mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-15 06:00:12 +00:00
1873 lines
54 KiB
C++
1873 lines
54 KiB
C++
/*
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Copyright (C) 2009 Sony Computer Entertainment Inc.
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All rights reserved.
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef _VECTORMATH_AOS_CPP_H
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#define _VECTORMATH_AOS_CPP_H
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#include <math.h>
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#ifdef _VECTORMATH_DEBUG
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#include <stdio.h>
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#endif
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namespace Vectormath {
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namespace Aos {
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//-----------------------------------------------------------------------------
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// Forward Declarations
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//
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class Vector3;
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class Vector4;
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class Point3;
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class Quat;
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class Matrix3;
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class Matrix4;
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class Transform3;
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// A 3-D vector in array-of-structures format
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//
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class Vector3
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{
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float mX;
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float mY;
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float mZ;
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#ifndef __GNUC__
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float d;
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#endif
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public:
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// Default constructor; does no initialization
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//
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inline Vector3( ) { };
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// Copy a 3-D vector
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//
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inline Vector3( const Vector3 & vec );
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// Construct a 3-D vector from x, y, and z elements
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//
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inline Vector3( float x, float y, float z );
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// Copy elements from a 3-D point into a 3-D vector
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//
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explicit inline Vector3( const Point3 & pnt );
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// Set all elements of a 3-D vector to the same scalar value
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//
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explicit inline Vector3( float scalar );
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// Assign one 3-D vector to another
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//
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inline Vector3 & operator =( const Vector3 & vec );
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// Set the x element of a 3-D vector
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//
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inline Vector3 & setX( float x );
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// Set the y element of a 3-D vector
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//
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inline Vector3 & setY( float y );
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// Set the z element of a 3-D vector
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//
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inline Vector3 & setZ( float z );
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// Get the x element of a 3-D vector
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//
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inline float getX( ) const;
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// Get the y element of a 3-D vector
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//
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inline float getY( ) const;
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// Get the z element of a 3-D vector
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//
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inline float getZ( ) const;
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// Set an x, y, or z element of a 3-D vector by index
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//
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inline Vector3 & setElem( int idx, float value );
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// Get an x, y, or z element of a 3-D vector by index
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//
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inline float getElem( int idx ) const;
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// Subscripting operator to set or get an element
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//
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inline float & operator []( int idx );
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// Subscripting operator to get an element
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//
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inline float operator []( int idx ) const;
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// Add two 3-D vectors
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//
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inline const Vector3 operator +( const Vector3 & vec ) const;
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// Subtract a 3-D vector from another 3-D vector
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//
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inline const Vector3 operator -( const Vector3 & vec ) const;
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// Add a 3-D vector to a 3-D point
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//
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inline const Point3 operator +( const Point3 & pnt ) const;
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// Multiply a 3-D vector by a scalar
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//
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inline const Vector3 operator *( float scalar ) const;
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// Divide a 3-D vector by a scalar
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//
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inline const Vector3 operator /( float scalar ) const;
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// Perform compound assignment and addition with a 3-D vector
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//
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inline Vector3 & operator +=( const Vector3 & vec );
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// Perform compound assignment and subtraction by a 3-D vector
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//
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inline Vector3 & operator -=( const Vector3 & vec );
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// Perform compound assignment and multiplication by a scalar
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//
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inline Vector3 & operator *=( float scalar );
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// Perform compound assignment and division by a scalar
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//
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inline Vector3 & operator /=( float scalar );
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// Negate all elements of a 3-D vector
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//
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inline const Vector3 operator -( ) const;
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// Construct x axis
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//
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static inline const Vector3 xAxis( );
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// Construct y axis
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//
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static inline const Vector3 yAxis( );
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// Construct z axis
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//
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static inline const Vector3 zAxis( );
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}
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#ifdef __GNUC__
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__attribute__ ((aligned(16)))
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#endif
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;
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// Multiply a 3-D vector by a scalar
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//
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inline const Vector3 operator *( float scalar, const Vector3 & vec );
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// Multiply two 3-D vectors per element
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//
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inline const Vector3 mulPerElem( const Vector3 & vec0, const Vector3 & vec1 );
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// Divide two 3-D vectors per element
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// NOTE:
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// Floating-point behavior matches standard library function divf4.
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//
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inline const Vector3 divPerElem( const Vector3 & vec0, const Vector3 & vec1 );
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// Compute the reciprocal of a 3-D vector per element
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// NOTE:
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// Floating-point behavior matches standard library function recipf4.
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//
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inline const Vector3 recipPerElem( const Vector3 & vec );
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// Compute the square root of a 3-D vector per element
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// NOTE:
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// Floating-point behavior matches standard library function sqrtf4.
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//
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inline const Vector3 sqrtPerElem( const Vector3 & vec );
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// Compute the reciprocal square root of a 3-D vector per element
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// NOTE:
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// Floating-point behavior matches standard library function rsqrtf4.
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//
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inline const Vector3 rsqrtPerElem( const Vector3 & vec );
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// Compute the absolute value of a 3-D vector per element
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//
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inline const Vector3 absPerElem( const Vector3 & vec );
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// Copy sign from one 3-D vector to another, per element
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//
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inline const Vector3 copySignPerElem( const Vector3 & vec0, const Vector3 & vec1 );
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// Maximum of two 3-D vectors per element
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//
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inline const Vector3 maxPerElem( const Vector3 & vec0, const Vector3 & vec1 );
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// Minimum of two 3-D vectors per element
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//
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inline const Vector3 minPerElem( const Vector3 & vec0, const Vector3 & vec1 );
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// Maximum element of a 3-D vector
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//
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inline float maxElem( const Vector3 & vec );
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// Minimum element of a 3-D vector
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//
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inline float minElem( const Vector3 & vec );
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// Compute the sum of all elements of a 3-D vector
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//
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inline float sum( const Vector3 & vec );
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// Compute the dot product of two 3-D vectors
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//
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inline float dot( const Vector3 & vec0, const Vector3 & vec1 );
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// Compute the square of the length of a 3-D vector
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//
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inline float lengthSqr( const Vector3 & vec );
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// Compute the length of a 3-D vector
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//
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inline float length( const Vector3 & vec );
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// Normalize a 3-D vector
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// NOTE:
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// The result is unpredictable when all elements of vec are at or near zero.
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//
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inline const Vector3 normalize( const Vector3 & vec );
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// Compute cross product of two 3-D vectors
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//
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inline const Vector3 cross( const Vector3 & vec0, const Vector3 & vec1 );
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// Outer product of two 3-D vectors
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//
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inline const Matrix3 outer( const Vector3 & vec0, const Vector3 & vec1 );
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// Pre-multiply a row vector by a 3x3 matrix
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//
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inline const Vector3 rowMul( const Vector3 & vec, const Matrix3 & mat );
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// Cross-product matrix of a 3-D vector
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//
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inline const Matrix3 crossMatrix( const Vector3 & vec );
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// Create cross-product matrix and multiply
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// NOTE:
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// Faster than separately creating a cross-product matrix and multiplying.
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//
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inline const Matrix3 crossMatrixMul( const Vector3 & vec, const Matrix3 & mat );
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// Linear interpolation between two 3-D vectors
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// NOTE:
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// Does not clamp t between 0 and 1.
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//
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inline const Vector3 lerp( float t, const Vector3 & vec0, const Vector3 & vec1 );
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// Spherical linear interpolation between two 3-D vectors
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// NOTE:
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// The result is unpredictable if the vectors point in opposite directions.
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// Does not clamp t between 0 and 1.
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//
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inline const Vector3 slerp( float t, const Vector3 & unitVec0, const Vector3 & unitVec1 );
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// Conditionally select between two 3-D vectors
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//
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inline const Vector3 select( const Vector3 & vec0, const Vector3 & vec1, bool select1 );
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// Load x, y, and z elements from the first three words of a float array.
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//
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//
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inline void loadXYZ( Vector3 & vec, const float * fptr );
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// Store x, y, and z elements of a 3-D vector in the first three words of a float array.
