.getElem( 0 ) );
518  mCol1.setElem( row, vec.getElem( 1 ) );
519  mCol2.setElem( row, vec.getElem( 2 ) );
520  mCol3.setElem( row, vec.getElem( 3 ) );
521  return *this;
522 }
523 
524 inline Matrix4 & Matrix4::setElem( int col, int row, float val )
525 {
526  Vector4 tmpV3_0;
527  tmpV3_0 = this->getCol( col );
528  tmpV3_0.setElem( row, val );
529  this->setCol( col, tmpV3_0 );
530  return *this;
531 }
532 
533 inline float Matrix4::getElem( int col, int row ) const
534 {
535  return this->getCol( col ).getElem( row );
536 }
537 
538 inline const Vector4 Matrix4::getCol0( ) const
539 {
540  return mCol0;
541 }
542 
543 inline const Vector4 Matrix4::getCol1( ) const
544 {
545  return mCol1;
546 }
547 
548 inline const Vector4 Matrix4::getCol2( ) const
549 {
550  return mCol2;
551 }
552 
553 inline const Vector4 Matrix4::getCol3( ) const
554 {
555  return mCol3;
556 }
557 
558 inline const Vector4 Matrix4::getCol( int col ) const
559 {
560  return *(&mCol0 + col);
561 }
562 
563 inline const Vector4 Matrix4::getRow( int row ) const
564 {
565  return Vector4( mCol0.getElem( row ), mCol1.getElem( row ), mCol2.getElem( row ), mCol3.getElem( row ) );
566 }
567 
568 inline Vector4 & Matrix4::operator []( int col )
569 {
570  return *(&mCol0 + col);
571 }
572 
573 inline const Vector4 Matrix4::operator []( int col ) const
574 {
575  return *(&mCol0 + col);
576 }
577 
578 inline Matrix4 & Matrix4::operator =( const Matrix4 & mat )
579 {
580  mCol0 = mat.mCol0;
581  mCol1 = mat.mCol1;
582  mCol2 = mat.mCol2;
583  mCol3 = mat.mCol3;
584  return *this;
585 }
586 
587 inline const Matrix4 transpose( const Matrix4 & mat )
588 {
589  return Matrix4(
590  Vector4( mat.getCol0().getX(), mat.getCol1().getX(), mat.getCol2().getX(), mat.getCol3().getX() ),
591  Vector4( mat.getCol0().getY(), mat.getCol1().getY(), mat.getCol2().getY(), mat.getCol3().getY() ),
592  Vector4( mat.getCol0().getZ(), mat.getCol1().getZ(), mat.getCol2().getZ(), mat.getCol3().getZ() ),
593  Vector4( mat.getCol0().getW(), mat.getCol1().getW(), mat.getCol2().getW(), mat.getCol3().getW() )
594  );
595 }
596 
597 inline const Matrix4 inverse( const Matrix4 & mat )
598 {
599  Vector4 res0, res1, res2, res3;
600  float mA, mB, mC, mD, mE, mF, mG, mH, mI, mJ, mK, mL, mM, mN, mO, mP, tmp0, tmp1, tmp2, tmp3, tmp4, tmp5, detInv;
601  mA = mat.getCol0().getX();
602  mB = mat.getCol0().getY();
603  mC = mat.getCol0().getZ();
604  mD = mat.getCol0().getW();
605  mE = mat.getCol1().getX();
606  mF = mat.getCol1().getY();
607  mG = mat.getCol1().getZ();
608  mH = mat.getCol1().getW();
609  mI = mat.getCol2().getX();
610  mJ = mat.getCol2().getY();
611  mK = mat.getCol2().getZ();
612  mL = mat.getCol2().getW();
613  mM = mat.getCol3().getX();
614  mN = mat.getCol3().getY();
615  mO = mat.getCol3().getZ();
616  mP = mat.getCol3().getW();
617  tmp0 = ( ( mK * mD ) - ( mC * mL ) );
618  tmp1 = ( ( mO * mH ) - ( mG * mP ) );
619  tmp2 = ( ( mB * mK ) - ( mJ * mC ) );
620  tmp3 = ( ( mF * mO ) - ( mN * mG ) );
621  tmp4 = ( ( mJ * mD ) - ( mB * mL ) );
622  tmp5 = ( ( mN * mH ) - ( mF * mP ) );
623  res0.setX( ( ( ( mJ * tmp1 ) - ( mL * tmp3 ) ) - ( mK * tmp5 ) ) );
624  res0.setY( ( ( ( mN * tmp0 ) - ( mP * tmp2 ) ) - ( mO * tmp4 ) ) );
625  res0.setZ( ( ( ( mD * tmp3 ) + ( mC * tmp5 ) ) - ( mB * tmp1 ) ) );
626  res0.setW( ( ( ( mH * tmp2 ) + ( mG * tmp4 ) ) - ( mF * tmp0 ) ) );
627  detInv = ( 1.0f / ( ( ( ( mA * res0.getX() ) + ( mE * res0.getY() ) ) + ( mI * res0.getZ() ) ) + ( mM * res0.getW() ) ) );
628  res1.setX( ( mI * tmp1 ) );
629  res1.setY( ( mM * tmp0 ) );
630  res1.setZ( ( mA * tmp1 ) );
631  res1.setW( ( mE * tmp0 ) );
632  res3.setX( ( mI * tmp3 ) );
633  res3.setY( ( mM * tmp2 ) );
634  res3.setZ( ( mA * tmp3 ) );
635  res3.setW( ( mE * tmp2 ) );
636  res2.setX( ( mI * tmp5 ) );
637  res2.setY( ( mM * tmp4 ) );
638  res2.setZ( ( mA * tmp5 ) );
639  res2.setW( ( mE * tmp4 ) );
640  tmp0 = ( ( mI * mB ) - ( mA * mJ ) );
641  tmp1 = ( ( mM * mF ) - ( mE * mN ) );
642  tmp2 = ( ( mI * mD ) - ( mA * mL ) );
643  tmp3 = ( ( mM * mH ) - ( mE * mP ) );
644  tmp4 = ( ( mI * mC ) - ( mA * mK ) );
645  tmp5 = ( ( mM * mG ) - ( mE * mO ) );
646  res2.setX( ( ( ( mL * tmp1 ) - ( mJ * tmp3 ) ) + res2.getX() ) );
647  res2.setY( ( ( ( mP * tmp0 ) - ( mN * tmp2 ) ) + res2.getY() ) );
648  res2.setZ( ( ( ( mB * tmp3 ) - ( mD * tmp1 ) ) - res2.getZ() ) );
649  res2.setW( ( ( ( mF * tmp2 ) - ( mH * tmp0 ) ) - res2.getW() ) );
650  res3.setX( ( ( ( mJ * tmp5 ) - ( mK * tmp1 ) ) + res3.getX() ) );
651  res3.setY( ( ( ( mN * tmp4 ) - ( mO * tmp0 ) ) + res3.getY() ) );
652  res3.setZ( ( ( ( mC * tmp1 ) - ( mB * tmp5 ) ) - res3.getZ() ) );
653  res3.setW( ( ( ( mG * tmp0 ) - ( mF * tmp4 ) ) - res3.getW() ) );
654  res1.setX( ( ( ( mK * tmp3 ) - ( mL * tmp5 ) ) - res1.getX() ) );
655  res1.setY( ( ( ( mO * tmp2 ) - ( mP * tmp4 ) ) - res1.getY() ) );
656  res1.setZ( ( ( ( mD * tmp5 ) - ( mC * tmp3 ) ) + res1.getZ() ) );
657  res1.setW( ( ( ( mH * tmp4 ) - ( mG * tmp2 ) ) + res1.getW() ) );
658  return Matrix4(
659  ( res0 * detInv ),
660  ( res1 * detInv ),
661  ( res2 * detInv ),
662  ( res3 * detInv )
663  );
664 }
665 
666 inline const Matrix4 affineInverse( const Matrix4 & mat )
667 {
668  Transform3 affineMat;
669  affineMat.setCol0( mat.getCol0().getXYZ( ) );
670  affineMat.setCol1( mat.getCol1().getXYZ( ) );
