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Copyright (C) 2009 Sony Computer Entertainment Inc.
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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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#ifndef _VECTORMATH_AOS_CPP_H
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#define _VECTORMATH_AOS_CPP_H
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#ifdef _VECTORMATH_DEBUG
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namespace Vectormath {
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//-----------------------------------------------------------------------------
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// Forward Declarations
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// A 3-D vector in array-of-structures format
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// Default constructor; does no initialization
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inline Vector3( ) { };
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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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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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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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explicit inline Vector3( float scalar );
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// Assign one 3-D vector to another
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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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inline Vector3 & setX( float x );
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// Set the y element of a 3-D vector
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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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inline Vector3 & setZ( float z );
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// Get the x element of a 3-D vector
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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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inline float getY( ) const;
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// Get the z element of a 3-D vector
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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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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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inline float getElem( int idx ) const;
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// Subscripting operator to set or get an element
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inline float & operator []( int idx );
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// Subscripting operator to get an element
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inline float operator []( int idx ) const;
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// Add two 3-D vectors
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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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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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inline const Point3 operator +( const Point3 & pnt ) const;
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// Multiply a 3-D vector by a scalar
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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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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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inline Vector3 & operator +=( const Vector3 & vec );
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// Perform compound assignment and subtraction by a 3-D vector
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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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inline Vector3 & operator *=( float scalar );
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// Perform compound assignment and division by a scalar
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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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inline const Vector3 operator -( ) const;
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static inline const Vector3 xAxis( );
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static inline const Vector3 yAxis( );
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static inline const Vector3 zAxis( );
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__attribute__ ((aligned(16)))
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// Multiply a 3-D vector by a scalar
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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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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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// Floating-point behavior matches standard library function divf4.
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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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// Floating-point behavior matches standard library function recipf4.
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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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// Floating-point behavior matches standard library function sqrtf4.
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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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// Floating-point behavior matches standard library function rsqrtf4.
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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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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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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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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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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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inline float maxElem( const Vector3 & vec );
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// Minimum element of a 3-D vector
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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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inline float sum( const Vector3 & vec );
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// Compute the dot product of two 3-D vectors
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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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inline float lengthSqr( const Vector3 & vec );
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// Compute the length of a 3-D vector
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inline float length( const Vector3 & vec );
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// Normalize a 3-D vector
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// The result is unpredictable when all elements of vec are at or near zero.
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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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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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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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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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inline const Matrix3 crossMatrix( const Vector3 & vec );
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// Create cross-product matrix and multiply
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// Faster than separately creating a cross-product matrix and multiplying.
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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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// Does not clamp t between 0 and 1.
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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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// 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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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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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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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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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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// This transformation does not support either denormalized numbers or NaNs.
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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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// 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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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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// Function is only defined when _VECTORMATH_DEBUG is defined.
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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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// Function is only defined when _VECTORMATH_DEBUG is defined.
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inline void print( const Vector3 & vec, const char * name );
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// A 4-D vector in array-of-structures format
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// Default constructor; does no initialization
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inline Vector4( ) { };
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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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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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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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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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explicit inline Vector4( const Point3 & pnt );
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// Copy elements from a quaternion into a 4-D vector
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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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explicit inline Vector4( float scalar );
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// Assign one 4-D vector to another
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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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// This function does not change the w element.
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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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inline const Vector3 getXYZ( ) const;
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// Set the x element of a 4-D vector
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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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inline Vector4 & setY( float y );
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// Set the z element of a 4-D vector
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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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inline Vector4 & setW( float w );
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// Get the x element of a 4-D vector
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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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inline float getY( ) const;
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// Get the z element of a 4-D vector
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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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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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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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inline float getElem( int idx ) const;
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// Subscripting operator to set or get an element
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inline float & operator []( int idx );
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// Subscripting operator to get an element
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inline float operator []( int idx ) const;
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// Add two 4-D vectors
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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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inline const Vector4 operator -( const Vector4 & vec ) const;
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// Multiply a 4-D vector by a scalar
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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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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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inline Vector4 & operator +=( const Vector4 & vec );
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// Perform compound assignment and subtraction by a 4-D vector
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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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inline Vector4 & operator *=( float scalar );
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// Perform compound assignment and division by a scalar
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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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inline const Vector4 operator -( ) const;
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static inline const Vector4 xAxis( );
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static inline const Vector4 yAxis( );
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static inline const Vector4 zAxis( );
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static inline const Vector4 wAxis( );
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__attribute__ ((aligned(16)))
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// Multiply a 4-D vector by a scalar
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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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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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// Floating-point behavior matches standard library function divf4.