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// Memory area of previous 16 bytes and next 32 bytes from fptr might be accessed
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//
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inline void storeXYZ( const Vector3 & vec, float * fptr );
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// Load three-half-floats as a 3-D vector
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// NOTE:
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// This transformation does not support either denormalized numbers or NaNs.
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//
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inline void loadHalfFloats( Vector3 & vec, const unsigned short * hfptr );
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// Store a 3-D vector as half-floats. Memory area of previous 16 bytes and next 32 bytes from <code><i>hfptr</i></code> might be accessed.
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// NOTE:
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// This transformation does not support either denormalized numbers or NaNs. Memory area of previous 16 bytes and next 32 bytes from hfptr might be accessed.
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//
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inline void storeHalfFloats( const Vector3 & vec, unsigned short * hfptr );
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#ifdef _VECTORMATH_DEBUG
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// Print a 3-D vector
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// NOTE:
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// Function is only defined when _VECTORMATH_DEBUG is defined.
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//
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inline void print( const Vector3 & vec );
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// Print a 3-D vector and an associated string identifier
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// NOTE:
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// Function is only defined when _VECTORMATH_DEBUG is defined.
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//
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inline void print( const Vector3 & vec, const char * name );
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#endif
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// A 4-D vector in array-of-structures format
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//
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class Vector4
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{
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float mX;
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float mY;
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float mZ;
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float mW;
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public:
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// Default constructor; does no initialization
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//
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inline Vector4( ) { };
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// Copy a 4-D vector
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//
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inline Vector4( const Vector4 & vec );
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// Construct a 4-D vector from x, y, z, and w elements
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//
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inline Vector4( float x, float y, float z, float w );
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// Construct a 4-D vector from a 3-D vector and a scalar
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//
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inline Vector4( const Vector3 & xyz, float w );
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// Copy x, y, and z from a 3-D vector into a 4-D vector, and set w to 0
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//
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explicit inline Vector4( const Vector3 & vec );
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// Copy x, y, and z from a 3-D point into a 4-D vector, and set w to 1
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//
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explicit inline Vector4( const Point3 & pnt );
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// Copy elements from a quaternion into a 4-D vector
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//
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explicit inline Vector4( const Quat & quat );
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// Set all elements of a 4-D vector to the same scalar value
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//
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explicit inline Vector4( float scalar );
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// Assign one 4-D vector to another
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//
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inline Vector4 & operator =( const Vector4 & vec );
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// Set the x, y, and z elements of a 4-D vector
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// NOTE:
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// This function does not change the w element.
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//
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inline Vector4 & setXYZ( const Vector3 & vec );
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// Get the x, y, and z elements of a 4-D vector
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//
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inline const Vector3 getXYZ( ) const;
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// Set the x element of a 4-D vector
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//
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inline Vector4 & setX( float x );
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// Set the y element of a 4-D vector
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//
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inline Vector4 & setY( float y );
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// Set the z element of a 4-D vector
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//
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inline Vector4 & setZ( float z );
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// Set the w element of a 4-D vector
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//
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inline Vector4 & setW( float w );
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// Get the x element of a 4-D vector
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//
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inline float getX( ) const;
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// Get the y element of a 4-D vector
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//
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inline float getY( ) const;
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// Get the z element of a 4-D vector
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//
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inline float getZ( ) const;
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// Get the w element of a 4-D vector
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//
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inline float getW( ) const;
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// Set an x, y, z, or w element of a 4-D vector by index
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//
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inline Vector4 & setElem( int idx, float value );
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// Get an x, y, z, or w element of a 4-D vector by index
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//
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inline float getElem( int idx ) const;
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// Subscripting operator to set or get an element
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//
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inline float & operator []( int idx );
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// Subscripting operator to get an element
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//
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inline float operator []( int idx ) const;
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// Add two 4-D vectors
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//
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inline const Vector4 operator +( const Vector4 & vec ) const;
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// Subtract a 4-D vector from another 4-D vector
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//
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inline const Vector4 operator -( const Vector4 & vec ) const;
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// Multiply a 4-D vector by a scalar
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//
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inline const Vector4 operator *( float scalar ) const;
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// Divide a 4-D vector by a scalar
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//
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inline const Vector4 operator /( float scalar ) const;
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// Perform compound assignment and addition with a 4-D vector
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//
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inline Vector4 & operator +=( const Vector4 & vec );
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// Perform compound assignment and subtraction by a 4-D vector
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//
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inline Vector4 & operator -=( const Vector4 & vec );
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// Perform compound assignment and multiplication by a scalar
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//
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inline Vector4 & operator *=( float scalar );
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// Perform compound assignment and division by a scalar
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//
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inline Vector4 & operator /=( float scalar );
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// Negate all elements of a 4-D vector
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//
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inline const Vector4 operator -( ) const;
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// Construct x axis
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//
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static inline const Vector4 xAxis( );
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// Construct y axis
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//
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static inline const Vector4 yAxis( );
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// Construct z axis
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//
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static inline const Vector4 zAxis( );
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// Construct w axis
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//
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static inline const Vector4 wAxis( );
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}
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#ifdef __GNUC__
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__attribute__ ((aligned(16)))
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#endif
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;
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// Multiply a 4-D vector by a scalar
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//
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inline const Vector4 operator *( float scalar, const Vector4 & vec );
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// Multiply two 4-D vectors per element
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//
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inline const Vector4 mulPerElem( const Vector4 & vec0, const Vector4 & vec1 );
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// Divide two 4-D vectors per element
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// NOTE:
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// Floating-point behavior matches standard library function divf4.
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//
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inline const Vector4 divPerElem( const Vector4 & vec0, const Vector4 & vec1 );
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// Compute the reciprocal of a 4-D vector per element
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// NOTE:
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// Floating-point behavior matches standard library function recipf4.
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//
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inline const Vector4 recipPerElem( const Vector4 & vec );
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// Compute the square root of a 4-D vector per element
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// NOTE:
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// Floating-point behavior matches standard library function sqrtf4.
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//
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inline const Vector4 sqrtPerElem( const Vector4 & vec );
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// Compute the reciprocal square root of a 4-D vector per element
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// NOTE:
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// Floating-point behavior matches standard library function rsqrtf4.
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//
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inline const Vector4 rsqrtPerElem( const Vector4 & vec );
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// Compute the absolute value of a 4-D vector per element
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//
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inline const Vector4 absPerElem( const Vector4 & vec );
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// Copy sign from one 4-D vector to another, per element
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//
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inline const Vector4 copySignPerElem( const Vector4 & vec0, const Vector4 & vec1 );
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// Maximum of two 4-D vectors per element
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//
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inline const Vector4 maxPerElem( const Vector4 & vec0, const Vector4 & vec1 );
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// Minimum of two 4-D vectors per element
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//
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inline const Vector4 minPerElem( const Vector4 & vec0, const Vector4 & vec1 );
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// Maximum element of a 4-D vector
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//
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inline float maxElem( const Vector4 & vec );
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// Minimum element of a 4-D vector
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//
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inline float minElem( const Vector4 & vec );
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// Compute the sum of all elements of a 4-D vector
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//
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inline float sum( const Vector4 & vec );
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// Compute the dot product of two 4-D vectors
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//
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inline float dot( const Vector4 & vec0, const Vector4 & vec1 );
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// Compute the square of the length of a 4-D vector
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//
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inline float lengthSqr( const Vector4 & vec );
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// Compute the length of a 4-D vector
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//
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inline float length( const Vector4 & vec );
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// Normalize a 4-D vector
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// NOTE:
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// The result is unpredictable when all elements of vec are at or near zero.
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//
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inline const Vector4 normalize( const Vector4 & vec );
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// Outer product of two 4-D vectors
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//
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inline const Matrix4 outer( const Vector4 & vec0, const Vector4 & vec1 );
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// Linear interpolation between two 4-D vectors
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// NOTE:
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// Does not clamp t between 0 and 1.