671  affineMat.setCol2( mat.getCol2().getXYZ( ) );
672  affineMat.setCol3( mat.getCol3().getXYZ( ) );
673  return Matrix4( inverse( affineMat ) );
674 }
675 
676 inline const Matrix4 orthoInverse( const Matrix4 & mat )
677 {
678  Transform3 affineMat;
679  affineMat.setCol0( mat.getCol0().getXYZ( ) );
680  affineMat.setCol1( mat.getCol1().getXYZ( ) );
681  affineMat.setCol2( mat.getCol2().getXYZ( ) );
682  affineMat.setCol3( mat.getCol3().getXYZ( ) );
683  return Matrix4( orthoInverse( affineMat ) );
684 }
685 
686 inline float determinant( const Matrix4 & mat )
687 {
688  float dx, dy, dz, dw, mA, mB, mC, mD, mE, mF, mG, mH, mI, mJ, mK, mL, mM, mN, mO, mP, tmp0, tmp1, tmp2, tmp3, tmp4, tmp5;
689  mA = mat.getCol0().getX();
690  mB = mat.getCol0().getY();
691  mC = mat.getCol0().getZ();
692  mD = mat.getCol0().getW();
693  mE = mat.getCol1().getX();
694  mF = mat.getCol1().getY();
695  mG = mat.getCol1().getZ();
696  mH = mat.getCol1().getW();
697  mI = mat.getCol2().getX();
698  mJ = mat.getCol2().getY();
699  mK = mat.getCol2().getZ();
700  mL = mat.getCol2().getW();
701  mM = mat.getCol3().getX();
702  mN = mat.getCol3().getY();
703  mO = mat.getCol3().getZ();
704  mP = mat.getCol3().getW();
705  tmp0 = ( ( mK * mD ) - ( mC * mL ) );
706  tmp1 = ( ( mO * mH ) - ( mG * mP ) );
707  tmp2 = ( ( mB * mK ) - ( mJ * mC ) );
708  tmp3 = ( ( mF * mO ) - ( mN * mG ) );
709  tmp4 = ( ( mJ * mD ) - ( mB * mL ) );
710  tmp5 = ( ( mN * mH ) - ( mF * mP ) );
711  dx = ( ( ( mJ * tmp1 ) - ( mL * tmp3 ) ) - ( mK * tmp5 ) );
712  dy = ( ( ( mN * tmp0 ) - ( mP * tmp2 ) ) - ( mO * tmp4 ) );
713  dz = ( ( ( mD * tmp3 ) + ( mC * tmp5 ) ) - ( mB * tmp1 ) );
714  dw = ( ( ( mH * tmp2 ) + ( mG * tmp4 ) ) - ( mF * tmp0 ) );
715  return ( ( ( ( mA * dx ) + ( mE * dy ) ) + ( mI * dz ) ) + ( mM * dw ) );
716 }
717 
718 inline const Matrix4 Matrix4::operator +( const Matrix4 & mat ) const
719 {
720  return Matrix4(
721  ( mCol0 + mat.mCol0 ),
722  ( mCol1 + mat.mCol1 ),
723  ( mCol2 + mat.mCol2 ),
724  ( mCol3 + mat.mCol3 )
725  );
726 }
727 
728 inline const Matrix4 Matrix4::operator -( const Matrix4 & mat ) const
729 {
730  return Matrix4(
731  ( mCol0 - mat.mCol0 ),
732  ( mCol1 - mat.mCol1 ),
733  ( mCol2 - mat.mCol2 ),
734  ( mCol3 - mat.mCol3 )
735  );
736 }
737 
738 inline Matrix4 & Matrix4::operator +=( const Matrix4 & mat )
739 {
740  *this = *this + mat;
741  return *this;
742 }
743 
744 inline Matrix4 & Matrix4::operator -=( const Matrix4 & mat )
745 {
746  *this = *this - mat;
747  return *this;
748 }
749 
750 inline const Matrix4 Matrix4::operator -( ) const
751 {
752  return Matrix4(
753  ( -mCol0 ),
754  ( -mCol1 ),
755  ( -mCol2 ),
756  ( -mCol3 )
757  );
758 }
759 
760 inline const Matrix4 absPerElem( const Matrix4 & mat )
761 {
762  return Matrix4(
763  absPerElem( mat.getCol0() ),
764  absPerElem( mat.getCol1() ),
765  absPerElem( mat.getCol2() ),
766  absPerElem( mat.getCol3() )
767  );
768 }
769 
770 inline const Matrix4 Matrix4::operator *( float scalar ) const
771 {
772  return Matrix4(
773  ( mCol0 * scalar ),
774  ( mCol1 * scalar ),
775  ( mCol2 * scalar ),
776  ( mCol3 * scalar )
777  );
778 }
779 
780 inline Matrix4 & Matrix4::operator *=( float scalar )
781 {
782  *this = *this * scalar;
783  return *this;
784 }
785 
786 inline const Matrix4 operator *( float scalar, const Matrix4 & mat )
787 {
788  return mat * scalar;
789 }
790 
791 inline const Vector4 Matrix4::operator *( const Vector4 & vec ) const
792 {
793  return Vector4(
794  ( ( ( ( mCol0.getX() * vec.getX() ) + ( mCol1.getX() * vec.getY() ) ) + ( mCol2.getX() * vec.getZ() ) ) + ( mCol3.getX() * vec.getW() ) ),
795  ( ( ( ( mCol0.getY() * vec.getX() ) + ( mCol1.getY() * vec.getY() ) ) + ( mCol2.getY() * vec.getZ() ) ) + ( mCol3.getY() * vec.getW() ) ),
796  ( ( ( ( mCol0.getZ() * vec.getX() ) + ( mCol1.getZ() * vec.getY() ) ) + ( mCol2.getZ() * vec.getZ() ) ) + ( mCol3.getZ() * vec.getW() ) ),
797  ( ( ( ( mCol0.getW() * vec.getX() ) + ( mCol1.getW() * vec.getY() ) ) + ( mCol2.getW() * vec.getZ() ) ) + ( mCol3.getW() * vec.getW() ) )
798  );
799 }
800 
801 inline const Vector4 Matrix4::operator *( const Vector3 & vec ) const
802 {
803  return Vector4(
804  ( ( ( mCol0.getX() * vec.getX() ) + ( mCol1.getX() * vec.getY() ) ) + ( mCol2.getX() * vec.getZ() ) ),
805  ( ( ( mCol0.getY() * vec.getX() ) + ( mCol1.getY() * vec.getY() ) ) + ( mCol2.getY() * vec.getZ() ) ),
806  ( ( ( mCol0.getZ() * vec.getX() ) + ( mCol1.getZ() * vec.getY() ) ) + ( mCol2.getZ() * vec.getZ() ) ),
807  ( ( ( mCol0.getW() * vec.getX() ) + ( mCol1.getW() * vec.getY() ) ) + ( mCol2.getW() * vec.getZ() ) )
808  );
809 }
810 
811 inline const Vector4 Matrix4::operator *( const Point3 & pnt ) const
812 {
813  return Vector4(
814  ( ( ( ( mCol0.getX() * pnt.getX() ) + ( mCol1.getX() * pnt.getY() ) ) + ( mCol2.getX() * pnt.getZ() ) ) + mCol3.getX() ),
815  ( ( ( ( mCol0.getY() * pnt.getX() ) + ( mCol1.getY() * pnt.getY() ) ) + ( mCol2.getY() * pnt.getZ() ) ) + mCol3.getY() ),
816  ( ( ( ( mCol0.getZ() * pnt.getX() ) + ( mCol1.getZ() * pnt.getY() ) ) + ( mCol2.getZ() * pnt.getZ() ) ) + mCol3.getZ() ),
817  ( ( ( ( mCol0.getW() * pnt.getX() ) + ( mCol1.getW() * pnt.getY() ) ) + ( mCol2.getW() * pnt.getZ() ) ) + mCol3.getW() )
818  );
819 }
820 
821 inline const Matrix4 Matrix4::operator *( const Matrix4 & mat ) const
822 {
823  return Matrix4(