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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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// Floating-point behavior matches standard library function recipf4.
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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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// Floating-point behavior matches standard library function sqrtf4.
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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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// Floating-point behavior matches standard library function rsqrtf4.
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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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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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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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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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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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inline float maxElem( const Vector4 & vec );
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// Minimum element of a 4-D vector
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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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inline float sum( const Vector4 & vec );
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// Compute the dot product of two 4-D vectors
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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
559
inline float lengthSqr( const Vector4 & vec );
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// Compute the length of a 4-D vector
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inline float length( const Vector4 & vec );
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// Normalize a 4-D vector
567
// The result is unpredictable when all elements of vec are at or near zero.
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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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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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// Does not clamp t between 0 and 1.
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inline const Vector4 lerp( float t, const Vector4 & vec0, const Vector4 & vec1 );
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// Spherical linear interpolation between two 4-D vectors
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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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inline const Vector4 slerp( float t, const Vector4 & unitVec0, const Vector4 & unitVec1 );
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// Conditionally select between two 4-D vectors
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inline const Vector4 select( const Vector4 & vec0, const Vector4 & vec1, bool select1 );
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// Load x, y, z, and w elements from the first four words of a float array.
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inline void loadXYZW( Vector4 & vec, const float * fptr );
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// Store x, y, z, and w elements of a 4-D vector in the first four words of a float array.
598
// Memory area of previous 16 bytes and next 32 bytes from fptr might be accessed
600
inline void storeXYZW( const Vector4 & vec, float * fptr );
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// Load four-half-floats as a 4-D vector
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// This transformation does not support either denormalized numbers or NaNs.
606
inline void loadHalfFloats( Vector4 & vec, const unsigned short * hfptr );
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// 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.
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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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inline void storeHalfFloats( const Vector4 & vec, unsigned short * hfptr );
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#ifdef _VECTORMATH_DEBUG
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// Print a 4-D vector
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// Function is only defined when _VECTORMATH_DEBUG is defined.
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inline void print( const Vector4 & vec );
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// Print a 4-D vector and an associated string identifier
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// Function is only defined when _VECTORMATH_DEBUG is defined.
626
inline void print( const Vector4 & vec, const char * name );
630
// A 3-D point in array-of-structures format
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// Default constructor; does no initialization
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inline Point3( ) { };
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inline Point3( const Point3 & pnt );
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// Construct a 3-D point from x, y, and z elements
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inline Point3( float x, float y, float z );
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// Copy elements from a 3-D vector into a 3-D point
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explicit inline Point3( const Vector3 & vec );
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// Set all elements of a 3-D point to the same scalar value
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explicit inline Point3( float scalar );
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// Assign one 3-D point to another
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inline Point3 & operator =( const Point3 & pnt );
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// Set the x element of a 3-D point
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inline Point3 & setX( float x );
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// Set the y element of a 3-D point
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inline Point3 & setY( float y );
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// Set the z element of a 3-D point
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inline Point3 & setZ( float z );
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// Get the x element of a 3-D point
680
inline float getX( ) const;
682
// Get the y element of a 3-D point
684
inline float getY( ) const;
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// Get the z element of a 3-D point
688
inline float getZ( ) const;
690
// Set an x, y, or z element of a 3-D point by index
692
inline Point3 & setElem( int idx, float value );
694
// Get an x, y, or z element of a 3-D point by index
696
inline float getElem( int idx ) const;
698
// Subscripting operator to set or get an element
700
inline float & operator []( int idx );
702
// Subscripting operator to get an element
704
inline float operator []( int idx ) const;
706
// Subtract a 3-D point from another 3-D point
708
inline const Vector3 operator -( const Point3 & pnt ) const;
710
// Add a 3-D point to a 3-D vector
712
inline const Point3 operator +( const Vector3 & vec ) const;
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// Subtract a 3-D vector from a 3-D point
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inline const Point3 operator -( const Vector3 & vec ) const;
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// Perform compound assignment and addition with a 3-D vector
720
inline Point3 & operator +=( const Vector3 & vec );
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// Perform compound assignment and subtraction by a 3-D vector
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inline Point3 & operator -=( const Vector3 & vec );
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__attribute__ ((aligned(16)))
732
// Multiply two 3-D points per element
734
inline const Point3 mulPerElem( const Point3 & pnt0, const Point3 & pnt1 );
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// Divide two 3-D points per element
738
// Floating-point behavior matches standard library function divf4.
