HackRF-Treasure-Chest/Software/CubicSDR/external/cubicvr2/math/mat3.h
2022-09-22 09:26:57 -07:00

93 lines
2.5 KiB
C++

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