824  ( *this * mat.mCol0 ),
825  ( *this * mat.mCol1 ),
826  ( *this * mat.mCol2 ),
827  ( *this * mat.mCol3 )
828  );
829 }
830 
831 inline Matrix4 & Matrix4::operator *=( const Matrix4 & mat )
832 {
833  *this = *this * mat;
834  return *this;
835 }
836 
837 inline const Matrix4 Matrix4::operator *( const Transform3 & tfrm ) const
838 {
839  return Matrix4(
840  ( *this * tfrm.getCol0() ),
841  ( *this * tfrm.getCol1() ),
842  ( *this * tfrm.getCol2() ),
843  ( *this * Point3( tfrm.getCol3() ) )
844  );
845 }
846 
847 inline Matrix4 & Matrix4::operator *=( const Transform3 & tfrm )
848 {
849  *this = *this * tfrm;
850  return *this;
851 }
852 
853 inline const Matrix4 mulPerElem( const Matrix4 & mat0, const Matrix4 & mat1 )
854 {
855  return Matrix4(
856  mulPerElem( mat0.getCol0(), mat1.getCol0() ),
857  mulPerElem( mat0.getCol1(), mat1.getCol1() ),
858  mulPerElem( mat0.getCol2(), mat1.getCol2() ),
859  mulPerElem( mat0.getCol3(), mat1.getCol3() )
860  );
861 }
862 
863 inline const Matrix4 Matrix4::identity( )
864 {
865  return Matrix4(
866  Vector4::xAxis( ),
867  Vector4::yAxis( ),
868  Vector4::zAxis( ),
869  Vector4::wAxis( )
870  );
871 }
872 
873 inline Matrix4 & Matrix4::setUpper3x3( const Matrix3 & mat3 )
874 {
875  mCol0.setXYZ( mat3.getCol0() );
876  mCol1.setXYZ( mat3.getCol1() );
877  mCol2.setXYZ( mat3.getCol2() );
878  return *this;
879 }
880 
881 inline const Matrix3 Matrix4::getUpper3x3( ) const
882 {
883  return Matrix3(
884  mCol0.getXYZ( ),
885  mCol1.getXYZ( ),
886  mCol2.getXYZ( )
887  );
888 }
889 
890 inline Matrix4 & Matrix4::setTranslation( const Vector3 & translateVec )
891 {
892  mCol3.setXYZ( translateVec );
893  return *this;
894 }
895 
896 inline const Vector3 Matrix4::getTranslation( ) const
897 {
898  return mCol3.getXYZ( );
899 }
900 
901 inline const Matrix4 Matrix4::rotationX( float radians )
902 {
903  float s, c;
904  s = sinf( radians );
905  c = cosf( radians );
906  return Matrix4(
907  Vector4::xAxis( ),
908  Vector4( 0.0f, c, s, 0.0f ),
909  Vector4( 0.0f, -s, c, 0.0f ),
910  Vector4::wAxis( )
911  );
912 }
913 
914 inline const Matrix4 Matrix4::rotationY( float radians )
915 {
916  float s, c;
917  s = sinf( radians );
918  c = cosf( radians );
919  return Matrix4(
920  Vector4( c, 0.0f, -s, 0.0f ),
921  Vector4::yAxis( ),
922  Vector4( s, 0.0f, c, 0.0f ),
923  Vector4::wAxis( )
924  );
925 }
926 
927 inline const Matrix4 Matrix4::rotationZ( float radians )
928 {
929  float s, c;
930  s = sinf( radians );
931  c = cosf( radians );
932  return Matrix4(
933  Vector4( c, s, 0.0f, 0.0f ),
934  Vector4( -s, c, 0.0f, 0.0f ),
935  Vector4::zAxis( ),
936  Vector4::wAxis( )
937  );
938 }
939 
940 inline const Matrix4 Matrix4::rotationZYX( const Vector3 & radiansXYZ )
941 {
942  float sX, cX, sY, cY, sZ, cZ, tmp0, tmp1;
943  sX = sinf( radiansXYZ.getX() );
944  cX = cosf( radiansXYZ.getX() );
945  sY = sinf( radiansXYZ.getY() );
946  cY = cosf( radiansXYZ.getY() );
947  sZ = sinf( radiansXYZ.getZ() );
948  cZ = cosf( radiansXYZ.getZ() );
949  tmp0 = ( cZ * sY );
950  tmp1 = ( sZ * sY );
951  return Matrix4(
952  Vector4( ( cZ * cY ), ( sZ * cY ), -sY, 0.0f ),
953  Vector4( ( ( tmp0 * sX ) - ( sZ * cX ) ), ( ( tmp1 * sX ) + ( cZ * cX ) ), ( cY * sX ), 0.0f ),
954  Vector4( ( ( tmp0 * cX ) + ( sZ * sX ) ), ( ( tmp1 * cX ) - ( cZ * sX ) ), ( cY * cX ), 0.0f ),
955  Vector4::wAxis( )
956  );
957 }
958 
959 inline const Matrix4 Matrix4::rotation( float radians, const Vector3 & unitVec )
960 {
961  float x, y, z, s, c, oneMinusC, xy, yz, zx;
962  s = sinf( radians );
963  c = cosf( radians );
964  x = unitVec.getX();
965  y = unitVec.getY();
966  z = unitVec.getZ();
967  xy = ( x * y );
968  yz = ( y * z );
969  zx = ( z * x );
970  oneMinusC = ( 1.0f - c );
971  return Matrix4(
972  Vector4( ( ( ( x * x ) * oneMinusC ) + c ), ( ( xy * oneMinusC ) + ( z * s ) ), ( ( zx * oneMinusC ) - ( y * s ) ), 0.0f ),
973  Vector4( ( ( xy * oneMinusC ) - ( z * s ) ), ( ( ( y * y ) * oneMinusC ) + c ), ( ( yz * oneMinusC ) + ( x * s ) ), 0.0f ),
974  Vector4( ( ( zx * oneMinusC ) + ( y * s ) ), ( ( yz * oneMinusC ) - ( x * s ) ), ( ( ( z * z ) * oneMinusC ) + c ), 0.0f ),
975  Vector4::wAxis( )
976  );
977 }
978 
979 inline const Matrix4 Matrix4::rotation( const Quat & unitQuat )
980 {
981  return Matrix4( Transform3::rotation( unitQuat ) );
982 }
983 
984 inline const Matrix4 Matrix4::scale( const Vector3 & scaleVec )
985 {
986  return Matrix4(
987  Vector4( scaleVec.getX(), 0.0f, 0.0f, 0.0f ),
988  Vector4( 0.0f, scaleVec.getY(), 0.0f, 0.0f ),
989  Vector4( 0.0f, 0.0f, scaleVec.getZ(), 0.0f ),
990  Vector4::wAxis( )
991  );
992 }
993 
994 inline const Matrix4 appendScale( const Matrix4 & mat, const Vector3 & scaleVec )
995 {
996  return Matrix4(
997  ( mat.getCol0() * scaleVec.getX( ) ),
998  ( mat.getCol1() * scaleVec.getY( ) ),
999  ( mat.getCol2() * scaleVec.getZ( ) ),
1000  mat.getCol3()
1001  );
1002 }
1003 
1004 inline const Matrix4 prependScale( const Vector3 & scaleVec, const Matrix4 & mat )
1005 {
1006  Vector4 scale4;
1007  scale4 = Vector4( scaleVec, 1.0f );
1008  return Matrix4(
1009  mulPerElem( mat.getCol0(), scale4 ),
1010  mulPerElem( mat.getCol1(), scale4 ),
1011  mulPerElem( mat.getCol2(), scale4 ),
1012  mulPerElem( mat.getCol3(), scale4 )
1013  );
1014 }
1015 
1016 inline const Matrix4 Matrix4::translation( const Vector3 & translateVec )