740
inline const Point3 divPerElem( const Point3 & pnt0, const Point3 & pnt1 );
742
// Compute the reciprocal of a 3-D point per element
744
// Floating-point behavior matches standard library function recipf4.
746
inline const Point3 recipPerElem( const Point3 & pnt );
748
// Compute the square root of a 3-D point per element
750
// Floating-point behavior matches standard library function sqrtf4.
752
inline const Point3 sqrtPerElem( const Point3 & pnt );
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// Compute the reciprocal square root of a 3-D point per element
756
// Floating-point behavior matches standard library function rsqrtf4.
758
inline const Point3 rsqrtPerElem( const Point3 & pnt );
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// Compute the absolute value of a 3-D point per element
762
inline const Point3 absPerElem( const Point3 & pnt );
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// Copy sign from one 3-D point to another, per element
766
inline const Point3 copySignPerElem( const Point3 & pnt0, const Point3 & pnt1 );
768
// Maximum of two 3-D points per element
770
inline const Point3 maxPerElem( const Point3 & pnt0, const Point3 & pnt1 );
772
// Minimum of two 3-D points per element
774
inline const Point3 minPerElem( const Point3 & pnt0, const Point3 & pnt1 );
776
// Maximum element of a 3-D point
778
inline float maxElem( const Point3 & pnt );
780
// Minimum element of a 3-D point
782
inline float minElem( const Point3 & pnt );
784
// Compute the sum of all elements of a 3-D point
786
inline float sum( const Point3 & pnt );
788
// Apply uniform scale to a 3-D point
790
inline const Point3 scale( const Point3 & pnt, float scaleVal );
792
// Apply non-uniform scale to a 3-D point
794
inline const Point3 scale( const Point3 & pnt, const Vector3 & scaleVec );
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// Scalar projection of a 3-D point on a unit-length 3-D vector
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inline float projection( const Point3 & pnt, const Vector3 & unitVec );
800
// Compute the square of the distance of a 3-D point from the coordinate-system origin
802
inline float distSqrFromOrigin( const Point3 & pnt );
804
// Compute the distance of a 3-D point from the coordinate-system origin
806
inline float distFromOrigin( const Point3 & pnt );
808
// Compute the square of the distance between two 3-D points
810
inline float distSqr( const Point3 & pnt0, const Point3 & pnt1 );
812
// Compute the distance between two 3-D points
814
inline float dist( const Point3 & pnt0, const Point3 & pnt1 );
816
// Linear interpolation between two 3-D points
818
// Does not clamp t between 0 and 1.
820
inline const Point3 lerp( float t, const Point3 & pnt0, const Point3 & pnt1 );
822
// Conditionally select between two 3-D points
824
inline const Point3 select( const Point3 & pnt0, const Point3 & pnt1, bool select1 );
826
// Load x, y, and z elements from the first three words of a float array.
829
inline void loadXYZ( Point3 & pnt, const float * fptr );
831
// Store x, y, and z elements of a 3-D point in the first three words of a float array.
832
// Memory area of previous 16 bytes and next 32 bytes from fptr might be accessed
834
inline void storeXYZ( const Point3 & pnt, float * fptr );
836
// Load three-half-floats as a 3-D point
838
// This transformation does not support either denormalized numbers or NaNs.
840
inline void loadHalfFloats( Point3 & pnt, const unsigned short * hfptr );
842
// 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.
844
// 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.
846
inline void storeHalfFloats( const Point3 & pnt, unsigned short * hfptr );
848
#ifdef _VECTORMATH_DEBUG
852
// Function is only defined when _VECTORMATH_DEBUG is defined.
854
inline void print( const Point3 & pnt );
856
// Print a 3-D point and an associated string identifier
858
// Function is only defined when _VECTORMATH_DEBUG is defined.
860
inline void print( const Point3 & pnt, const char * name );
864
// A quaternion in array-of-structures format
874
// Default constructor; does no initialization
880
inline Quat( const Quat & quat );
882
// Construct a quaternion from x, y, z, and w elements
884
inline Quat( float x, float y, float z, float w );
886
// Construct a quaternion from a 3-D vector and a scalar
888
inline Quat( const Vector3 & xyz, float w );
890
// Copy elements from a 4-D vector into a quaternion
892
explicit inline Quat( const Vector4 & vec );
894
// Convert a rotation matrix to a unit-length quaternion
896
explicit inline Quat( const Matrix3 & rotMat );
898
// Set all elements of a quaternion to the same scalar value
900
explicit inline Quat( float scalar );
902
// Assign one quaternion to another
904
inline Quat & operator =( const Quat & quat );
906
// Set the x, y, and z elements of a quaternion
908
// This function does not change the w element.
