93 lines
2.5 KiB
C
93 lines
2.5 KiB
C
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// mat3.h
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// CubicVR2
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//
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// Created by Charles J. Cliffe on 2013-02-22.
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// Copyright (c) 2013 Charles J. Cliffe. All rights reserved.
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//
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#ifndef __CubicVR2__mat3__
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#define __CubicVR2__mat3__
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#include <iostream>
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#include "vec3.h"
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#include <cstring>
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#include <stddef.h>
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namespace CubicVR {
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#define mat3SG(c,x,y) \
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mat3 COMBINE(get,x)() { return y; } \
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c & COMBINE(set,x)(mat3 value) { y = value; return *this; }
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struct mat3 {
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__float a,b,c,d,e,f,g,h,i;
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//access as-array:
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inline __float& operator [] (size_t i) {
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__float* as_array = (__float*)this;
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return (as_array[i]);
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}
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inline const __float& operator [] (size_t i) const {
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__float* as_array = (__float*)this;
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return (as_array[i]);
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}
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mat3(__float ai,__float bi,__float ci,__float di,__float ei,__float fi,__float gi,__float hi,__float ii) {
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a = ai; b = bi; c = ci; d = di; e = ei; f = fi; g = gi; h = hi; i = ii;
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};
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mat3() { memset((__float *)this, 0, sizeof(mat3)); }
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// mat3 operator* (mat4 m) { return mat3::multiply(*this,m); };
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// void operator*= (mat4 m) { *this = mat3::multiply(*this,m); };
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static mat3 identity() {
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return mat3(1.0f, 0.0f, 0.0f,
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0.0f, 1.0f, 0.0f,
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0.0f, 0.0f, 1.0f);
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}
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static void transpose_inline(mat3 &mat) {
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__float a01 = mat[1], a02 = mat[2], a12 = mat[5];
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mat[1] = mat[3];
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mat[2] = mat[6];
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mat[3] = a01;
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mat[5] = mat[7];
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mat[6] = a02;
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mat[7] = a12;
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};
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static mat3 transpose(mat3 mat_in) {
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__float a01 = mat_in[1], a02 = mat_in[2], a12 = mat_in[5];
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mat3 mat;
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mat[1] = mat_in[3];
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mat[2] = mat_in[6];
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mat[3] = a01;
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mat[5] = mat_in[7];
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mat[6] = a02;
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mat[7] = a12;
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return mat;
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};
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static vec3 multiply(mat3 m1, vec3 m2) {
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vec3 mOut;
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mOut[0] = m2[0] * m1[0] + m2[3] * m1[1] + m2[6] * m1[2] ;
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mOut[1] = m2[1] * m1[0] + m2[4] * m1[1] + m2[7] * m1[2] ;
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mOut[2] = m2[2] * m1[0] + m2[5] * m1[1] + m2[8] * m1[2];
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return mOut;
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};
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};
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}
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#endif /* defined(__CubicVR2__mat3__) */
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