1017 {
1018  return Matrix4(
1019  Vector4::xAxis( ),
1020  Vector4::yAxis( ),
1021  Vector4::zAxis( ),
1022  Vector4( translateVec, 1.0f )
1023  );
1024 }
1025 
1026 inline const Matrix4 Matrix4::lookAt( const Point3 & eyePos, const Point3 & lookAtPos, const Vector3 & upVec )
1027 {
1028  Matrix4 m4EyeFrame;
1029  Vector3 v3X, v3Y, v3Z;
1030  v3Y = normalize( upVec );
1031  v3Z = normalize( ( eyePos - lookAtPos ) );
1032  v3X = normalize( cross( v3Y, v3Z ) );
1033  v3Y = cross( v3Z, v3X );
1034  m4EyeFrame = Matrix4( Vector4( v3X ), Vector4( v3Y ), Vector4( v3Z ), Vector4( eyePos ) );
1035  return orthoInverse( m4EyeFrame );
1036 }
1037 
1038 inline const Matrix4 Matrix4::perspective( float fovyRadians, float aspect, float zNear, float zFar )
1039 {
1040  float f, rangeInv;
1041  f = tanf( ( (float)( _VECTORMATH_PI_OVER_2 ) - ( 0.5f * fovyRadians ) ) );
1042  rangeInv = ( 1.0f / ( zNear - zFar ) );
1043  return Matrix4(
1044  Vector4( ( f / aspect ), 0.0f, 0.0f, 0.0f ),
1045  Vector4( 0.0f, f, 0.0f, 0.0f ),
1046  Vector4( 0.0f, 0.0f, ( ( zNear + zFar ) * rangeInv ), -1.0f ),
1047  Vector4( 0.0f, 0.0f, ( ( ( zNear * zFar ) * rangeInv ) * 2.0f ), 0.0f )
1048  );
1049 }
1050 
1051 inline const Matrix4 Matrix4::frustum( float left, float right, float bottom, float top, float zNear, float zFar )
1052 {
1053  float sum_rl, sum_tb, sum_nf, inv_rl, inv_tb, inv_nf, n2;
1054  sum_rl = ( right + left );
1055  sum_tb = ( top + bottom );
1056  sum_nf = ( zNear + zFar );
1057  inv_rl = ( 1.0f / ( right - left ) );
1058  inv_tb = ( 1.0f / ( top - bottom ) );
1059  inv_nf = ( 1.0f / ( zNear - zFar ) );
1060  n2 = ( zNear + zNear );
1061  return Matrix4(
1062  Vector4( ( n2 * inv_rl ), 0.0f, 0.0f, 0.0f ),
1063  Vector4( 0.0f, ( n2 * inv_tb ), 0.0f, 0.0f ),
1064  Vector4( ( sum_rl * inv_rl ), ( sum_tb * inv_tb ), ( sum_nf * inv_nf ), -1.0f ),
1065  Vector4( 0.0f, 0.0f, ( ( n2 * inv_nf ) * zFar ), 0.0f )
1066  );
1067 }
1068 
1069 inline const Matrix4 Matrix4::orthographic( float left, float right, float bottom, float top, float zNear, float zFar )
1070 {
1071  float sum_rl, sum_tb, sum_nf, inv_rl, inv_tb, inv_nf;
1072  sum_rl = ( right + left );
1073  sum_tb = ( top + bottom );
1074  sum_nf = ( zNear + zFar );
1075  inv_rl = ( 1.0f / ( right - left ) );
1076  inv_tb = ( 1.0f / ( top - bottom ) );
1077  inv_nf = ( 1.0f / ( zNear - zFar ) );
1078  return Matrix4(
1079  Vector4( ( inv_rl + inv_rl ), 0.0f, 0.0f, 0.0f ),
1080  Vector4( 0.0f, ( inv_tb + inv_tb ), 0.0f, 0.0f ),
1081  Vector4( 0.0f, 0.0f, ( inv_nf + inv_nf ), 0.0f ),
1082  Vector4( ( -sum_rl * inv_rl ), ( -sum_tb * inv_tb ), ( sum_nf * inv_nf ), 1.0f )
1083  );
1084 }
1085 
1086 inline const Matrix4 select( const Matrix4 & mat0, const Matrix4 & mat1, bool select1 )
1087 {
1088  return Matrix4(
1089  select( mat0.getCol0(), mat1.getCol0(), select1 ),
1090  select( mat0.getCol1(), mat1.getCol1(), select1 ),
1091  select( mat0.getCol2(), mat1.getCol2(), select1 ),
1092  select( mat0.getCol3(), mat1.getCol3(), select1 )
1093  );
1094 }
1095 
1096 #ifdef _VECTORMATH_DEBUG
1097 
1098 inline void print( const Matrix4 & mat )
1099 {
1100  print( mat.getRow( 0 ) );
1101  print( mat.getRow( 1 ) );
1102  print( mat.getRow( 2 ) );
1103  print( mat.getRow( 3 ) );
1104 }
1105 
1106 inline void print( const Matrix4 & mat, const char * name )
1107 {
1108  printf("%s:\n", name);
1109  print( mat );
1110 }
1111 
1112 #endif
1113 
1114 inline Transform3::Transform3( const Transform3 & tfrm )
1115 {
1116  mCol0 = tfrm.mCol0;
1117  mCol1 = tfrm.mCol1;
1118  mCol2 = tfrm.mCol2;
1119  mCol3 = tfrm.mCol3;
1120 }
1121 
1122 inline Transform3::Transform3( float scalar )
1123 {
1124  mCol0 = Vector3( scalar );
1125  mCol1 = Vector3( scalar );
1126  mCol2 = Vector3( scalar );
1127  mCol3 = Vector3( scalar );
1128 }
1129 
1130 inline Transform3::Transform3( const Vector3 & _col0, const Vector3 & _col1, const Vector3 & _col2, const Vector3 & _col3 )
1131 {
1132  mCol0 = _col0;
1133  mCol1 = _col1;
1134  mCol2 = _col2;
1135  mCol3 = _col3;
1136 }
1137 
1138 inline Transform3::Transform3( const Matrix3 & tfrm, const Vector3 & translateVec )
1139 {
1140  this->setUpper3x3( tfrm );
1141  this->setTranslation( translateVec );
1142 }
1143 
1144 inline Transform3::Transform3( const Quat & unitQuat, const Vector3 & translateVec )
1145 {
1146  this->setUpper3x3( Matrix3( unitQuat ) );
1147  this->setTranslation( translateVec );
1148 }
1149 
1150 inline Transform3 & Transform3::setCol0( const Vector3 & _col0 )
1151 {
1152  mCol0 = _col0;
1153  return *this;
1154 }
1155 
1156 inline Transform3 & Transform3::setCol1( const Vector3 & _col1 )
1157 {
1158  mCol1 = _col1;
1159  return *this;
1160 }
1161 
1162 inline Transform3 & Transform3::setCol2( const Vector3 & _col2 )
1163 {
1164  mCol2 = _col2;
1165  return *this;
1166 }
1167 
1168 inline Transform3 & Transform3::setCol3( const Vector3 & _col3 )
1169 {
1170  mCol3 = _col3;
1171  return *this;
1172 }
1173 
1174 inline Transform3 & Transform3::setCol( int col, const Vector3 & vec )
1175 {
1176  *(&mCol0 + col) = vec;
1177  return *this;
1178 }
1179 
1180 inline Transform3 & Transform3::setRow( int row, const Vector4 & vec )
1181 {
1182  mCol0.setElem( row, vec.getElem( 0 ) );
1183  mCol1.setElem( row, vec.getElem( 1 ) );
1184  mCol2.setElem( row, vec.getElem( 2 ) );