910
inline Quat & setXYZ( const Vector3 & vec );
912
// Get the x, y, and z elements of a quaternion
914
inline const Vector3 getXYZ( ) const;
916
// Set the x element of a quaternion
918
inline Quat & setX( float x );
920
// Set the y element of a quaternion
922
inline Quat & setY( float y );
924
// Set the z element of a quaternion
926
inline Quat & setZ( float z );
928
// Set the w element of a quaternion
930
inline Quat & setW( float w );
932
// Get the x element of a quaternion
934
inline float getX( ) const;
936
// Get the y element of a quaternion
938
inline float getY( ) const;
940
// Get the z element of a quaternion
942
inline float getZ( ) const;
944
// Get the w element of a quaternion
946
inline float getW( ) const;
948
// Set an x, y, z, or w element of a quaternion by index
950
inline Quat & setElem( int idx, float value );
952
// Get an x, y, z, or w element of a quaternion by index
954
inline float getElem( int idx ) const;
956
// Subscripting operator to set or get an element
958
inline float & operator []( int idx );
960
// Subscripting operator to get an element
962
inline float operator []( int idx ) const;
964
// Add two quaternions
966
inline const Quat operator +( const Quat & quat ) const;
968
// Subtract a quaternion from another quaternion
970
inline const Quat operator -( const Quat & quat ) const;
972
// Multiply two quaternions
974
inline const Quat operator *( const Quat & quat ) const;
976
// Multiply a quaternion by a scalar
978
inline const Quat operator *( float scalar ) const;
980
// Divide a quaternion by a scalar
982
inline const Quat operator /( float scalar ) const;
984
// Perform compound assignment and addition with a quaternion
986
inline Quat & operator +=( const Quat & quat );
988
// Perform compound assignment and subtraction by a quaternion
990
inline Quat & operator -=( const Quat & quat );
992
// Perform compound assignment and multiplication by a quaternion
994
inline Quat & operator *=( const Quat & quat );
996
// Perform compound assignment and multiplication by a scalar
998
inline Quat & operator *=( float scalar );
1000
// Perform compound assignment and division by a scalar
1002
inline Quat & operator /=( float scalar );
1004
// Negate all elements of a quaternion
1006
inline const Quat operator -( ) const;
1008
// Construct an identity quaternion
1010
static inline const Quat identity( );
1012
// Construct a quaternion to rotate between two unit-length 3-D vectors
1014
// The result is unpredictable if unitVec0 and unitVec1 point in opposite directions.
1016
static inline const Quat rotation( const Vector3 & unitVec0, const Vector3 & unitVec1 );
1018
// Construct a quaternion to rotate around a unit-length 3-D vector
1020
static inline const Quat rotation( float radians, const Vector3 & unitVec );
1022
// Construct a quaternion to rotate around the x axis
1024
static inline const Quat rotationX( float radians );
1026
// Construct a quaternion to rotate around the y axis
1028
static inline const Quat rotationY( float radians );
1030
// Construct a quaternion to rotate around the z axis
1032
static inline const Quat rotationZ( float radians );
1036
__attribute__ ((aligned(16)))
1040
// Multiply a quaternion by a scalar
1042
inline const Quat operator *( float scalar, const Quat & quat );
1044
// Compute the conjugate of a quaternion
1046
inline const Quat conj( const Quat & quat );
1048
// Use a unit-length quaternion to rotate a 3-D vector
1050
inline const Vector3 rotate( const Quat & unitQuat, const Vector3 & vec );
1052
// Compute the dot product of two quaternions
1054
inline float dot( const Quat & quat0, const Quat & quat1 );
1056
// Compute the norm of a quaternion
1058
inline float norm( const Quat & quat );
1060
// Compute the length of a quaternion
1062
inline float length( const Quat & quat );
1064
// Normalize a quaternion
1066
// The result is unpredictable when all elements of quat are at or near zero.
1068
inline const Quat normalize( const Quat & quat );
1070
// Linear interpolation between two quaternions
1072
// Does not clamp t between 0 and 1.
1074
inline const Quat lerp( float t, const Quat & quat0, const Quat & quat1 );
1076
// Spherical linear interpolation between two quaternions
1078
// Interpolates along the shortest path between orientations.
1079
// Does not clamp t between 0 and 1.