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//
|
|
inline const Vector4 lerp( float t, const Vector4 & vec0, const Vector4 & vec1 );
|
|
|
|
// Spherical linear interpolation between two 4-D vectors
|
|
// NOTE:
|
|
// The result is unpredictable if the vectors point in opposite directions.
|
|
// Does not clamp t between 0 and 1.
|
|
//
|
|
inline const Vector4 slerp( float t, const Vector4 & unitVec0, const Vector4 & unitVec1 );
|
|
|
|
// Conditionally select between two 4-D vectors
|
|
//
|
|
inline const Vector4 select( const Vector4 & vec0, const Vector4 & vec1, bool select1 );
|
|
|
|
// Load x, y, z, and w elements from the first four words of a float array.
|
|
//
|
|
//
|
|
inline void loadXYZW( Vector4 & vec, const float * fptr );
|
|
|
|
// Store x, y, z, and w elements of a 4-D vector in the first four words of a float array.
|
|
// Memory area of previous 16 bytes and next 32 bytes from fptr might be accessed
|
|
//
|
|
inline void storeXYZW( const Vector4 & vec, float * fptr );
|
|
|
|
// Load four-half-floats as a 4-D vector
|
|
// NOTE:
|
|
// This transformation does not support either denormalized numbers or NaNs.
|
|
//
|
|
inline void loadHalfFloats( Vector4 & vec, const unsigned short * hfptr );
|
|
|
|
// Store a 4-D vector as half-floats. Memory area of previous 16 bytes and next 32 bytes from <code><i>hfptr</i></code> might be accessed.
|
|
// NOTE:
|
|
// This transformation does not support either denormalized numbers or NaNs. Memory area of previous 16 bytes and next 32 bytes from hfptr might be accessed.
|
|
//
|
|
inline void storeHalfFloats( const Vector4 & vec, unsigned short * hfptr );
|
|
|
|
#ifdef _VECTORMATH_DEBUG
|
|
|
|
// Print a 4-D vector
|
|
// NOTE:
|
|
// Function is only defined when _VECTORMATH_DEBUG is defined.
|
|
//
|
|
inline void print( const Vector4 & vec );
|
|
|
|
// Print a 4-D vector and an associated string identifier
|
|
// NOTE:
|
|
// Function is only defined when _VECTORMATH_DEBUG is defined.
|
|
//
|
|
inline void print( const Vector4 & vec, const char * name );
|
|
|
|
#endif
|
|
|
|
// A 3-D point in array-of-structures format
|
|
//
|
|
class Point3
|
|
{
|
|
float mX;
|
|
float mY;
|
|
float mZ;
|
|
#ifndef __GNUC__
|
|
float d;
|
|
#endif
|
|
|
|
public:
|
|
// Default constructor; does no initialization
|
|
//
|
|
inline Point3( ) { };
|
|
|
|
// Copy a 3-D point
|
|
//
|
|
inline Point3( const Point3 & pnt );
|
|
|
|
// Construct a 3-D point from x, y, and z elements
|
|
//
|
|
inline Point3( float x, float y, float z );
|
|
|
|
// Copy elements from a 3-D vector into a 3-D point
|
|
//
|
|
explicit inline Point3( const Vector3 & vec );
|
|
|
|
// Set all elements of a 3-D point to the same scalar value
|
|
//
|
|
explicit inline Point3( float scalar );
|
|
|
|
// Assign one 3-D point to another
|
|
//
|
|
inline Point3 & operator =( const Point3 & pnt );
|
|
|
|
// Set the x element of a 3-D point
|
|
//
|
|
inline Point3 & setX( float x );
|
|
|
|
// Set the y element of a 3-D point
|
|
//
|
|
inline Point3 & setY( float y );
|
|
|
|
// Set the z element of a 3-D point
|
|
//
|
|
inline Point3 & setZ( float z );
|
|
|
|
// Get the x element of a 3-D point
|
|
//
|
|
inline float getX( ) const;
|
|
|
|
// Get the y element of a 3-D point
|
|
//
|
|
inline float getY( ) const;
|
|
|
|
// Get the z element of a 3-D point
|
|
//
|
|
inline float getZ( ) const;
|
|
|
|
// Set an x, y, or z element of a 3-D point by index
|
|
//
|
|
inline Point3 & setElem( int idx, float value );
|
|
|
|
// Get an x, y, or z element of a 3-D point by index
|
|
//
|
|
inline float getElem( int idx ) const;
|
|
|
|
// Subscripting operator to set or get an element
|
|
//
|
|
inline float & operator []( int idx );
|
|
|
|
// Subscripting operator to get an element
|
|
//
|
|
inline float operator []( int idx ) const;
|
|
|
|
// Subtract a 3-D point from another 3-D point
|
|
//
|
|
inline const Vector3 operator -( const Point3 & pnt ) const;
|
|
|
|
// Add a 3-D point to a 3-D vector
|
|
//
|
|
inline const Point3 operator +( const Vector3 & vec ) const;
|
|
|
|
// Subtract a 3-D vector from a 3-D point
|
|
//
|
|
inline const Point3 operator -( const Vector3 & vec ) const;
|
|
|
|
// Perform compound assignment and addition with a 3-D vector
|
|
//
|
|
inline Point3 & operator +=( const Vector3 & vec );
|
|
|
|
// Perform compound assignment and subtraction by a 3-D vector
|
|
//
|
|
inline Point3 & operator -=( const Vector3 & vec );
|
|
|
|
}
|
|
#ifdef __GNUC__
|
|
__attribute__ ((aligned(16)))
|
|
#endif
|
|
;
|
|
|
|
// Multiply two 3-D points per element
|
|
//
|
|
inline const Point3 mulPerElem( const Point3 & pnt0, const Point3 & pnt1 );
|
|
|
|
// Divide two 3-D points per element
|
|
// NOTE:
|
|
// Floating-point behavior matches standard library function divf4.
|
|
//
|
|
inline const Point3 divPerElem( const Point3 & pnt0, const Point3 & pnt1 );
|
|
|
|
// Compute the reciprocal of a 3-D point per element
|
|
// NOTE:
|
|
// Floating-point behavior matches standard library function recipf4.
|
|
//
|
|
inline const Point3 recipPerElem( const Point3 & pnt );
|
|
|
|
// Compute the square root of a 3-D point per element
|
|
// NOTE:
|
|
// Floating-point behavior matches standard library function sqrtf4.
|
|
//
|
|
inline const Point3 sqrtPerElem( const Point3 & pnt );
|
|
|
|
// Compute the reciprocal square root of a 3-D point per element
|
|
// NOTE:
|
|
// Floating-point behavior matches standard library function rsqrtf4.
|
|
//
|
|
inline const Point3 rsqrtPerElem( const Point3 & pnt );
|
|
|
|
// Compute the absolute value of a 3-D point per element
|
|
//
|
|
inline const Point3 absPerElem( const Point3 & pnt );
|
|
|
|
// Copy sign from one 3-D point to another, per element
|
|
//
|
|
inline const Point3 copySignPerElem( const Point3 & pnt0, const Point3 & pnt1 );
|
|
|
|
// Maximum of two 3-D points per element
|
|
//
|
|
inline const Point3 maxPerElem( const Point3 & pnt0, const Point3 & pnt1 );
|
|
|
|
// Minimum of two 3-D points per element
|
|
//
|
|
inline const Point3 minPerElem( const Point3 & pnt0, const Point3 & pnt1 );
|
|
|
|
// Maximum element of a 3-D point
|
|
//
|
|
inline float maxElem( const Point3 & pnt );
|
|
|
|
// Minimum element of a 3-D point
|
|
//
|
|
inline float minElem( const Point3 & pnt );
|
|
|
|
// Compute the sum of all elements of a 3-D point
|
|
//
|
|
inline float sum( const Point3 & pnt );
|
|
|
|
// Apply uniform scale to a 3-D point
|
|
//
|
|
inline const Point3 scale( const Point3 & pnt, float scaleVal );
|
|
|
|
// Apply non-uniform scale to a 3-D point
|
|
//
|
|
inline const Point3 scale( const Point3 & pnt, const Vector3 & scaleVec );
|
|
|
|
// Scalar projection of a 3-D point on a unit-length 3-D vector
|
|
//
|
|
inline float projection( const Point3 & pnt, const Vector3 & unitVec );
|
|
|
|
// Compute the square of the distance of a 3-D point from the coordinate-system origin
|
|
//
|
|
inline float distSqrFromOrigin( const Point3 & pnt );
|
|
|
|
// Compute the distance of a 3-D point from the coordinate-system origin
|
|
//
|
|
inline float distFromOrigin( const Point3 & pnt );
|
|
|
|
// Compute the square of the distance between two 3-D points
|
|
//
|
|
inline float distSqr( const Point3 & pnt0, const Point3 & pnt1 );
|
|
|
|
// Compute the distance between two 3-D points
|
|
//
|
|
inline float dist( const Point3 & pnt0, const Point3 & pnt1 );
|
|
|
|
// Linear interpolation between two 3-D points
|
|
// NOTE:
|
|
// Does not clamp t between 0 and 1.