1185  mCol3.setElem( row, vec.getElem( 3 ) );
1186  return *this;
1187 }
1188 
1189 inline Transform3 & Transform3::setElem( int col, int row, float val )
1190 {
1191  Vector3 tmpV3_0;
1192  tmpV3_0 = this->getCol( col );
1193  tmpV3_0.setElem( row, val );
1194  this->setCol( col, tmpV3_0 );
1195  return *this;
1196 }
1197 
1198 inline float Transform3::getElem( int col, int row ) const
1199 {
1200  return this->getCol( col ).getElem( row );
1201 }
1202 
1203 inline const Vector3 Transform3::getCol0( ) const
1204 {
1205  return mCol0;
1206 }
1207 
1208 inline const Vector3 Transform3::getCol1( ) const
1209 {
1210  return mCol1;
1211 }
1212 
1213 inline const Vector3 Transform3::getCol2( ) const
1214 {
1215  return mCol2;
1216 }
1217 
1218 inline const Vector3 Transform3::getCol3( ) const
1219 {
1220  return mCol3;
1221 }
1222 
1223 inline const Vector3 Transform3::getCol( int col ) const
1224 {
1225  return *(&mCol0 + col);
1226 }
1227 
1228 inline const Vector4 Transform3::getRow( int row ) const
1229 {
1230  return Vector4( mCol0.getElem( row ), mCol1.getElem( row ), mCol2.getElem( row ), mCol3.getElem( row ) );
1231 }
1232 
1234 {
1235  return *(&mCol0 + col);
1236 }
1237 
1238 inline const Vector3 Transform3::operator []( int col ) const
1239 {
1240  return *(&mCol0 + col);
1241 }
1242 
1244 {
1245  mCol0 = tfrm.mCol0;
1246  mCol1 = tfrm.mCol1;
1247  mCol2 = tfrm.mCol2;
1248  mCol3 = tfrm.mCol3;
1249  return *this;
1250 }
1251 
1252 inline const Transform3 inverse( const Transform3 & tfrm )
1253 {
1254  Vector3 tmp0, tmp1, tmp2, inv0, inv1, inv2;
1255  float detinv;
1256  tmp0 = cross( tfrm.getCol1(), tfrm.getCol2() );
1257  tmp1 = cross( tfrm.getCol2(), tfrm.getCol0() );
1258  tmp2 = cross( tfrm.getCol0(), tfrm.getCol1() );
1259  detinv = ( 1.0f / dot( tfrm.getCol2(), tmp2 ) );
1260  inv0 = Vector3( ( tmp0.getX() * detinv ), ( tmp1.getX() * detinv ), ( tmp2.getX() * detinv ) );
1261  inv1 = Vector3( ( tmp0.getY() * detinv ), ( tmp1.getY() * detinv ), ( tmp2.getY() * detinv ) );
1262  inv2 = Vector3( ( tmp0.getZ() * detinv ), ( tmp1.getZ() * detinv ), ( tmp2.getZ() * detinv ) );
1263  return Transform3(
1264  inv0,
1265  inv1,
1266  inv2,
1267  Vector3( ( -( ( inv0 * tfrm.getCol3().getX() ) + ( ( inv1 * tfrm.getCol3().getY() ) + ( inv2 * tfrm.getCol3().getZ() ) ) ) ) )
1268  );
1269 }
1270 
1271 inline const Transform3 orthoInverse( const Transform3 & tfrm )
1272 {
1273  Vector3 inv0, inv1, inv2;
1274  inv0 = Vector3( tfrm.getCol0().getX(), tfrm.getCol1().getX(), tfrm.getCol2().getX() );
1275  inv1 = Vector3( tfrm.getCol0().getY(), tfrm.getCol1().getY(), tfrm.getCol2().getY() );
1276  inv2 = Vector3( tfrm.getCol0().getZ(), tfrm.getCol1().getZ(), tfrm.getCol2().getZ() );
1277  return Transform3(
1278  inv0,
1279  inv1,
1280  inv2,
1281  Vector3( ( -( ( inv0 * tfrm.getCol3().getX() ) + ( ( inv1 * tfrm.getCol3().getY() ) + ( inv2 * tfrm.getCol3().getZ() ) ) ) ) )
1282  );
1283 }
1284 
1285 inline const Transform3 absPerElem( const Transform3 & tfrm )
1286 {
1287  return Transform3(
1288  absPerElem( tfrm.getCol0() ),
1289  absPerElem( tfrm.getCol1() ),
1290  absPerElem( tfrm.getCol2() ),
1291  absPerElem( tfrm.getCol3() )
1292  );
1293 }
1294 
1295 inline const Vector3 Transform3::operator *( const Vector3 & vec ) const
1296 {
1297  return Vector3(
1298  ( ( ( mCol0.getX() * vec.getX() ) + ( mCol1.getX() * vec.getY() ) ) + ( mCol2.getX() * vec.getZ() ) ),
1299  ( ( ( mCol0.getY() * vec.getX() ) + ( mCol1.getY() * vec.getY() ) ) + ( mCol2.getY() * vec.getZ() ) ),
1300  ( ( ( mCol0.getZ() * vec.getX() ) + ( mCol1.getZ() * vec.getY() ) ) + ( mCol2.getZ() * vec.getZ() ) )
1301  );
1302 }
1303 
1304 inline const Point3 Transform3::operator *( const Point3 & pnt ) const
1305 {
1306  return Point3(
1307  ( ( ( ( mCol0.getX() * pnt.getX() ) + ( mCol1.getX() * pnt.getY() ) ) + ( mCol2.getX() * pnt.getZ() ) ) + mCol3.getX() ),
1308  ( ( ( ( mCol0.getY() * pnt.getX() ) + ( mCol1.getY() * pnt.getY() ) ) + ( mCol2.getY() * pnt.getZ() ) ) + mCol3.getY() ),
1309  ( ( ( ( mCol0.getZ() * pnt.getX() ) + ( mCol1.getZ() * pnt.getY() ) ) + ( mCol2.getZ() * pnt.getZ() ) ) + mCol3.getZ() )
1310  );
1311 }
1312 
1313 inline const Transform3 Transform3::operator *( const Transform3 & tfrm ) const
1314 {
1315  return Transform3(
1316  ( *this * tfrm.mCol0 ),
1317  ( *this * tfrm.mCol1 ),
1318  ( *this * tfrm.mCol2 ),
1319  Vector3( ( *this * Point3( tfrm.mCol3 ) ) )
1320  );
1321 }
1322 
1324 {
1325  *this = *this * tfrm;
1326  return *this;
1327 }
1328 
1329 inline const Transform3 mulPerElem( const Transform3 & tfrm0, const Transform3 & tfrm1 )
1330 {
1331  return Transform3(
1332  mulPerElem( tfrm0.getCol0(), tfrm1.getCol0() ),
1333  mulPerElem( tfrm0.getCol1(), tfrm1.getCol1() ),
1334  mulPerElem( tfrm0.getCol2(), tfrm1.getCol2() ),
1335  mulPerElem( tfrm0.getCol3(), tfrm1.getCol3() )
1336  );
1337 }
1338 
1340 {
1341  return Transform3(
1342  Vector3::xAxis( ),
1343  Vector3::yAxis( ),
1344  Vector3::zAxis( ),
1345  Vector3( 0.0f )
1346  );
1347 }
1348 
1350 {
1351  mCol0 = tfrm.getCol0();
1352  mCol1 = tfrm.getCol1();
1353  mCol2 = tfrm.getCol2();
1354  return *this;
1355 }
1356 
1357 inline const Matrix3 Transform3::getUpper3x3( ) const
1358 {
1359  return Matrix3( mCol0, mCol1, mCol2 );
1360 }
1361 
1362 inline Transform3 & Transform3::setTranslation( const Vector3 & translateVec )