1081
inline const Quat slerp( float t, const Quat & unitQuat0, const Quat & unitQuat1 );
1083
// Spherical quadrangle interpolation
1085
inline const Quat squad( float t, const Quat & unitQuat0, const Quat & unitQuat1, const Quat & unitQuat2, const Quat & unitQuat3 );
1087
// Conditionally select between two quaternions
1089
inline const Quat select( const Quat & quat0, const Quat & quat1, bool select1 );
1091
// Load x, y, z, and w elements from the first four words of a float array.
1094
inline void loadXYZW( Quat & quat, const float * fptr );
1096
// Store x, y, z, and w elements of a quaternion in the first four words of a float array.
1097
// Memory area of previous 16 bytes and next 32 bytes from fptr might be accessed
1099
inline void storeXYZW( const Quat & quat, float * fptr );
1101
#ifdef _VECTORMATH_DEBUG
1103
// Print a quaternion
1105
// Function is only defined when _VECTORMATH_DEBUG is defined.
1107
inline void print( const Quat & quat );
1109
// Print a quaternion and an associated string identifier
1111
// Function is only defined when _VECTORMATH_DEBUG is defined.
1113
inline void print( const Quat & quat, const char * name );
1117
// A 3x3 matrix in array-of-structures format
1126
// Default constructor; does no initialization
1128
inline Matrix3( ) { };
1130
// Copy a 3x3 matrix
1132
inline Matrix3( const Matrix3 & mat );
1134
// Construct a 3x3 matrix containing the specified columns
1136
inline Matrix3( const Vector3 & col0, const Vector3 & col1, const Vector3 & col2 );
1138
// Construct a 3x3 rotation matrix from a unit-length quaternion
1140
explicit inline Matrix3( const Quat & unitQuat );
1142
// Set all elements of a 3x3 matrix to the same scalar value
1144
explicit inline Matrix3( float scalar );
1146
// Assign one 3x3 matrix to another
1148
inline Matrix3 & operator =( const Matrix3 & mat );
1150
// Set column 0 of a 3x3 matrix
1152
inline Matrix3 & setCol0( const Vector3 & col0 );
1154
// Set column 1 of a 3x3 matrix
1156
inline Matrix3 & setCol1( const Vector3 & col1 );
1158
// Set column 2 of a 3x3 matrix
1160
inline Matrix3 & setCol2( const Vector3 & col2 );
1162
// Get column 0 of a 3x3 matrix
1164
inline const Vector3 getCol0( ) const;
1166
// Get column 1 of a 3x3 matrix
1168
inline const Vector3 getCol1( ) const;
1170
// Get column 2 of a 3x3 matrix
1172
inline const Vector3 getCol2( ) const;
1174
// Set the column of a 3x3 matrix referred to by the specified index
1176
inline Matrix3 & setCol( int col, const Vector3 & vec );
1178
// Set the row of a 3x3 matrix referred to by the specified index
1180
inline Matrix3 & setRow( int row, const Vector3 & vec );
1182
// Get the column of a 3x3 matrix referred to by the specified index
1184
inline const Vector3 getCol( int col ) const;
1186
// Get the row of a 3x3 matrix referred to by the specified index
1188
inline const Vector3 getRow( int row ) const;
1190
// Subscripting operator to set or get a column
1192
inline Vector3 & operator []( int col );
1194
// Subscripting operator to get a column
1196
inline const Vector3 operator []( int col ) const;
1198
// Set the element of a 3x3 matrix referred to by column and row indices
1200
inline Matrix3 & setElem( int col, int row, float val );
1202
// Get the element of a 3x3 matrix referred to by column and row indices
1204
inline float getElem( int col, int row ) const;
1206
// Add two 3x3 matrices
1208
inline const Matrix3 operator +( const Matrix3 & mat ) const;
1210
// Subtract a 3x3 matrix from another 3x3 matrix
1212
inline const Matrix3 operator -( const Matrix3 & mat ) const;
1214
// Negate all elements of a 3x3 matrix
1216
inline const Matrix3 operator -( ) const;
1218
// Multiply a 3x3 matrix by a scalar
1220
inline const Matrix3 operator *( float scalar ) const;
1222
// Multiply a 3x3 matrix by a 3-D vector
1224
inline const Vector3 operator *( const Vector3 & vec ) const;
1226
// Multiply two 3x3 matrices
1228
inline const Matrix3 operator *( const Matrix3 & mat ) const;
1230
// Perform compound assignment and addition with a 3x3 matrix
1232
inline Matrix3 & operator +=( const Matrix3 & mat );
1234
// Perform compound assignment and subtraction by a 3x3 matrix