|
|
//
|
|
inline const Point3 lerp( float t, const Point3 & pnt0, const Point3 & pnt1 );
|
|
|
|
// Conditionally select between two 3-D points
|
|
//
|
|
inline const Point3 select( const Point3 & pnt0, const Point3 & pnt1, bool select1 );
|
|
|
|
// Load x, y, and z elements from the first three words of a float array.
|
|
//
|
|
//
|
|
inline void loadXYZ( Point3 & pnt, const float * fptr );
|
|
|
|
// Store x, y, and z elements of a 3-D point in the first three words of a float array.
|
|
// Memory area of previous 16 bytes and next 32 bytes from fptr might be accessed
|
|
//
|
|
inline void storeXYZ( const Point3 & pnt, float * fptr );
|
|
|
|
// Load three-half-floats as a 3-D point
|
|
// NOTE:
|
|
// This transformation does not support either denormalized numbers or NaNs.
|
|
//
|
|
inline void loadHalfFloats( Point3 & pnt, const unsigned short * hfptr );
|
|
|
|
// Store a 3-D point as half-floats. Memory area of previous 16 bytes and next 32 bytes from <code><i>hfptr</i></code> might be accessed.
|
|
// NOTE:
|
|
// This transformation does not support either denormalized numbers or NaNs. Memory area of previous 16 bytes and next 32 bytes from hfptr might be accessed.
|
|
//
|
|
inline void storeHalfFloats( const Point3 & pnt, unsigned short * hfptr );
|
|
|
|
#ifdef _VECTORMATH_DEBUG
|
|
|
|
// Print a 3-D point
|
|
// NOTE:
|
|
// Function is only defined when _VECTORMATH_DEBUG is defined.
|
|
//
|
|
inline void print( const Point3 & pnt );
|
|
|
|
// Print a 3-D point and an associated string identifier
|
|
// NOTE:
|
|
// Function is only defined when _VECTORMATH_DEBUG is defined.
|
|
//
|
|
inline void print( const Point3 & pnt, const char * name );
|
|
|
|
#endif
|
|
|
|
// A quaternion in array-of-structures format
|
|
//
|
|
class Quat
|
|
{
|
|
float mX;
|
|
float mY;
|
|
float mZ;
|
|
float mW;
|
|
|
|
public:
|
|
// Default constructor; does no initialization
|
|
//
|
|
inline Quat( ) { };
|
|
|
|
// Copy a quaternion
|
|
//
|
|
inline Quat( const Quat & quat );
|
|
|
|
// Construct a quaternion from x, y, z, and w elements
|
|
//
|
|
inline Quat( float x, float y, float z, float w );
|
|
|
|
// Construct a quaternion from a 3-D vector and a scalar
|
|
//
|
|
inline Quat( const Vector3 & xyz, float w );
|
|
|
|
// Copy elements from a 4-D vector into a quaternion
|
|
//
|
|
explicit inline Quat( const Vector4 & vec );
|
|
|
|
// Convert a rotation matrix to a unit-length quaternion
|
|
//
|
|
explicit inline Quat( const Matrix3 & rotMat );
|
|
|
|
// Set all elements of a quaternion to the same scalar value
|
|
//
|
|
explicit inline Quat( float scalar );
|
|
|
|
// Assign one quaternion to another
|
|
//
|
|
inline Quat & operator =( const Quat & quat );
|
|
|
|
// Set the x, y, and z elements of a quaternion
|
|
// NOTE:
|
|
// This function does not change the w element.
|
|
//
|
|
inline Quat & setXYZ( const Vector3 & vec );
|
|
|
|
// Get the x, y, and z elements of a quaternion
|
|
//
|
|
inline const Vector3 getXYZ( ) const;
|
|
|
|
// Set the x element of a quaternion
|
|
//
|
|
inline Quat & setX( float x );
|
|
|
|
// Set the y element of a quaternion
|
|
//
|
|
inline Quat & setY( float y );
|
|
|
|
// Set the z element of a quaternion
|
|
//
|
|
inline Quat & setZ( float z );
|
|
|
|
// Set the w element of a quaternion
|
|
//
|
|
inline Quat & setW( float w );
|
|
|
|
// Get the x element of a quaternion
|
|
//
|
|
inline float getX( ) const;
|
|
|
|
// Get the y element of a quaternion
|
|
//
|
|
inline float getY( ) const;
|
|
|
|
// Get the z element of a quaternion
|
|
//
|
|
inline float getZ( ) const;
|
|
|
|
// Get the w element of a quaternion
|
|
//
|
|
inline float getW( ) const;
|
|
|
|
// Set an x, y, z, or w element of a quaternion by index
|
|
//
|
|
inline Quat & setElem( int idx, float value );
|
|
|
|
// Get an x, y, z, or w element of a quaternion by index
|
|
//
|
|
inline float getElem( int idx ) const;
|
|
|
|
// Subscripting operator to set or get an element
|
|
//
|
|
inline float & operator []( int idx );
|
|
|
|
// Subscripting operator to get an element
|
|
//
|
|
inline float operator []( int idx ) const;
|
|
|
|
// Add two quaternions
|
|
//
|
|
inline const Quat operator +( const Quat & quat ) const;
|
|
|
|
// Subtract a quaternion from another quaternion
|
|
//
|
|
inline const Quat operator -( const Quat & quat ) const;
|
|
|
|
// Multiply two quaternions
|
|
//
|
|
inline const Quat operator *( const Quat & quat ) const;
|
|
|
|
// Multiply a quaternion by a scalar
|
|
//
|
|
inline const Quat operator *( float scalar ) const;
|
|
|
|
// Divide a quaternion by a scalar
|
|
//
|
|
inline const Quat operator /( float scalar ) const;
|
|
|
|
// Perform compound assignment and addition with a quaternion
|
|
//
|
|
inline Quat & operator +=( const Quat & quat );
|
|
|
|
// Perform compound assignment and subtraction by a quaternion
|
|
//
|
|
inline Quat & operator -=( const Quat & quat );
|
|
|
|
// Perform compound assignment and multiplication by a quaternion
|
|
//
|
|
inline Quat & operator *=( const Quat & quat );
|
|
|
|
// Perform compound assignment and multiplication by a scalar
|
|
//
|
|
inline Quat & operator *=( float scalar );
|
|
|
|
// Perform compound assignment and division by a scalar
|
|
//
|
|
inline Quat & operator /=( float scalar );
|
|
|
|
// Negate all elements of a quaternion
|
|
//
|
|
inline const Quat operator -( ) const;
|
|
|
|
// Construct an identity quaternion
|
|
//
|
|
static inline const Quat identity( );
|
|
|
|
// Construct a quaternion to rotate between two unit-length 3-D vectors
|
|
// NOTE:
|
|
// The result is unpredictable if unitVec0 and unitVec1 point in opposite directions.
