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Diffstat (limited to 'extern/bullet2/BulletMultiThreaded/vectormath/scalar/cpp/vectormath_aos.h')
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diff --git a/extern/bullet2/BulletMultiThreaded/vectormath/scalar/cpp/vectormath_aos.h b/extern/bullet2/BulletMultiThreaded/vectormath/scalar/cpp/vectormath_aos.h new file mode 100644 index 00000000000..d00456dfeb4 --- /dev/null +++ b/extern/bullet2/BulletMultiThreaded/vectormath/scalar/cpp/vectormath_aos.h @@ -0,0 +1,1872 @@ +/* + Copyright (C) 2009 Sony Computer Entertainment Inc. + All rights reserved. + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +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. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. + +*/ + +#ifndef _VECTORMATH_AOS_CPP_H +#define _VECTORMATH_AOS_CPP_H + +#include <math.h> + +#ifdef _VECTORMATH_DEBUG +#include <stdio.h> +#endif + +namespace Vectormath { + +namespace Aos { + +//----------------------------------------------------------------------------- +// Forward Declarations +// + +class Vector3; +class Vector4; +class Point3; +class Quat; +class Matrix3; +class Matrix4; +class Transform3; + +// A 3-D vector in array-of-structures format +// +class Vector3 +{ + float mX; + float mY; + float mZ; +#ifndef __GNUC__ + float d; +#endif + +public: + // Default constructor; does no initialization + // + inline Vector3( ) { }; + + // Copy a 3-D vector + // + inline Vector3( const Vector3 & vec ); + + // Construct a 3-D vector from x, y, and z elements + // + inline Vector3( float x, float y, float z ); + + // Copy elements from a 3-D point into a 3-D vector + // + explicit inline Vector3( const Point3 & pnt ); + + // Set all elements of a 3-D vector to the same scalar value + // + explicit inline Vector3( float scalar ); + + // Assign one 3-D vector to another + // + inline Vector3 & operator =( const Vector3 & vec ); + + // Set the x element of a 3-D vector + // + inline Vector3 & setX( float x ); + + // Set the y element of a 3-D vector + // + inline Vector3 & setY( float y ); + + // Set the z element of a 3-D vector + // + inline Vector3 & setZ( float z ); + + // Get the x element of a 3-D vector + // + inline float getX( ) const; + + // Get the y element of a 3-D vector + // + inline float getY( ) const; + + // Get the z element of a 3-D vector + // + inline float getZ( ) const; + + // Set an x, y, or z element of a 3-D vector by index + // + inline Vector3 & setElem( int idx, float value ); + + // Get an x, y, or z element of a 3-D vector 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 3-D vectors + // + inline const Vector3 operator +( const Vector3 & vec ) const; + + // Subtract a 3-D vector from another 3-D vector + // + inline const Vector3 operator -( const Vector3 & vec ) const; + + // Add a 3-D vector to a 3-D point + // + inline const Point3 operator +( const Point3 & pnt ) const; + + // Multiply a 3-D vector by a scalar + // + inline const Vector3 operator *( float scalar ) const; + + // Divide a 3-D vector by a scalar + // + inline const Vector3 operator /( float scalar ) const; + + // Perform compound assignment and addition with a 3-D vector + // + inline Vector3 & operator +=( const Vector3 & vec ); + + // Perform compound assignment and subtraction by a 3-D vector + // + inline Vector3 & operator -=( const Vector3 & vec ); + + // Perform compound assignment and multiplication by a scalar + // + inline Vector3 & operator *=( float scalar ); + + // Perform compound assignment and division by a scalar + // + inline Vector3 & operator /=( float scalar ); + + // Negate all elements of a 3-D vector + // + inline const Vector3 operator -( ) const; + + // Construct x axis + // + static inline const Vector3 xAxis( ); + + // Construct y axis + // + static inline const Vector3 yAxis( ); + + // Construct z axis + // + static inline const Vector3 zAxis( ); + +} +#ifdef __GNUC__ +__attribute__ ((aligned(16))) +#endif +; + +// Multiply a 3-D vector by a scalar +// +inline const Vector3 operator *( float scalar, const Vector3 & vec ); + +// Multiply two 3-D vectors per element +// +inline const Vector3 mulPerElem( const Vector3 & vec0, const Vector3 & vec1 ); + +// Divide two 3-D vectors per element +// NOTE: +// Floating-point behavior matches standard library function divf4. +// +inline const Vector3 divPerElem( const Vector3 & vec0, const Vector3 & vec1 ); + +// Compute the reciprocal of a 3-D vector per element +// NOTE: +// Floating-point behavior matches standard library function recipf4. +// +inline const Vector3 recipPerElem( const Vector3 & vec ); + +// Compute the square root of a 3-D vector per element +// NOTE: +// Floating-point behavior matches standard library function sqrtf4. +// +inline const Vector3 sqrtPerElem( const Vector3 & vec ); + +// Compute the reciprocal square root of a 3-D vector per element +// NOTE: +// Floating-point behavior matches standard library function rsqrtf4. +// +inline const Vector3 rsqrtPerElem( const Vector3 & vec ); + +// Compute the absolute value of a 3-D vector per element +// +inline const Vector3 absPerElem( const Vector3 & vec ); + +// Copy sign from one 3-D vector to another, per element +// +inline const Vector3 copySignPerElem( const Vector3 & vec0, const Vector3 & vec1 ); + +// Maximum of two 3-D vectors per element +// +inline const Vector3 maxPerElem( const Vector3 & vec0, const Vector3 & vec1 ); + +// Minimum of two 3-D vectors per element +// +inline const Vector3 minPerElem( const Vector3 & vec0, const Vector3 & vec1 ); + +// Maximum element of a 3-D vector +// +inline float maxElem( const Vector3 & vec ); + +// Minimum element of a 3-D vector +// +inline float minElem( const Vector3 & vec ); + +// Compute the sum of all elements of a 3-D vector +// +inline float sum( const Vector3 & vec ); + +// Compute the dot product of two 3-D vectors +// +inline float dot( const Vector3 & vec0, const Vector3 & vec1 ); + +// Compute the square of the length of a 3-D vector +// +inline float lengthSqr( const Vector3 & vec ); + +// Compute the length of a 3-D vector +// +inline float length( const Vector3 & vec ); + +// Normalize a 3-D vector +// NOTE: +// The result is unpredictable when all elements of vec are at or near zero. +// +inline const Vector3 normalize( const Vector3 & vec ); + +// Compute cross product of two 3-D vectors +// +inline const Vector3 cross( const Vector3 & vec0, const Vector3 & vec1 ); + +// Outer product of two 3-D vectors +// +inline const Matrix3 outer( const Vector3 & vec0, const Vector3 & vec1 ); + +// Pre-multiply a row vector by a 3x3 matrix +// +inline const Vector3 rowMul( const Vector3 & vec, const Matrix3 & mat ); + +// Cross-product matrix of a 3-D vector +// +inline const Matrix3 crossMatrix( const Vector3 & vec ); + +// Create cross-product matrix and multiply +// NOTE: +// Faster than separately creating a cross-product matrix and multiplying. +// +inline const Matrix3 crossMatrixMul( const Vector3 & vec, const Matrix3 & mat ); + +// Linear interpolation between two 3-D vectors +// NOTE: +// Does not clamp t between 0 and 1. +// +inline const Vector3 lerp( float t, const Vector3 & vec0, const Vector3 & vec1 ); + +// Spherical linear interpolation between two 3-D vectors +// NOTE: +// The result is unpredictable if the vectors point in opposite directions. +// Does not clamp t between 0 and 1. +// +inline const Vector3 slerp( float t, const Vector3 & unitVec0, const Vector3 & unitVec1 ); + +// Conditionally select between two 3-D vectors +// +inline const Vector3 select( const Vector3 & vec0, const Vector3 & vec1, bool select1 ); + +// Load x, y, and z elements from the first three words of a float array. +// +// +inline void loadXYZ( Vector3 & vec, const float * fptr ); + +// Store x, y, and z elements of a 3-D vector 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 Vector3 & vec, float * fptr ); + +// Load three-half-floats