1236
inline Matrix3 & operator -=( const Matrix3 & mat );
1238
// Perform compound assignment and multiplication by a scalar
1240
inline Matrix3 & operator *=( float scalar );
1242
// Perform compound assignment and multiplication by a 3x3 matrix
1244
inline Matrix3 & operator *=( const Matrix3 & mat );
1246
// Construct an identity 3x3 matrix
1248
static inline const Matrix3 identity( );
1250
// Construct a 3x3 matrix to rotate around the x axis
1252
static inline const Matrix3 rotationX( float radians );
1254
// Construct a 3x3 matrix to rotate around the y axis
1256
static inline const Matrix3 rotationY( float radians );
1258
// Construct a 3x3 matrix to rotate around the z axis
1260
static inline const Matrix3 rotationZ( float radians );
1262
// Construct a 3x3 matrix to rotate around the x, y, and z axes
1264
static inline const Matrix3 rotationZYX( const Vector3 & radiansXYZ );
1266
// Construct a 3x3 matrix to rotate around a unit-length 3-D vector
1268
static inline const Matrix3 rotation( float radians, const Vector3 & unitVec );
1270
// Construct a rotation matrix from a unit-length quaternion
1272
static inline const Matrix3 rotation( const Quat & unitQuat );
1274
// Construct a 3x3 matrix to perform scaling
1276
static inline const Matrix3 scale( const Vector3 & scaleVec );
1279
// Multiply a 3x3 matrix by a scalar
1281
inline const Matrix3 operator *( float scalar, const Matrix3 & mat );
1283
// Append (post-multiply) a scale transformation to a 3x3 matrix
1285
// Faster than creating and multiplying a scale transformation matrix.
1287
inline const Matrix3 appendScale( const Matrix3 & mat, const Vector3 & scaleVec );
1289
// Prepend (pre-multiply) a scale transformation to a 3x3 matrix
1291
// Faster than creating and multiplying a scale transformation matrix.
1293
inline const Matrix3 prependScale( const Vector3 & scaleVec, const Matrix3 & mat );
1295
// Multiply two 3x3 matrices per element
1297
inline const Matrix3 mulPerElem( const Matrix3 & mat0, const Matrix3 & mat1 );
1299
// Compute the absolute value of a 3x3 matrix per element
1301
inline const Matrix3 absPerElem( const Matrix3 & mat );
1303
// Transpose of a 3x3 matrix
1305
inline const Matrix3 transpose( const Matrix3 & mat );
1307
// Compute the inverse of a 3x3 matrix
1309
// Result is unpredictable when the determinant of mat is equal to or near 0.
1311
inline const Matrix3 inverse( const Matrix3 & mat );
1313
// Determinant of a 3x3 matrix
1315
inline float determinant( const Matrix3 & mat );
1317
// Conditionally select between two 3x3 matrices
1319
inline const Matrix3 select( const Matrix3 & mat0, const Matrix3 & mat1, bool select1 );
1321
#ifdef _VECTORMATH_DEBUG
1323
// Print a 3x3 matrix
1325
// Function is only defined when _VECTORMATH_DEBUG is defined.
1327
inline void print( const Matrix3 & mat );
1329
// Print a 3x3 matrix and an associated string identifier
1331
// Function is only defined when _VECTORMATH_DEBUG is defined.
1333
inline void print( const Matrix3 & mat, const char * name );
1337
// A 4x4 matrix in array-of-structures format
1347
// Default constructor; does no initialization
1349
inline Matrix4( ) { };
1351
// Copy a 4x4 matrix
1353
inline Matrix4( const Matrix4 & mat );
1355
// Construct a 4x4 matrix containing the specified columns
1357
inline Matrix4( const Vector4 & col0, const Vector4 & col1, const Vector4 & col2, const Vector4 & col3 );
1359
// Construct a 4x4 matrix from a 3x4 transformation matrix
1361
explicit inline Matrix4( const Transform3 & mat );
1363
// Construct a 4x4 matrix from a 3x3 matrix and a 3-D vector
1365
inline Matrix4( const Matrix3 & mat, const Vector3 & translateVec );
1367
// Construct a 4x4 matrix from a unit-length quaternion and a 3-D vector
1369
inline Matrix4( const Quat & unitQuat, const Vector3 & translateVec );
1371
// Set all elements of a 4x4 matrix to the same scalar value
1373
explicit inline Matrix4( float scalar );
1375
// Assign one 4x4 matrix to another
1377
inline Matrix4 & operator =( const Matrix4 & mat );
1379
// Set the upper-left 3x3 submatrix
1381
// This function does not change the bottom row elements.