1363 {
1364  mCol3 = translateVec;
1365  return *this;
1366 }
1367 
1369 {
1370  return mCol3;
1371 }
1372 
1373 inline const Transform3 Transform3::rotationX( float radians )
1374 {
1375  float s, c;
1376  s = sinf( radians );
1377  c = cosf( radians );
1378  return Transform3(
1379  Vector3::xAxis( ),
1380  Vector3( 0.0f, c, s ),
1381  Vector3( 0.0f, -s, c ),
1382  Vector3( 0.0f )
1383  );
1384 }
1385 
1386 inline const Transform3 Transform3::rotationY( float radians )
1387 {
1388  float s, c;
1389  s = sinf( radians );
1390  c = cosf( radians );
1391  return Transform3(
1392  Vector3( c, 0.0f, -s ),
1393  Vector3::yAxis( ),
1394  Vector3( s, 0.0f, c ),
1395  Vector3( 0.0f )
1396  );
1397 }
1398 
1399 inline const Transform3 Transform3::rotationZ( float radians )
1400 {
1401  float s, c;
1402  s = sinf( radians );
1403  c = cosf( radians );
1404  return Transform3(
1405  Vector3( c, s, 0.0f ),
1406  Vector3( -s, c, 0.0f ),
1407  Vector3::zAxis( ),
1408  Vector3( 0.0f )
1409  );
1410 }
1411 
1412 inline const Transform3 Transform3::rotationZYX( const Vector3 & radiansXYZ )
1413 {
1414  float sX, cX, sY, cY, sZ, cZ, tmp0, tmp1;
1415  sX = sinf( radiansXYZ.getX() );
1416  cX = cosf( radiansXYZ.getX() );
1417  sY = sinf( radiansXYZ.getY() );
1418  cY = cosf( radiansXYZ.getY() );
1419  sZ = sinf( radiansXYZ.getZ() );
1420  cZ = cosf( radiansXYZ.getZ() );
1421  tmp0 = ( cZ * sY );
1422  tmp1 = ( sZ * sY );
1423  return Transform3(
1424  Vector3( ( cZ * cY ), ( sZ * cY ), -sY ),
1425  Vector3( ( ( tmp0 * sX ) - ( sZ * cX ) ), ( ( tmp1 * sX ) + ( cZ * cX ) ), ( cY * sX ) ),
1426  Vector3( ( ( tmp0 * cX ) + ( sZ * sX ) ), ( ( tmp1 * cX ) - ( cZ * sX ) ), ( cY * cX ) ),
1427  Vector3( 0.0f )
1428  );
1429 }
1430 
1431 inline const Transform3 Transform3::rotation( float radians, const Vector3 & unitVec )
1432 {
1433  return Transform3( Matrix3::rotation( radians, unitVec ), Vector3( 0.0f ) );
1434 }
1435 
1436 inline const Transform3 Transform3::rotation( const Quat & unitQuat )
1437 {
1438  return Transform3( Matrix3( unitQuat ), Vector3( 0.0f ) );
1439 }
1440 
1441 inline const Transform3 Transform3::scale( const Vector3 & scaleVec )
1442 {
1443  return Transform3(
1444  Vector3( scaleVec.getX(), 0.0f, 0.0f ),
1445  Vector3( 0.0f, scaleVec.getY(), 0.0f ),
1446  Vector3( 0.0f, 0.0f, scaleVec.getZ() ),
1447  Vector3( 0.0f )
1448  );
1449 }
1450 
1451 inline const Transform3 appendScale( const Transform3 & tfrm, const Vector3 & scaleVec )
1452 {
1453  return Transform3(
1454  ( tfrm.getCol0() * scaleVec.getX( ) ),
1455  ( tfrm.getCol1() * scaleVec.getY( ) ),
1456  ( tfrm.getCol2() * scaleVec.getZ( ) ),
1457  tfrm.getCol3()
1458  );
1459 }
1460 
1461 inline const Transform3 prependScale( const Vector3 & scaleVec, const Transform3 & tfrm )
1462 {
1463  return Transform3(
1464  mulPerElem( tfrm.getCol0(), scaleVec ),
1465  mulPerElem( tfrm.getCol1(), scaleVec ),
1466  mulPerElem( tfrm.getCol2(), scaleVec ),
1467  mulPerElem( tfrm.getCol3(), scaleVec )
1468  );
1469 }
1470 
1471 inline const Transform3 Transform3::translation( const Vector3 & translateVec )
1472 {
1473  return Transform3(
1474  Vector3::xAxis( ),
1475  Vector3::yAxis( ),
1476  Vector3::zAxis( ),
1477  translateVec
1478  );
1479 }
1480 
1481 inline const Transform3 select( const Transform3 & tfrm0, const Transform3 & tfrm1, bool select1 )
1482 {
1483  return Transform3(
1484  select( tfrm0.getCol0(), tfrm1.getCol0(), select1 ),
1485  select( tfrm0.getCol1(), tfrm1.getCol1(), select1 ),
1486  select( tfrm0.getCol2(), tfrm1.getCol2(), select1 ),
1487  select( tfrm0.getCol3(), tfrm1.getCol3(), select1 )
1488  );
1489 }
1490 
1491 #ifdef _VECTORMATH_DEBUG
1492 
1493 inline void print( const Transform3 & tfrm )
1494 {
1495  print( tfrm.getRow( 0 ) );
1496  print( tfrm.getRow( 1 ) );
1497  print( tfrm.getRow( 2 ) );
1498 }
1499 
1500 inline void print( const Transform3 & tfrm, const char * name )
1501 {
1502  printf("%s:\n", name);
1503  print( tfrm );
1504 }
1505 
1506 #endif
1507 
1508 inline Quat::Quat( const Matrix3 & tfrm )
1509 {
1510  float trace, radicand, scale, xx, yx, zx, xy, yy, zy, xz, yz, zz, tmpx, tmpy, tmpz, tmpw, qx, qy, qz, qw;
1511  int negTrace, ZgtX, ZgtY, YgtX;
1512  int largestXorY, largestYorZ, largestZorX;
1513 
1514  xx = tfrm.getCol0().getX();
1515  yx = tfrm.getCol0().getY();
1516  zx = tfrm.getCol0().getZ();
1517  xy = tfrm.getCol1().getX();
1518  yy = tfrm.getCol1().getY();
1519  zy = tfrm.getCol1().getZ();
1520  xz = tfrm.getCol2().getX();
1521  yz = tfrm.getCol2().getY();
1522  zz = tfrm.getCol2().getZ();
1523 
1524  trace = ( ( xx + yy ) + zz );
1525 
1526  negTrace = ( trace < 0.0f );
1527  ZgtX = zz > xx;
1528  ZgtY = zz > yy;
1529  YgtX = yy > xx;
1530  largestXorY = ( !ZgtX || !ZgtY ) && negTrace;
1531  largestYorZ = ( YgtX || ZgtX ) && negTrace;
1532  largestZorX = ( ZgtY || !YgtX ) && negTrace;
1533 
1534  if ( largestXorY )
1535  {
1536  zz = -zz;
1537  xy = -xy;
1538  }
1539  if ( largestYorZ )
1540  {
1541  xx = -xx;
1542  yz = -yz;
1543  }
1544  if ( largestZorX )
1545  {
1546  yy = -yy;
1547  zx = -zx;
1548  }
1549 
1550  radicand = ( ( ( xx + yy ) + zz ) + 1.0f );
1551  scale = ( 0.5f * ( 1.0f / sqrtf( radicand ) ) );
1552 
1553  tmpx = ( ( zy - yz ) * scale );
1554  tmpy = ( ( xz - zx ) * scale );
1555  tmpz = ( ( yx - xy ) * scale );
1556  tmpw = ( radicand * scale );