as a 3-D vector +// NOTE: +// This transformation does not support either denormalized numbers or NaNs. +// +inline void loadHalfFloats( Vector3 & vec, const unsigned short * hfptr ); + +// 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. +// 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 Vector3 & vec, unsigned short * hfptr ); + +#ifdef _VECTORMATH_DEBUG + +// Print a 3-D vector +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Vector3 & vec ); + +// Print a 3-D vector and an associated string identifier +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Vector3 & vec, const char * name ); + +#endif + +// A 4-D vector in array-of-structures format +// +class Vector4 +{ + float mX; + float mY; + float mZ; + float mW; + +public: + // Default constructor; does no initialization + // + inline Vector4( ) { }; + + // Copy a 4-D vector + // + inline Vector4( const Vector4 & vec ); + + // Construct a 4-D vector from x, y, z, and w elements + // + inline Vector4( float x, float y, float z, float w ); + + // Construct a 4-D vector from a 3-D vector and a scalar + // + inline Vector4( const Vector3 & xyz, float w ); + + // Copy x, y, and z from a 3-D vector into a 4-D vector, and set w to 0 + // + explicit inline Vector4( const Vector3 & vec ); + + // Copy x, y, and z from a 3-D point into a 4-D vector, and set w to 1 + // + explicit inline Vector4( const Point3 & pnt ); + + // Copy elements from a quaternion into a 4-D vector + // + explicit inline Vector4( const Quat & quat ); + + // Set all elements of a 4-D vector to the same scalar value + // + explicit inline Vector4( float scalar ); + + // Assign one 4-D vector to another + // + inline Vector4 & operator =( const Vector4 & vec ); + + // Set the x, y, and z elements of a 4-D vector + // NOTE: + // This function does not change the w element. + // + inline Vector4 & setXYZ( const Vector3 & vec ); + + // Get the x, y, and z elements of a 4-D vector + // + inline const Vector3 getXYZ( ) const; + + // Set the x element of a 4-D vector + // + inline Vector4 & setX( float x ); + + // Set the y element of a 4-D vector + // + inline Vector4 & setY( float y ); + + // Set the z element of a 4-D vector + // + inline Vector4 & setZ( float z ); + + // Set the w element of a 4-D vector + // + inline Vector4 & setW( float w ); + + // Get the x element of a 4-D vector + // + inline float getX( ) const; + + // Get the y element of a 4-D vector + // + inline float getY( ) const; + + // Get the z element of a 4-D vector + // + inline float getZ( ) const; + + // Get the w element of a 4-D vector + // + inline float getW( ) const; + + // Set an x, y, z, or w element of a 4-D vector by index + // + inline Vector4 & setElem( int idx, float value ); + + // Get an x, y, z, or w element of a 4-D vector 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 4-D vectors + // + inline const Vector4 operator +( const Vector4 & vec ) const; + + // Subtract a 4-D vector from another 4-D vector + // + inline const Vector4 operator -( const Vector4 & vec ) const; + + // Multiply a 4-D vector by a scalar + // + inline const Vector4 operator *( float scalar ) const; + + // Divide a 4-D vector by a scalar + // + inline const Vector4 operator /( float scalar ) const; + + // Perform compound assignment and addition with a 4-D vector + // + inline Vector4 & operator +=( const Vector4 & vec ); + + // Perform compound assignment and subtraction by a 4-D vector + // + inline Vector4 & operator -=( const Vector4 & vec ); + + // Perform compound assignment and multiplication by a scalar + // + inline Vector4 & operator *=( float scalar ); + + // Perform compound assignment and division by a scalar + // + inline Vector4 & operator /=( float scalar ); + + // Negate all elements of a 4-D vector + // + inline const Vector4 operator -( ) const; + + // Construct x axis + // + static inline const Vector4 xAxis( ); + + // Construct y axis + // + static inline const Vector4 