1383
inline Matrix4 & setUpper3x3( const Matrix3 & mat3 );
1385
// Get the upper-left 3x3 submatrix of a 4x4 matrix
1387
inline const Matrix3 getUpper3x3( ) const;
1389
// Set translation component
1391
// This function does not change the bottom row elements.
1393
inline Matrix4 & setTranslation( const Vector3 & translateVec );
1395
// Get the translation component of a 4x4 matrix
1397
inline const Vector3 getTranslation( ) const;
1399
// Set column 0 of a 4x4 matrix
1401
inline Matrix4 & setCol0( const Vector4 & col0 );
1403
// Set column 1 of a 4x4 matrix
1405
inline Matrix4 & setCol1( const Vector4 & col1 );
1407
// Set column 2 of a 4x4 matrix
1409
inline Matrix4 & setCol2( const Vector4 & col2 );
1411
// Set column 3 of a 4x4 matrix
1413
inline Matrix4 & setCol3( const Vector4 & col3 );
1415
// Get column 0 of a 4x4 matrix
1417
inline const Vector4 getCol0( ) const;
1419
// Get column 1 of a 4x4 matrix
1421
inline const Vector4 getCol1( ) const;
1423
// Get column 2 of a 4x4 matrix
1425
inline const Vector4 getCol2( ) const;
1427
// Get column 3 of a 4x4 matrix
1429
inline const Vector4 getCol3( ) const;
1431
// Set the column of a 4x4 matrix referred to by the specified index
1433
inline Matrix4 & setCol( int col, const Vector4 & vec );
1435
// Set the row of a 4x4 matrix referred to by the specified index
1437
inline Matrix4 & setRow( int row, const Vector4 & vec );
1439
// Get the column of a 4x4 matrix referred to by the specified index
1441
inline const Vector4 getCol( int col ) const;
1443
// Get the row of a 4x4 matrix referred to by the specified index
1445
inline const Vector4 getRow( int row ) const;
1447
// Subscripting operator to set or get a column
1449
inline Vector4 & operator []( int col );
1451
// Subscripting operator to get a column
1453
inline const Vector4 operator []( int col ) const;
1455
// Set the element of a 4x4 matrix referred to by column and row indices
1457
inline Matrix4 & setElem( int col, int row, float val );
1459
// Get the element of a 4x4 matrix referred to by column and row indices
1461
inline float getElem( int col, int row ) const;
1463
// Add two 4x4 matrices
1465
inline const Matrix4 operator +( const Matrix4 & mat ) const;
1467
// Subtract a 4x4 matrix from another 4x4 matrix
1469
inline const Matrix4 operator -( const Matrix4 & mat ) const;
1471
// Negate all elements of a 4x4 matrix
1473
inline const Matrix4 operator -( ) const;
1475
// Multiply a 4x4 matrix by a scalar
1477
inline const Matrix4 operator *( float scalar ) const;
1479
// Multiply a 4x4 matrix by a 4-D vector
1481
inline const Vector4 operator *( const Vector4 & vec ) const;
1483
// Multiply a 4x4 matrix by a 3-D vector
1485
inline const Vector4 operator *( const Vector3 & vec ) const;
1487
// Multiply a 4x4 matrix by a 3-D point
1489
inline const Vector4 operator *( const Point3 & pnt ) const;
1491
// Multiply two 4x4 matrices
1493
inline const Matrix4 operator *( const Matrix4 & mat ) const;
1495
// Multiply a 4x4 matrix by a 3x4 transformation matrix
1497
inline const Matrix4 operator *( const Transform3 & tfrm ) const;
1499
// Perform compound assignment and addition with a 4x4 matrix
1501
inline Matrix4 & operator +=( const Matrix4 & mat );
1503
// Perform compound assignment and subtraction by a 4x4 matrix
1505
inline Matrix4 & operator -=( const Matrix4 & mat );
1507
// Perform compound assignment and multiplication by a scalar
1509
inline Matrix4 & operator *=( float scalar );
1511
// Perform compound assignment and multiplication by a 4x4 matrix
1513
inline Matrix4 & operator *=( const Matrix4 & mat );
1515
// Perform compound assignment and multiplication by a 3x4 transformation matrix
1517
inline Matrix4 & operator *=( const Transform3 & tfrm );
1519
// Construct an identity 4x4 matrix
1521
static inline const Matrix4 identity( );
1523
// Construct a 4x4 matrix to rotate around the x axis
1525
static inline const Matrix4 rotationX( float radians );
1527
// Construct a 4x4 matrix to rotate around the y axis
1529
static inline const Matrix4 rotationY( float radians );
1531
// Construct a 4x4 matrix to rotate around the z axis
1533