1557  qx = tmpx;
1558  qy = tmpy;
1559  qz = tmpz;
1560  qw = tmpw;
1561 
1562  if ( largestXorY )
1563  {
1564  qx = tmpw;
1565  qy = tmpz;
1566  qz = tmpy;
1567  qw = tmpx;
1568  }
1569  if ( largestYorZ )
1570  {
1571  tmpx = qx;
1572  tmpz = qz;
1573  qx = qy;
1574  qy = tmpx;
1575  qz = qw;
1576  qw = tmpz;
1577  }
1578 
1579  mXYZW[0] = qx;
1580  mXYZW[1] = qy;
1581  mXYZW[2] = qz;
1582  mXYZW[3] = qw;
1583 }
1584 
1585 inline const Matrix3 outer( const Vector3 & tfrm0, const Vector3 & tfrm1 )
1586 {
1587  return Matrix3(
1588  ( tfrm0 * tfrm1.getX( ) ),
1589  ( tfrm0 * tfrm1.getY( ) ),
1590  ( tfrm0 * tfrm1.getZ( ) )
1591  );
1592 }
1593 
1594 inline const Matrix4 outer( const Vector4 & tfrm0, const Vector4 & tfrm1 )
1595 {
1596  return Matrix4(
1597  ( tfrm0 * tfrm1.getX( ) ),
1598  ( tfrm0 * tfrm1.getY( ) ),
1599  ( tfrm0 * tfrm1.getZ( ) ),
1600  ( tfrm0 * tfrm1.getW( ) )
1601  );
1602 }
1603 
1604 inline const Vector3 rowMul( const Vector3 & vec, const Matrix3 & mat )
1605 {
1606  return Vector3(
1607  ( ( ( vec.getX() * mat.getCol0().getX() ) + ( vec.getY() * mat.getCol0().getY() ) ) + ( vec.getZ() * mat.getCol0().getZ() ) ),
1608  ( ( ( vec.getX() * mat.getCol1().getX() ) + ( vec.getY() * mat.getCol1().getY() ) ) + ( vec.getZ() * mat.getCol1().getZ() ) ),
1609  ( ( ( vec.getX() * mat.getCol2().getX() ) + ( vec.getY() * mat.getCol2().getY() ) ) + ( vec.getZ() * mat.getCol2().getZ() ) )
1610  );
1611 }
1612 
1613 inline const Matrix3 crossMatrix( const Vector3 & vec )
1614 {
1615  return Matrix3(
1616  Vector3( 0.0f, vec.getZ(), -vec.getY() ),
1617  Vector3( -vec.getZ(), 0.0f, vec.getX() ),
1618  Vector3( vec.getY(), -vec.getX(), 0.0f )
1619  );
1620 }
1621 
1622 inline const Matrix3 crossMatrixMul( const Vector3 & vec, const Matrix3 & mat )
1623 {
1624  return Matrix3( cross( vec, mat.getCol0() ), cross( vec, mat.getCol1() ), cross( vec, mat.getCol2() ) );
1625 }
1626 
1627 } // namespace Aos
1628 } // namespace Vectormath
1629 
1630 #endif
1631 
const Vector3 getTranslation() const
const Quat normalize(const Quat &quat)
Matrix4 & setCol1(const Vector4 &col1)
Definition: neon/mat_aos.h:491
float determinant(const Matrix3 &mat)
Definition: neon/mat_aos.h:189
float getY() const
const Vector3 getCol0() const
const Vector3 rowMul(const Vector3 &vec, const Matrix3 &mat)
static const Matrix4 scale(const Vector3 &scaleVec)
Definition: neon/mat_aos.h:984
const Vector3 getXYZ() const
Definition: neon/vec_aos.h:706
static const Transform3 rotationY(float radians)
const Matrix3 crossMatrixMul(const Vector3 &vec, const Matrix3 &mat)
static const Vector4 yAxis()
Definition: neon/vec_aos.h:564
Transform3 & setTranslation(const Vector3 &translateVec)
Vector4 & setXYZ(const Vector3 &vec)
Definition: neon/vec_aos.h:698
static const Matrix4 rotationX(float radians)
Definition: neon/mat_aos.h:901
static const Matrix4 translation(const Vector3 &translateVec)
static const Vector3 xAxis()
Definition: neon/vec_aos.h:64
static const Vector3 zAxis()
Definition: neon/vec_aos.h:74
const Matrix4 operator+(const Matrix4 &mat) const
Definition: neon/mat_aos.h:718
float getW() const
const Matrix3 operator*(float scalar) const
Definition: neon/mat_aos.h:242
Matrix3 & setElem(int col, int row, float val)
Definition: neon/mat_aos.h:108
Vector3 & operator[](int col)
static const Transform3 translation(const Vector3 &translateVec)
static const Vector4 xAxis()
Definition: neon/vec_aos.h:559
const Matrix3 appendScale(const Matrix3 &mat, const Vector3 &scaleVec)
Definition: neon/mat_aos.h:391
Matrix3 & setCol0(const Vector3 &col0)
Definition: neon/mat_aos.h:76
Matrix3 & setCol2(const Vector3 &col2)
Definition: neon/mat_aos.h:88
const Vector3 operator*(const Vector3 &vec) const
Matrix3 & operator-=(const Matrix3 &mat)
Definition: neon/mat_aos.h:218
const Matrix3 inverse(const Matrix3 &mat)
Definition: neon/mat_aos.h:174
static const Transform3 rotationX(float radians)
static const Matrix4 rotation(float radians, const Vector3 &unitVec)
Definition: neon/mat_aos.h:959
static const Matrix4 rotationY(float radians)
Definition: neon/mat_aos.h:914
static const Transform3 identity()
const Vector3 getCol3() const
const Matrix3 crossMatrix(const Vector3 &vec)
float getElem(int col, int row) const
Definition: neon/mat_aos.h:533
Matrix4 & operator-=(const Matrix4 &mat)
Definition: neon/mat_aos.h:744
static const Matrix4 orthographic(float left, float right, float bottom, float top, float zNear, float zFar)
static const Matrix3 rotationZ(float radians)
Definition: neon/mat_aos.h:328
static const Vector3 yAxis()
Definition: neon/vec_aos.h:69
static const Matrix3 rotationZYX(const Vector3 &radiansXYZ)
Definition: neon/mat_aos.h:340
Vector4 & setW(float w)
Definition: neon/vec_aos.h:744
Transform3 & setElem(int col, int row, float val)
const Matrix4 operator*(float scalar) const
Definition: neon/mat_aos.h:770
const Vector4 getCol3() const
Definition: neon/mat_aos.h:553
static const Matrix4 identity()
Definition: neon/mat_aos.h:863
Transform3 & operator=(const Transform3 &tfrm)
static const Vector4 wAxis()
Definition: neon/vec_aos.h:574
Transform3 & setCol0(const Vector3 &col0)
static const Matrix3 identity()
Definition: neon/mat_aos.h:295
Transform3 & setCol(int col, const Vector3 &vec)
const Vector4 getCol1() const
Definition: neon/mat_aos.h:543
Matrix4 & setTranslation(const Vector3 &translateVec)
