quakeforge/include/QF/math/matrix3.h

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/*
matrix3.h
3x3 Matrix functions
Copyright (C) 2012 Bill Currie <bill@taniwha.org>
Author: Bill Currie <bill@taniwha.org>
Date: 2012/8/18
This program is free software; you can redistribute it and/or
modify it under the terms of the GNU General Public License
as published by the Free Software Foundation; either version 2
of the License, or (at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
See the GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program; if not, write to:
Free Software Foundation, Inc.
59 Temple Place - Suite 330
Boston, MA 02111-1307, USA
*/
#ifndef __QF_math_matrix3_h
#define __QF_math_matrix3_h
/** \defgroup mathlib_matrix3 3x3 matrix functions
\ingroup utils
*/
//@{
#include "QF/qtypes.h"
#define Mat3Copy(a, b) \
do { \
VectorCopy ((a) + 0, (b) + 0); \
VectorCopy ((a) + 3, (b) + 3); \
VectorCopy ((a) + 6, (b) + 6); \
} while (0)
#define Mat3Add(a, b, c) \
do { \
VectorAdd ((a) + 0, (b) + 0, (c) + 0); \
VectorAdd ((a) + 3, (b) + 3, (c) + 3); \
VectorAdd ((a) + 6, (b) + 6, (c) + 6); \
} while (0)
#define Mat3Subtract(a, b, c) \
do { \
VectorSubtract ((a) + 0, (b) + 0, (c) + 0); \
VectorSubtract ((a) + 3, (b) + 3, (c) + 3); \
VectorSubtract ((a) + 6, (b) + 6, (c) + 6); \
} while (0)
#define Mat3Scale(a, b, c) \
do { \
VectorScale ((a) + 0, (b), (c) + 0); \
VectorScale ((a) + 3, (b), (c) + 3); \
VectorScale ((a) + 6, (b), (c) + 6); \
} while (0)
#define Mat3CompMult(a, b, c) \
do { \
VectorCompMult ((a) + 0, (b) + 0, (c) + 0); \
VectorCompMult ((a) + 3, (b) + 3, (c) + 3); \
VectorCompMult ((a) + 6, (b) + 6, (c) + 6); \
} while (0)
#define Mat3Zero(a) \
memset ((a), 0, 9 * sizeof (a)[0])
#define Mat3Identity(a) \
do { \
Mat3Zero (a); \
(a)[8] = (a)[4] = (a)[0] = 1; \
} while (0)
#define Mat3Expand(a) \
VectorExpand ((a) + 0), \
VectorExpand ((a) + 3), \
VectorExpand ((a) + 6)
#define Mat3Blend(m1,m2,b,m) \
do { \
VectorBlend ((m1) + 0, (m2) + 0, (b), (m) + 0); \
VectorBlend ((m1) + 3, (m2) + 3, (b), (m) + 3); \
VectorBlend ((m1) + 6, (m2) + 6, (b), (m) + 6); \
} while (0)
#define Mat3MultAdd(a,s,b,c) \
do { \
VectorMultAdd ((a) + 0, s, (b) + 0, (c) + 0); \
VectorMultAdd ((a) + 3, s, (b) + 3, (c) + 3); \
VectorMultAdd ((a) + 6, s, (b) + 6, (c) + 6); \
} while (0)
#define Mat3Trace(a) ((a)[0] + (a)[4] + (a)[8])
#define Mat4toMat3(a, b) \
do { \
VectorCopy ((a) + 0, (b) + 0); \
VectorCopy ((a) + 4, (b) + 3); \
VectorCopy ((a) + 8, (b) + 6); \
} while (0)
void Mat3Init (const quat_t rot, const vec3_t scale, mat3_t mat);
void Mat3Transpose (const mat3_t a, mat3_t b);
vec_t Mat3Determinant (const mat3_t m) __attribute__((pure));
int Mat3Inverse (const mat3_t a, mat3_t b);
void Mat3Mult (const mat3_t a, const mat3_t b, mat3_t c);
void Mat3MultVec (const mat3_t a, const vec3_t b, vec3_t c);
void Mat3SymEigen (const mat3_t m, vec3_t e);
/** Decompose a 3x3 column major matrix into its component transformations.
This gives the matrix's rotation as a quaternion, shear (XY, XZ, YZ),
and scale. Using the following sequence will give the same result as
multiplying \a v by \a mat.
QuatMultVec (rot, v, v);
VectorShear (shear, v, v);
VectorCompMult (scale, v, v);
*/
int Mat3Decompose (const mat4_t mat, quat_t rot, vec3_t shear, vec3_t scale);
//@}
#endif // __QF_math_matrix3_h