|
|
//
|
|
static inline const Quat rotation( const Vector3 & unitVec0, const Vector3 & unitVec1 );
|
|
|
|
// Construct a quaternion to rotate around a unit-length 3-D vector
|
|
//
|
|
static inline const Quat rotation( float radians, const Vector3 & unitVec );
|
|
|
|
// Construct a quaternion to rotate around the x axis
|
|
//
|
|
static inline const Quat rotationX( float radians );
|
|
|
|
// Construct a quaternion to rotate around the y axis
|
|
//
|
|
static inline const Quat rotationY( float radians );
|
|
|
|
// Construct a quaternion to rotate around the z axis
|
|
//
|
|
static inline const Quat rotationZ( float radians );
|
|
|
|
}
|
|
#ifdef __GNUC__
|
|
__attribute__ ((aligned(16)))
|
|
#endif
|
|
;
|
|
|
|
// Multiply a quaternion by a scalar
|
|
//
|
|
inline const Quat operator *( float scalar, const Quat & quat );
|
|
|
|
// Compute the conjugate of a quaternion
|
|
//
|
|
inline const Quat conj( const Quat & quat );
|
|
|
|
// Use a unit-length quaternion to rotate a 3-D vector
|
|
//
|
|
inline const Vector3 rotate( const Quat & unitQuat, const Vector3 & vec );
|
|
|
|
// Compute the dot product of two quaternions
|
|
//
|
|
inline float dot( const Quat & quat0, const Quat & quat1 );
|
|
|
|
// Compute the norm of a quaternion
|
|
//
|
|
inline float norm( const Quat & quat );
|
|
|
|
// Compute the length of a quaternion
|
|
//
|
|
inline float length( const Quat & quat );
|
|
|
|
// Normalize a quaternion
|
|
// NOTE:
|
|
// The result is unpredictable when all elements of quat are at or near zero.
|
|
//
|
|
inline const Quat normalize( const Quat & quat );
|
|
|
|
// Linear interpolation between two quaternions
|
|
// NOTE:
|
|
// Does not clamp t between 0 and 1.
|
|
//
|
|
inline const Quat lerp( float t, const Quat & quat0, const Quat & quat1 );
|
|
|
|
// Spherical linear interpolation between two quaternions
|
|
// NOTE:
|
|
// Interpolates along the shortest path between orientations.
|
|
// Does not clamp t between 0 and 1.
|
|
//
|
|
inline const Quat slerp( float t, const Quat & unitQuat0, const Quat & unitQuat1 );
|
|
|
|
// Spherical quadrangle interpolation
|
|
//
|
|
inline const Quat squad( float t, const Quat & unitQuat0, const Quat & unitQuat1, const Quat & unitQuat2, const Quat & unitQuat3 );
|
|
|
|
// Conditionally select between two quaternions
|
|
//
|
|
inline const Quat select( const Quat & quat0, const Quat & quat1, bool select1 );
|
|
|
|
// Load x, y, z, and w elements from the first four words of a float array.
|
|
//
|
|
//
|
|
inline void loadXYZW( Quat & quat, const float * fptr );
|
|
|
|
// Store x, y, z, and w elements of a quaternion in the first four words of a float array.
|
|
// Memory area of previous 16 bytes and next 32 bytes from fptr might be accessed
|
|
//
|
|
inline void storeXYZW( const Quat & quat, float * fptr );
|
|
|
|
#ifdef _VECTORMATH_DEBUG
|
|
|
|
// Print a quaternion
|
|
// NOTE:
|
|
// Function is only defined when _VECTORMATH_DEBUG is defined.
|
|
//
|
|
inline void print( const Quat & quat );
|
|
|
|
// Print a quaternion and an associated string identifier
|
|
// NOTE:
|
|
// Function is only defined when _VECTORMATH_DEBUG is defined.
|
|
//
|
|
inline void print( const Quat & quat, const char * name );
|
|
|
|
#endif
|
|
|
|
// A 3x3 matrix in array-of-structures format
|
|
//
|
|
class Matrix3
|
|
{
|
|
Vector3 mCol0;
|
|
Vector3 mCol1;
|
|
Vector3 mCol2;
|
|
|
|
public:
|
|
// Default constructor; does no initialization
|
|
//
|
|
inline Matrix3( ) { };
|
|
|
|
// Copy a 3x3 matrix
|
|
//
|
|
inline Matrix3( const Matrix3 & mat );
|
|
|
|
// Construct a 3x3 matrix containing the specified columns
|
|
//
|
|
inline Matrix3( const Vector3 & col0, const Vector3 & col1, const Vector3 & col2 );
|
|
|
|
// Construct a 3x3 rotation matrix from a unit-length quaternion
|
|
//
|
|
explicit inline Matrix3( const Quat & unitQuat );
|
|
|
|
// Set all elements of a 3x3 matrix to the same scalar value
|
|
//
|
|
explicit inline Matrix3( float scalar );
|
|
|
|
// Assign one 3x3 matrix to another
|
|
//
|
|
inline Matrix3 & operator =( const Matrix3 & mat );
|
|
|
|
// Set column 0 of a 3x3 matrix
|
|
//
|
|
inline Matrix3 & setCol0( const Vector3 & col0 );
|
|
|
|
// Set column 1 of a 3x3 matrix
|
|
//
|
|
inline Matrix3 & setCol1( const Vector3 & col1 );
|
|
|
|
// Set column 2 of a 3x3 matrix
|
|
//
|
|
inline Matrix3 & setCol2( const Vector3 & col2 );
|
|
|
|
// Get column 0 of a 3x3 matrix
|
|
//
|
|
inline const Vector3 getCol0( ) const;
|
|
|
|
// Get column 1 of a 3x3 matrix
|
|
//
|
|
inline const Vector3 getCol1( ) const;
|
|
|
|
// Get column 2 of a 3x3 matrix
|
|
//
|
|
inline const Vector3 getCol2( ) const;
|
|
|
|
// Set the column of a 3x3 matrix referred to by the specified index
|
|
//
|
|
inline Matrix3 & setCol( int col, const Vector3 & vec );
|
|
|
|
// Set the row of a 3x3 matrix referred to by the specified index
|
|
//
|
|
inline Matrix3 & setRow( int row, const Vector3 & vec );
|
|
|
|
// Get the column of a 3x3 matrix referred to by the specified index
|
|
//
|
|
inline const Vector3 getCol( int col ) const;
|
|
|
|
// Get the row of a 3x3 matrix referred to by the specified index
|
|
//
|
|
inline const Vector3 getRow( int row ) const;
|
|
|
|
// Subscripting operator to set or get a column
|
|
//
|
|
inline Vector3 & operator []( int col );
|
|
|
|
// Subscripting operator to get a column
|
|
//
|
|
inline const Vector3 operator []( int col ) const;
|
|
|
|
// Set the element of a 3x3 matrix referred to by column and row indices
|
|
//
|
|
inline Matrix3 & setElem( int col, int row, float val );
|
|
|
|
// Get the element of a 3x3 matrix referred to by column and row indices
|
|
//
|
|
inline float getElem( int col, int row ) const;
|
|
|
|
// Add two 3x3 matrices
|
|
//
|
|
inline const Matrix3 operator +( const Matrix3 & mat ) const;
|
|
|
|
// Subtract a 3x3 matrix from another 3x3 matrix
|
|
//
|
|
inline const Matrix3 operator -( const Matrix3 & mat ) const;
|
|
|
|
// Negate all elements of a 3x3 matrix
|
|
//
|
|
inline const Matrix3 operator -( ) const;
|
|
|
|
// Multiply a 3x3 matrix by a scalar
|
|
//
|
|
inline const Matrix3 operator *( float scalar ) const;
|
|
|
|
// Multiply a 3x3 matrix by a 3-D vector
|
|
//
|
|
inline const Vector3 operator *( const Vector3 & vec ) const;
|
|
|
|
// Multiply two 3x3 matrices
|
|
//
|
|
inline const Matrix3 operator *( const Matrix3 & mat ) const;
|
|
|
|
// Perform compound assignment and addition with a 3x3 matrix
|
|
//
|
|
inline Matrix3 & operator +=( const Matrix3 & mat );
|
|
|
|
// Perform compound assignment and subtraction by a 3x3 matrix
|
|
//
|
|
inline Matrix3 & operator -=( const Matrix3 & mat );
|
|
|
|
// Perform compound assignment and multiplication by a scalar
|
|
//
|
|
inline Matrix3 & operator *=( float scalar );
|
|
|
|
// Perform compound assignment and multiplication by a 3x3 matrix
|
|
//
|
|
inline Matrix3 & operator *=( const Matrix3 & mat );
|
|
|
|
// Construct an identity 3x3 matrix
|
|
//
|
|
static inline const Matrix3 identity( );
|
|
|
|
// Construct a 3x3 matrix to rotate around the x axis
|
|
//
|
|
static inline const Matrix3 rotationX( float radians );
|
|
|
|
// Construct a 3x3 matrix to rotate around the y axis
|
|
//
|
|
static inline const Matrix3 rotationY( float radians );
|
|
|
|
// Construct a 3x3 matrix to rotate around the z axis
|
|
//
|
|
static inline const Matrix3 rotationZ( float radians );
|
|
|
|
// Construct a 3x3 matrix to rotate around the x, y, and z axes
|
|
//
|
|
static inline const Matrix3 rotationZYX( const Vector3 & radiansXYZ );
|
|
|
|
// Construct a 3x3 matrix to rotate around a unit-length 3-D vector
|
|
//
|
|
static inline const Matrix3 rotation( float radians, const Vector3 & unitVec );
|
|
|
|
// Construct a rotation matrix from a unit-length quaternion
|
|
//
|
|
static inline const Matrix3 rotation( const Quat & unitQuat );
|
|
|
|
// Construct a 3x3 matrix to perform scaling
|
|
//
|
|
static inline const Matrix3 scale( const Vector3 & scaleVec );
|
|
|
|
};
|
|
// Multiply a 3x3 matrix by a scalar
|
|
//
|
|
inline const Matrix3 operator *( float scalar, const Matrix3 & mat );
|
|
|
|
// Append (post-multiply) a scale transformation to a 3x3 matrix
|
|
// NOTE:
|
|
// Faster than creating and multiplying a scale transformation matrix.