Definition: neon/mat_aos.h:890
static const Transform3 rotation(float radians, const Vector3 &unitVec)
Vector4 & setZ(float z)
Definition: neon/vec_aos.h:733
const Vector4 getCol0() const
Definition: neon/mat_aos.h:538
const Matrix4 affineInverse(const Matrix4 &mat)
Definition: neon/mat_aos.h:666
static const Matrix3 scale(const Vector3 &scaleVec)
Definition: neon/mat_aos.h:382
const Point3 scale(const Point3 &pnt, float scaleVal)
Transform3 & setCol3(const Vector3 &col3)
const Vector3 getCol1() const
#define _VECTORMATH_PI_OVER_2
Definition: neon/mat_aos.h:26
Vector4 & operator[](int col)
Definition: neon/mat_aos.h:568
const Vector3 getCol(int col) const
const Vector3 getCol0() const
Definition: neon/mat_aos.h:122
const Matrix3 getUpper3x3() const
Definition: neon/mat_aos.h:881
Matrix4 & setElem(int col, int row, float val)
Definition: neon/mat_aos.h:524
const Vector4 getRow(int row) const
const Matrix3 outer(const Vector3 &tfrm0, const Vector3 &tfrm1)
const Matrix4 operator-() const
Definition: neon/mat_aos.h:750
Matrix4 & operator*=(float scalar)
Definition: neon/mat_aos.h:780
static const Matrix4 frustum(float left, float right, float bottom, float top, float zNear, float zFar)
Vector3 & operator[](int col)
Definition: neon/mat_aos.h:147
Vector3 & setElem(int idx, float value)
Definition: neon/vec_aos.h:229
const Vector3 getTranslation() const
Definition: neon/mat_aos.h:896
const Matrix3 prependScale(const Vector3 &scaleVec, const Matrix3 &mat)
Definition: neon/mat_aos.h:400
const Vector4 getCol2() const
Definition: neon/mat_aos.h:548
const Matrix3 operator+(const Matrix3 &mat) const
Definition: neon/mat_aos.h:194
Matrix3 & operator+=(const Matrix3 &mat)
Definition: neon/mat_aos.h:212
const Matrix3 operator-() const
Definition: neon/mat_aos.h:224
const Matrix3 getUpper3x3() const
Matrix3 & setCol1(const Vector3 &col1)
Definition: neon/mat_aos.h:82
static const Matrix3 rotationX(float radians)
Definition: neon/mat_aos.h:304
const Matrix4 orthoInverse(const Matrix4 &mat)
Definition: neon/mat_aos.h:676
static const Transform3 scale(const Vector3 &scaleVec)
float getElem(int idx) const
Definition: neon/vec_aos.h:235
Matrix4 & setCol3(const Vector4 &col3)
Definition: neon/mat_aos.h:503
static const Matrix3 rotation(float radians, const Vector3 &unitVec)
Definition: neon/mat_aos.h:358
const Vector4 getCol(int col) const
Definition: neon/mat_aos.h:558
Matrix4 & setCol(int col, const Vector4 &vec)
Definition: neon/mat_aos.h:509
Matrix4 & setUpper3x3(const Matrix3 &mat3)
Definition: neon/mat_aos.h:873
Matrix4 & setCol2(const Vector4 &col2)
Definition: neon/mat_aos.h:497
static const Matrix4 lookAt(const Point3 &eyePos, const Point3 &lookAtPos, const Vector3 &upVec)
const Matrix3 select(const Matrix3 &mat0, const Matrix3 &mat1, bool select1)
Definition: neon/mat_aos.h:409
Matrix4 & operator+=(const Matrix4 &mat)
Definition: neon/mat_aos.h:738
static const Transform3 rotationZ(float radians)
Vector4 & setX(float x)
Definition: neon/vec_aos.h:711
static const Matrix4 perspective(float fovyRadians, float aspect, float zNear, float zFar)
float getElem(int idx) const
Definition: neon/vec_aos.h:761
static const Matrix3 rotationY(float radians)
Definition: neon/mat_aos.h:316
float getZ() const
const Matrix3 transpose(const Matrix3 &mat)
Definition: neon/mat_aos.h:165
Matrix3 & operator*=(float scalar)
Definition: neon/mat_aos.h:251
Transform3 & setCol2(const Vector3 &col2)
const Vector3 getRow(int row) const
Definition: neon/mat_aos.h:142
Matrix4 & setCol0(const Vector4 &col0)
Definition: neon/mat_aos.h:485
Matrix4 & setRow(int row, const Vector4 &vec)
Definition: neon/mat_aos.h:515
Transform3 & setCol1(const Vector3 &col1)
Matrix3 & setCol(int col, const Vector3 &vec)
Definition: neon/mat_aos.h:94
float getElem(int col, int row) const
Definition: neon/mat_aos.h:117
const Vector3 getCol(int col) const
Definition: neon/mat_aos.h:137
static const Matrix4 rotationZYX(const Vector3 &radiansXYZ)
Definition: neon/mat_aos.h:940
static const Vector4 zAxis()
Definition: neon/vec_aos.h:569
float dot(const Quat &quat0, const Quat &quat1)
const Vector3 cross(const Vector3 &vec0, const Vector3 &vec1)
Definition: neon/vec_aos.h:473
const Matrix3 mulPerElem(const Matrix3 &mat0, const Matrix3 &mat1)
Definition: neon/mat_aos.h:286
static const Transform3 rotationZYX(const Vector3 &radiansXYZ)
Transform3 & setUpper3x3(const Matrix3 &mat3)
Vector4 & setY(float y)
Definition: neon/vec_aos.h:722
static const Matrix4 rotationZ(float radians)
Definition: neon/mat_aos.h:927
Matrix3 & operator=(const Matrix3 &mat)
Definition: neon/mat_aos.h:157
const Vector3 getCol2() const
const Vector4 getRow(int row) const
Definition: neon/mat_aos.h:563
float getElem(int col, int row) const
const Vector3 getCol2() const
Definition: neon/mat_aos.h:132
Transform3 & setRow(int row, const Vector4 &vec)
const Matrix3 absPerElem(const Matrix3 &mat)
Definition: neon/mat_aos.h:233
Vector4 & setElem(int idx, float value)
Definition: neon/vec_aos.h:755
const Matrix3 operator*(float scalar, const Matrix3 &mat)
Definition: neon/mat_aos.h:257
float getX() const
Transform3 & operator*=(const Transform3 &tfrm)
Matrix3 & setRow(int row, const Vector3 &vec)
Definition: neon/mat_aos.h:100
Matrix4 & operator=(const Matrix4 &mat)
Definition: neon/mat_aos.h:578
const Vector3 getCol1() const
Definition: neon/mat_aos.h:127