yAxis( ); + + // Construct z axis + // + static inline const Vector4 zAxis( ); + + // Construct w axis + // + static inline const Vector4 wAxis( ); + +} +#ifdef __GNUC__ +__attribute__ ((aligned(16))) +#endif +; + +// Multiply a 4-D vector by a scalar +// +inline const Vector4 operator *( float scalar, const Vector4 & vec ); + +// Multiply two 4-D vectors per element +// +inline const Vector4 mulPerElem( const Vector4 & vec0, const Vector4 & vec1 ); + +// Divide two 4-D vectors per element +// NOTE: +// Floating-point behavior matches standard library function divf4. +// +inline const Vector4 divPerElem( const Vector4 & vec0, const Vector4 & vec1 ); + +// Compute the reciprocal of a 4-D vector per element +// NOTE: +// Floating-point behavior matches standard library function recipf4. +// +inline const Vector4 recipPerElem( const Vector4 & vec ); + +// Compute the square root of a 4-D vector per element +// NOTE: +// Floating-point behavior matches standard library function sqrtf4. +// +inline const Vector4 sqrtPerElem( const Vector4 & vec ); + +// Compute the reciprocal square root of a 4-D vector per element +// NOTE: +// Floating-point behavior matches standard library function rsqrtf4. +// +inline const Vector4 rsqrtPerElem( const Vector4 & vec ); + +// Compute the absolute value of a 4-D vector per element +// +inline const Vector4 absPerElem( const Vector4 & vec ); + +// Copy sign from one 4-D vector to another, per element +// +inline const Vector4 copySignPerElem( const Vector4 & vec0, const Vector4 & vec1 ); + +// Maximum of two 4-D vectors per element +// +inline const Vector4 maxPerElem( const Vector4 & vec0, const Vector4 & vec1 ); + +// Minimum of two 4-D vectors per element +// +inline const Vector4 minPerElem( const Vector4 & vec0, const Vector4 & vec1 ); + +// Maximum element of a 4-D vector +// +inline float maxElem( const Vector4 & vec ); + +// Minimum element of a 4-D vector +// +inline float minElem( const Vector4 & vec ); + +// Compute the sum of all elements of a 4-D vector +// +inline float sum( const Vector4 & vec ); + +// Compute the dot product of two 4-D vectors +// +inline float dot( const Vector4 & vec0, const Vector4 & vec1 ); + +// Compute the square of the length of a 4-D vector +// +inline float lengthSqr( const Vector4 & vec ); + +// Compute the length of a 4-D vector +// +inline float length( const Vector4 & vec ); + +// Normalize a 4-D vector +// NOTE: +// The result is unpredictable when all elements of vec are at or near zero. +// +inline const Vector4 normalize( const Vector4 & vec ); + +// Outer product of two 4-D vectors +// +inline const Matrix4 outer( const Vector4 & vec0, const Vector4 & vec1 ); + +// Linear interpolation between two 4-D vectors +// NOTE: +// Does not clamp t between 0 and 1. +// +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 ); + + // Get column 0 of a 3x4 transformation matrix + // + inline const Vector3 getCol0( ) const; + + // Get column 1 of a 3x4 transformation matrix + // + inline const Vector3 getCol1( ) const; + + // Get column 2 of a 3x4 transformation matrix + // + inline const Vector3 getCol2( ) const; + + // Get column 3 of a 3x4 transformation matrix + // + inline const Vector3 getCol3( ) const; + + // Set the column of a 3x4 transformation matrix referred to by the specified index + // + inline Transform3 & setCol( int col, const Vector3 & vec ); + + // Set the row of a 3x4 transformation matrix referred to by the specified index + // + inline Transform3 & setRow( int row, const Vector4 & vec ); + + // Get the column of a 3x4 transformation matrix referred to by the specified index + // + inline const Vector3 getCol( int col ) const; + + // Get the row of a 3x4 transformation matrix referred to by the specified index + // + inline const Vector4 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 3x4 transformation matrix referred to by column and row indices + // + inline Transform3 & setElem( int col, int row, float val ); + + // Get the element of a 3x4 transformation matrix referred to by column and row indices + // + inline float getElem( int col, int row ) const; + + // Multiply a 3x4 transformation matrix by a 3-D vector + // + inline const Vector3 operator *( const Vector3 & vec ) const; + + // Multiply a 3x4 transformation matrix by a 3-D point + // + inline const Point3 operator *( const Point3 & pnt ) const; + + // Multiply two 3x4 transformation matrices + // + inline const Transform3 operator *( const Transform3 & tfrm ) const; + + // Perform compound assignment and multiplication by a 3x4 transformation matrix + // + inline Transform3 & operator *=( const Transform3 & tfrm ); + + // Construct an identity 3x4 transformation matrix + // + static inline const Transform3 identity( ); + + // Construct a 3x4 transformation matrix to rotate around the x axis + // + static inline const Transform3 rotationX( float radians ); + + // Construct a 3x4 transformation matrix to rotate around the y axis + // + static inline const Transform3 rotationY( float radians ); + + // Construct a 3x4 transformation matrix to rotate around the z axis + // + static inline const Transform3 rotationZ( float radians ); + + // Construct a 3x4 transformation matrix to rotate around the x, y, and z axes + // + static inline const Transform3 rotationZYX( const Vector3 & radiansXYZ ); + + // Construct a 3x4 transformation matrix to rotate around a unit-length 3-D vector + // + static inline const Transform3 rotation( float radians, const Vector3 & unitVec ); + + // Construct a rotation matrix from a unit-length quaternion + // + static inline const Transform3 rotation( const Quat & unitQuat ); + + // Construct a 3x4 transformation matrix to perform scaling + // + static inline const Transform3 scale( const Vector3 & scaleVec ); + + // Construct a 3x4 transformation matrix to perform translation + // + static inline const Transform3 translation( const Vector3 & translateVec ); + +}; +// Append (post-multiply) a scale transformation to a 3x4 transformation matrix +// NOTE: +// Faster than creating and multiplying a scale transformation matrix. +// +inline const Transform3 appendScale( const Transform3 & tfrm, const Vector3 & scaleVec ); + +// Prepend (pre-multiply) a scale transformation to a 3x4 transformation matrix +// NOTE: +// Faster than creating and multiplying a scale transformation matrix. +// +inline const Transform3 prependScale( const Vector3 & scaleVec, const Transform3 & tfrm ); + +// Multiply two 3x4 transformation matrices per element +// +inline const Transform3 mulPerElem( const Transform3 & tfrm0, const Transform3 & tfrm1 ); + +// Compute the absolute value of a 3x4 transformation matrix per element +// +inline const Transform3 absPerElem( const Transform3 & tfrm ); + +// Inverse of a 3x4 transformation matrix +// NOTE: +// Result is unpredictable when the determinant of the left 3x3 submatrix is equal to or near 0. +// +inline const Transform3 inverse( const Transform3 & tfrm ); + +// Compute the inverse of a 3x4 transformation matrix, expected to have an orthogonal upper-left 3x3 submatrix +// NOTE: +// This can be used to achieve better performance than a general inverse when the specified 3x4 transformation matrix meets the given restrictions. +// +inline const Transform3 orthoInverse( const Transform3 & tfrm ); + +// Conditionally select between two 3x4 transformation matrices +// +inline const Transform3 select( const Transform3 & tfrm0, const Transform3 & tfrm1, bool select1 ); + +#ifdef _VECTORMATH_DEBUG + +// Print a 3x4 transformation matrix +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Transform3 & tfrm ); + +// Print a 3x4 transformation matrix and an associated string identifier +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Transform3 & tfrm, const char * name ); + +#endif + +} // namespace Aos +} // namespace Vectormath + +#include "vec_aos.h" +#include "quat_aos.h" +#include "mat_aos.h" + +#endif |