|
|
//
|
|
inline const Matrix3 appendScale( const Matrix3 & mat, const Vector3 & scaleVec );
|
|
|
|
// Prepend (pre-multiply) a scale transformation to a 3x3 matrix
|
|
// NOTE:
|
|
// Faster than creating and multiplying a scale transformation matrix.
|
|
//
|
|
inline const Matrix3 prependScale( const Vector3 & scaleVec, const Matrix3 & mat );
|
|
|
|
// Multiply two 3x3 matrices per element
|
|
//
|
|
inline const Matrix3 mulPerElem( const Matrix3 & mat0, const Matrix3 & mat1 );
|
|
|
|
// Compute the absolute value of a 3x3 matrix per element
|
|
//
|
|
inline const Matrix3 absPerElem( const Matrix3 & mat );
|
|
|
|
// Transpose of a 3x3 matrix
|
|
//
|
|
inline const Matrix3 transpose( const Matrix3 & mat );
|
|
|
|
// Compute the inverse of a 3x3 matrix
|
|
// NOTE:
|
|
// Result is unpredictable when the determinant of mat is equal to or near 0.
|
|
//
|
|
inline const Matrix3 inverse( const Matrix3 & mat );
|
|
|
|
// Determinant of a 3x3 matrix
|
|
//
|
|
inline float determinant( const Matrix3 & mat );
|
|
|
|
// Conditionally select between two 3x3 matrices
|
|
//
|
|
inline const Matrix3 select( const Matrix3 & mat0, const Matrix3 & mat1, bool select1 );
|
|
|
|
#ifdef _VECTORMATH_DEBUG
|
|
|
|
// Print a 3x3 matrix
|
|
// NOTE:
|
|
// Function is only defined when _VECTORMATH_DEBUG is defined.
|
|
//
|
|
inline void print( const Matrix3 & mat );
|
|
|
|
// Print a 3x3 matrix and an associated string identifier
|
|
// NOTE:
|
|
// Function is only defined when _VECTORMATH_DEBUG is defined.
|
|
//
|
|
inline void print( const Matrix3 & mat, const char * name );
|
|
|
|
#endif
|
|
|
|
// A 4x4 matrix in array-of-structures format
|
|
//
|
|
class Matrix4
|
|
{
|
|
Vector4 mCol0;
|
|
Vector4 mCol1;
|
|
Vector4 mCol2;
|
|
Vector4 mCol3;
|
|
|
|
public:
|
|
// Default constructor; does no initialization
|
|
//
|
|
inline Matrix4( ) { };
|
|
|
|
// Copy a 4x4 matrix
|
|
//
|
|
inline Matrix4( const Matrix4 & mat );
|
|
|
|
// Construct a 4x4 matrix containing the specified columns
|
|
//
|
|
inline Matrix4( const Vector4 & col0, const Vector4 & col1, const Vector4 & col2, const Vector4 & col3 );
|
|
|
|
// Construct a 4x4 matrix from a 3x4 transformation matrix
|
|
//
|
|
explicit inline Matrix4( const Transform3 & mat );
|
|
|
|
// Construct a 4x4 matrix from a 3x3 matrix and a 3-D vector
|
|
//
|
|
inline Matrix4( const Matrix3 & mat, const Vector3 & translateVec );
|
|
|
|
// Construct a 4x4 matrix from a unit-length quaternion and a 3-D vector
|
|
//
|
|
inline Matrix4( const Quat & unitQuat, const Vector3 & translateVec );
|
|
|
|
// Set all elements of a 4x4 matrix to the same scalar value
|
|
//
|
|
explicit inline Matrix4( float scalar );
|
|
|
|
// Assign one 4x4 matrix to another
|
|
//
|
|
inline Matrix4 & operator =( const Matrix4 & mat );
|
|
|
|
// Set the upper-left 3x3 submatrix
|
|
// NOTE:
|
|
// This function does not change the bottom row elements.
|
|
//
|
|
inline Matrix4 & setUpper3x3( const Matrix3 & mat3 );
|
|
|
|
// Get the upper-left 3x3 submatrix of a 4x4 matrix
|
|
//
|
|
inline const Matrix3 getUpper3x3( ) const;
|
|
|
|
// Set translation component
|
|
// NOTE:
|
|
// This function does not change the bottom row elements.
|
|
//
|
|
inline Matrix4 & setTranslation( const Vector3 & translateVec );
|
|
|
|
// Get the translation component of a 4x4 matrix
|
|
//
|
|
inline const Vector3 getTranslation( ) const;
|
|
|
|
// Set column 0 of a 4x4 matrix
|
|
//
|
|
inline Matrix4 & setCol0( const Vector4 & col0 );
|
|
|
|
// Set column 1 of a 4x4 matrix
|
|
//
|
|
inline Matrix4 & setCol1( const Vector4 & col1 );
|
|
|
|
// Set column 2 of a 4x4 matrix
|
|
//
|
|
inline Matrix4 & setCol2( const Vector4 & col2 );
|
|
|
|
// Set column 3 of a 4x4 matrix
|
|
//
|
|
inline Matrix4 & setCol3( const Vector4 & col3 );
|
|
|
|
// Get column 0 of a 4x4 matrix
|
|
//
|
|
inline const Vector4 getCol0( ) const;
|
|
|
|
// Get column 1 of a 4x4 matrix
|
|
//
|
|
inline const Vector4 getCol1( ) const;
|
|
|
|
// Get column 2 of a 4x4 matrix
|
|
//
|
|
inline const Vector4 getCol2( ) const;
|
|
|
|
// Get column 3 of a 4x4 matrix
|
|
//
|
|
inline const Vector4 getCol3( ) const;
|
|
|
|
// Set the column of a 4x4 matrix referred to by the specified index
|
|
//
|
|
inline Matrix4 & setCol( int col, const Vector4 & vec );
|
|
|
|
// Set the row of a 4x4 matrix referred to by the specified index
|
|
//
|
|
inline Matrix4 & setRow( int row, const Vector4 & vec );
|
|
|
|
// Get the column of a 4x4 matrix referred to by the specified index
|
|
//
|
|
inline const Vector4 getCol( int col ) const;
|
|
|
|
// Get the row of a 4x4 matrix referred to by the specified index
|
|
//
|
|
inline const Vector4 getRow( int row ) const;
|
|
|
|
// Subscripting operator to set or get a column
|
|
//
|
|
inline Vector4 & operator []( int col );
|
|
|
|
// Subscripting operator to get a column
|
|
//
|
|
inline const Vector4 operator []( int col ) const;
|
|
|
|
// Set the element of a 4x4 matrix referred to by column and row indices
|
|
//
|
|
inline Matrix4 & setElem( int col, int row, float val );
|
|
|
|
// Get the element of a 4x4 matrix referred to by column and row indices
|
|
//
|
|
inline float getElem( int col, int row ) const;
|
|
|
|
// Add two 4x4 matrices
|
|
//
|
|
inline const Matrix4 operator +( const Matrix4 & mat ) const;
|
|
|
|
// Subtract a 4x4 matrix from another 4x4 matrix
|
|
//
|
|
inline const Matrix4 operator -( const Matrix4 & mat ) const;
|
|
|
|
// Negate all elements of a 4x4 matrix
|
|
//
|
|
inline const Matrix4 operator -( ) const;
|
|
|
|
// Multiply a 4x4 matrix by a scalar
|
|
//
|
|
inline const Matrix4 operator *( float scalar ) const;
|
|
|
|
// Multiply a 4x4 matrix by a 4-D vector
|
|
//
|
|
inline const Vector4 operator *( const Vector4 & vec ) const;
|
|
|
|
// Multiply a 4x4 matrix by a 3-D vector
|
|
//
|
|
inline const Vector4 operator *( const Vector3 & vec ) const;
|
|
|
|
// Multiply a 4x4 matrix by a 3-D point
|
|
//
|
|
inline const Vector4 operator *( const Point3 & pnt ) const;
|
|
|
|
// Multiply two 4x4 matrices
|
|
//
|
|
inline const Matrix4 operator *( const Matrix4 & mat ) const;
|
|
|
|
// Multiply a 4x4 matrix by a 3x4 transformation matrix
|
|
//
|
|
inline const Matrix4 operator *( const Transform3 & tfrm ) const;
|
|
|
|
// Perform compound assignment and addition with a 4x4 matrix
|
|
//
|
|
inline Matrix4 & operator +=( const Matrix4 & mat );
|
|
|
|
// Perform compound assignment and subtraction by a 4x4 matrix
|
|
//
|
|
inline Matrix4 & operator -=( const Matrix4 & mat );
|
|
|
|
// Perform compound assignment and multiplication by a scalar
|
|
//
|
|
inline Matrix4 & operator *=( float scalar );
|
|
|
|
// Perform compound assignment and multiplication by a 4x4 matrix
|
|
//
|
|
inline Matrix4 & operator *=( const Matrix4 & mat );
|
|
|
|
// Perform compound assignment and multiplication by a 3x4 transformation matrix
|
|
//
|
|
inline Matrix4 & operator *=( const Transform3 & tfrm );
|
|
|
|
// Construct an identity 4x4 matrix
|
|
//
|
|
static inline const Matrix4 identity( );
|
|
|
|
// Construct a 4x4 matrix to rotate around the x axis
|
|
//
|
|
static inline const Matrix4 rotationX( float radians );
|
|
|
|
// Construct a 4x4 matrix to rotate around the y axis
|
|
//
|
|
static inline const Matrix4 rotationY( float radians );
|
|
|
|
// Construct a 4x4 matrix to rotate around the z axis
|
|
//
|
|
static inline const Matrix4 rotationZ( float radians );
|
|
|
|
// Construct a 4x4 matrix to rotate around the x, y, and z axes
|
|
//
|
|
static inline const Matrix4 rotationZYX( const Vector3 & radiansXYZ );
|
|
|
|
// Construct a 4x4 matrix to rotate around a unit-length 3-D vector
|
|
//
|
|
static inline const Matrix4 rotation( float radians, const Vector3 & unitVec );
|
|
|
|
// Construct a rotation matrix from a unit-length quaternion
|
|
//
|
|
static inline const Matrix4 rotation( const Quat & unitQuat );
|
|
|
|
// Construct a 4x4 matrix to perform scaling
|
|
//
|
|
static inline const Matrix4 scale( const Vector3 & scaleVec );
|
|
|
|
// Construct a 4x4 matrix to perform translation
|
|
//
|
|
static inline const Matrix4 translation( const Vector3 & translateVec );
|
|
|
|
// Construct viewing matrix based on eye position, position looked at, and up direction
|
|
//
|
|
static inline const Matrix4 lookAt( const Point3 & eyePos, const Point3 & lookAtPos, const Vector3 & upVec );
|
|
|
|
// Construct a perspective projection matrix
|
|
//
|
|
static inline const Matrix4 perspective( float fovyRadians, float aspect, float zNear, float zFar );
|
|
|
|
// Construct a perspective projection matrix based on frustum
|
|
//
|
|
static inline const Matrix4 frustum( float left, float right, float bottom, float top, float zNear, float zFar );
|
|
|
|
// Construct an orthographic projection matrix
|
|
//
|
|
static inline const Matrix4 orthographic( float left, float right, float bottom, float top, float zNear, float zFar );
|
|
|
|
};
|
|
// Multiply a 4x4 matrix by a scalar
|
|
//
|
|
inline const Matrix4 operator *( float scalar, const Matrix4 & mat );
|
|
|
|
// Append (post-multiply) a scale transformation to a 4x4 matrix
|
|
// NOTE:
|
|
// Faster than creating and multiplying a scale transformation matrix.
|
|
//
|
|
inline const Matrix4 appendScale( const Matrix4 & mat, const Vector3 & scaleVec );
|
|
|
|
// Prepend (pre-multiply) a scale transformation to a 4x4 matrix
|
|
// NOTE:
|
|
// Faster than creating and multiplying a scale transformation matrix.
|
|
//
|
|
inline const Matrix4 prependScale( const Vector3 & scaleVec, const Matrix4 & mat );
|
|
|
|
// Multiply two 4x4 matrices per element
|
|
//
|
|
inline const Matrix4 mulPerElem( const Matrix4 & mat0, const Matrix4 & mat1 );
|
|
|
|
// Compute the absolute value of a 4x4 matrix per element
|
|
//
|
|
inline const Matrix4 absPerElem( const Matrix4 & mat );
|
|
|
|
// Transpose of a 4x4 matrix
|
|
//
|
|
inline const Matrix4 transpose( const Matrix4 & mat );
|
|
|
|
// Compute the inverse of a 4x4 matrix
|
|
// NOTE:
|
|
// Result is unpredictable when the determinant of mat is equal to or near 0.
|
|
//
|
|
inline const Matrix4 inverse( const Matrix4 & mat );
|
|
|
|
// Compute the inverse of a 4x4 matrix, which is expected to be an affine matrix
|
|
// NOTE:
|
|
// This can be used to achieve better performance than a general inverse when the specified 4x4 matrix meets the given restrictions. The result is unpredictable when the determinant of mat is equal to or near 0.
|
|
//
|
|
inline const Matrix4 affineInverse( const Matrix4 & mat );
|
|
|
|
// Compute the inverse of a 4x4 matrix, which is expected to be an affine matrix with an orthogonal upper-left 3x3 submatrix
|
|
// NOTE:
|
|
// This can be used to achieve better performance than a general inverse when the specified 4x4 matrix meets the given restrictions.
|
|
//
|
|
inline const Matrix4 orthoInverse( const Matrix4 & mat );
|
|
|
|
// Determinant of a 4x4 matrix
|
|
//
|
|
inline float determinant( const Matrix4 & mat );
|
|
|
|
// Conditionally select between two 4x4 matrices
|
|
//
|
|
inline const Matrix4 select( const Matrix4 & mat0, const Matrix4 & mat1, bool select1 );
|
|
|
|
#ifdef _VECTORMATH_DEBUG
|
|
|
|
// Print a 4x4 matrix
|
|
// NOTE:
|
|
// Function is only defined when _VECTORMATH_DEBUG is defined.
|
|
//
|
|
inline void print( const Matrix4 & mat );
|
|
|
|
// Print a 4x4 matrix and an associated string identifier
|
|
// NOTE:
|
|
// Function is only defined when _VECTORMATH_DEBUG is defined.
|
|
//
|
|
inline void print( const Matrix4 & mat, const char * name );
|
|
|
|
#endif
|
|
|
|
// A 3x4 transformation matrix in array-of-structures format
|
|
//
|
|
class Transform3
|
|
{
|
|
Vector3 mCol0;
|
|
Vector3 mCol1;
|
|
Vector3 mCol2;
|
|
Vector3 mCol3;
|
|
|
|
public:
|
|
// Default constructor; does no initialization
|
|
//
|
|
inline Transform3( ) { };
|
|
|
|
// Copy a 3x4 transformation matrix
|
|
//
|
|
inline Transform3( const Transform3 & tfrm );
|
|
|
|
// Construct a 3x4 transformation matrix containing the specified columns
|
|
//
|
|
inline Transform3( const Vector3 & col0, const Vector3 & col1, const Vector3 & col2, const Vector3 & col3 );
|
|
|
|
// Construct a 3x4 transformation matrix from a 3x3 matrix and a 3-D vector
|
|
//
|
|
inline Transform3( const Matrix3 & tfrm, const Vector3 & translateVec );
|
|
|
|
// Construct a 3x4 transformation matrix from a unit-length quaternion and a 3-D vector
|
|
//
|
|
inline Transform3( const Quat & unitQuat, const Vector3 & translateVec );
|
|
|
|
// Set all elements of a 3x4 transformation matrix to the same scalar value
|
|
//
|
|
explicit inline Transform3( float scalar );
|
|
|
|
// Assign one 3x4 transformation matrix to another
|
|
//
|
|
inline Transform3 & operator =( const Transform3 & tfrm );
|
|
|
|
// Set the upper-left 3x3 submatrix
|
|
//
|
|
inline Transform3 & setUpper3x3( const Matrix3 & mat3 );
|
|
|
|
// Get the upper-left 3x3 submatrix of a 3x4 transformation matrix
|
|
//
|
|
inline const Matrix3 getUpper3x3( ) const;
|
|
|
|
// Set translation component
|
|
//
|
|
inline Transform3 & setTranslation( const Vector3 & translateVec );
|
|
|
|
// Get the translation component of a 3x4 transformation matrix
|
|
//
|
|
inline const Vector3 getTranslation( ) const;
|
|
|
|
// Set column 0 of a 3x4 transformation matrix
|
|
//
|
|
inline Transform3 & setCol0( const Vector3 & col0 );
|
|
|
|
// Set column 1 of a 3x4 transformation matrix
|
|
//
|
|
inline Transform3 & setCol1( const Vector3 & col1 );
|
|
|
|
// Set column 2 of a 3x4 transformation matrix
|
|
//
|
|
inline Transform3 & setCol2( const Vector3 & col2 );
|
|
|
|
// Set column 3 of a 3x4 transformation matrix
|
|
//
|
|
inline Transform3 & setCol3( const Vector3 & col3 );
|
|
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// Get column 0 of a 3x4 transformation matrix
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//
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inline const Vector3 getCol0( ) const;
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// Get column 1 of a 3x4 transformation matrix
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//
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inline const Vector3 getCol1( ) const;
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// Get column 2 of a 3x4 transformation matrix
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//
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inline const Vector3 getCol2( ) const;
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// Get column 3 of a 3x4 transformation matrix
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//
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inline const Vector3 getCol3( ) const;
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// Set the column of a 3x4 transformation matrix referred to by the specified index
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//
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inline Transform3 & setCol( int col, const Vector3 & vec );
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// Set the row of a 3x4 transformation matrix referred to by the specified index
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//
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inline Transform3 & setRow( int row, const Vector4 & vec );
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// Get the column of a 3x4 transformation matrix referred to by the specified index
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//
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inline const Vector3 getCol( int col ) const;
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// Get the row of a 3x4 transformation matrix referred to by the specified index
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//
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inline const Vector4 getRow( int row ) const;
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// Subscripting operator to set or get a column
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//
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inline Vector3 & operator []( int col );
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// Subscripting operator to get a column
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//
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inline const Vector3 operator []( int col ) const;
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// Set the element of a 3x4 transformation matrix referred to by column and row indices
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//
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inline Transform3 & setElem( int col, int row, float val );
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// Get the element of a 3x4 transformation matrix referred to by column and row indices
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//
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inline float getElem( int col, int row ) const;
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// Multiply a 3x4 transformation matrix by a 3-D vector
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//
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inline const Vector3 operator *( const Vector3 & vec ) const;
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// Multiply a 3x4 transformation matrix by a 3-D point
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//
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inline const Point3 operator *( const Point3 & pnt ) const;
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// Multiply two 3x4 transformation matrices
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//
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inline const Transform3 operator *( const Transform3 & tfrm ) const;
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// Perform compound assignment and multiplication by a 3x4 transformation matrix
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//
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inline Transform3 & operator *=( const Transform3 & tfrm );
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// Construct an identity 3x4 transformation matrix
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//
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static inline const Transform3 identity( );
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// Construct a 3x4 transformation matrix to rotate around the x axis
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//
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static inline const Transform3 rotationX( float radians );
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// Construct a 3x4 transformation matrix to rotate around the y axis
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//
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static inline const Transform3 rotationY( float radians );
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// Construct a 3x4 transformation matrix to rotate around the z axis
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//
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static inline const Transform3 rotationZ( float radians );
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// Construct a 3x4 transformation matrix to rotate around the x, y, and z axes
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//
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static inline const Transform3 rotationZYX( const Vector3 & radiansXYZ );
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// Construct a 3x4 transformation matrix to rotate around a unit-length 3-D vector
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//
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static inline const Transform3 rotation( float radians, const Vector3 & unitVec );
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// Construct a rotation matrix from a unit-length quaternion
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//
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static inline const Transform3 rotation( const Quat & unitQuat );
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// Construct a 3x4 transformation matrix to perform scaling
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//
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static inline const Transform3 scale( const Vector3 & scaleVec );
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// Construct a 3x4 transformation matrix to perform translation
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//
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static inline const Transform3 translation( const Vector3 & translateVec );
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};
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// Append (post-multiply) a scale transformation to a 3x4 transformation matrix
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// NOTE:
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// Faster than creating and multiplying a scale transformation matrix.
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//
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inline const Transform3 appendScale( const Transform3 & tfrm, const Vector3 & scaleVec );
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// Prepend (pre-multiply) a scale transformation to a 3x4 transformation matrix
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// NOTE:
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// Faster than creating and multiplying a scale transformation matrix.
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//
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inline const Transform3 prependScale( const Vector3 & scaleVec, const Transform3 & tfrm );
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// Multiply two 3x4 transformation matrices per element
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//
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inline const Transform3 mulPerElem( const Transform3 & tfrm0, const Transform3 & tfrm1 );
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// Compute the absolute value of a 3x4 transformation matrix per element
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//
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inline const Transform3 absPerElem( const Transform3 & tfrm );
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// Inverse of a 3x4 transformation matrix
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// NOTE:
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// Result is unpredictable when the determinant of the left 3x3 submatrix is equal to or near 0.
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//
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inline const Transform3 inverse( const Transform3 & tfrm );
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// Compute the inverse of a 3x4 transformation matrix, expected to have an orthogonal upper-left 3x3 submatrix
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// NOTE:
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// This can be used to achieve better performance than a general inverse when the specified 3x4 transformation matrix meets the given restrictions.
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//
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inline const Transform3 orthoInverse( const Transform3 & tfrm );
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// Conditionally select between two 3x4 transformation matrices
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//
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inline const Transform3 select( const Transform3 & tfrm0, const Transform3 & tfrm1, bool select1 );
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#ifdef _VECTORMATH_DEBUG
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// Print a 3x4 transformation matrix
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// NOTE:
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// Function is only defined when _VECTORMATH_DEBUG is defined.
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//
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inline void print( const Transform3 & tfrm );
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// Print a 3x4 transformation matrix and an associated string identifier
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// NOTE:
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// Function is only defined when _VECTORMATH_DEBUG is defined.
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//
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inline void print( const Transform3 & tfrm, const char * name );
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#endif
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} // namespace Aos
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} // namespace Vectormath
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#include "vec_aos.h"
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#include "quat_aos.h"
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#include "mat_aos.h"
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#endif
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