static inline const Matrix4 rotationZ( float radians );
1535
// Construct a 4x4 matrix to rotate around the x, y, and z axes
1537
static inline const Matrix4 rotationZYX( const Vector3 & radiansXYZ );
1539
// Construct a 4x4 matrix to rotate around a unit-length 3-D vector
1541
static inline const Matrix4 rotation( float radians, const Vector3 & unitVec );
1543
// Construct a rotation matrix from a unit-length quaternion
1545
static inline const Matrix4 rotation( const Quat & unitQuat );
1547
// Construct a 4x4 matrix to perform scaling
1549
static inline const Matrix4 scale( const Vector3 & scaleVec );
1551
// Construct a 4x4 matrix to perform translation
1553
static inline const Matrix4 translation( const Vector3 & translateVec );
1555
// Construct viewing matrix based on eye position, position looked at, and up direction
1557
static inline const Matrix4 lookAt( const Point3 & eyePos, const Point3 & lookAtPos, const Vector3 & upVec );
1559
// Construct a perspective projection matrix
1561
static inline const Matrix4 perspective( float fovyRadians, float aspect, float zNear, float zFar );
1563
// Construct a perspective projection matrix based on frustum
1565
static inline const Matrix4 frustum( float left, float right, float bottom, float top, float zNear, float zFar );
1567
// Construct an orthographic projection matrix
1569
static inline const Matrix4 orthographic( float left, float right, float bottom, float top, float zNear, float zFar );
1572
// Multiply a 4x4 matrix by a scalar
1574
inline const Matrix4 operator *( float scalar, const Matrix4 & mat );
1576
// Append (post-multiply) a scale transformation to a 4x4 matrix
1578
// Faster than creating and multiplying a scale transformation matrix.
1580
inline const Matrix4 appendScale( const Matrix4 & mat, const Vector3 & scaleVec );
1582
// Prepend (pre-multiply) a scale transformation to a 4x4 matrix
1584
// Faster than creating and multiplying a scale transformation matrix.
1586
inline const Matrix4 prependScale( const Vector3 & scaleVec, const Matrix4 & mat );
1588
// Multiply two 4x4 matrices per element
1590
inline const Matrix4 mulPerElem( const Matrix4 & mat0, const Matrix4 & mat1 );
1592
// Compute the absolute value of a 4x4 matrix per element
1594
inline const Matrix4 absPerElem( const Matrix4 & mat );
1596
// Transpose of a 4x4 matrix
1598
inline const Matrix4 transpose( const Matrix4 & mat );
1600
// Compute the inverse of a 4x4 matrix
1602
// Result is unpredictable when the determinant of mat is equal to or near 0.
1604
inline const Matrix4 inverse( const Matrix4 & mat );
1606
// Compute the inverse of a 4x4 matrix, which is expected to be an affine matrix
1608
// 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.
1610
inline const Matrix4 affineInverse( const Matrix4 & mat );
1612
// Compute the inverse of a 4x4 matrix, which is expected to be an affine matrix with an orthogonal upper-left 3x3 submatrix
1614
// This can be used to achieve better performance than a general inverse when the specified 4x4 matrix meets the given restrictions.
1616
inline const Matrix4 orthoInverse( const Matrix4 & mat );
1618
// Determinant of a 4x4 matrix
1620
inline float determinant( const Matrix4 & mat );
1622
// Conditionally select between two 4x4 matrices
1624
inline const Matrix4 select( const Matrix4 & mat0, const Matrix4 & mat1, bool select1 );
1626
#ifdef _VECTORMATH_DEBUG
1628
// Print a 4x4 matrix
1630
// Function is only defined when _VECTORMATH_DEBUG is defined.
1632
inline void print( const Matrix4 & mat );
1634
// Print a 4x4 matrix and an associated string identifier
1636
// Function is only defined when _VECTORMATH_DEBUG is defined.
1638
inline void print( const Matrix4 & mat, const char * name );
1642
// A 3x4 transformation matrix in array-of-structures format
1652
// Default constructor; does no initialization
1654
inline Transform3( ) { };
1656
// Copy a 3x4 transformation matrix
1658
inline Transform3( const Transform3 & tfrm );
1660
// Construct a 3x4 transformation matrix containing the specified columns
1662
inline Transform3( const Vector3 & col0, const Vector3 & col1, const Vector3 & col2, const Vector3 & col3 );
1664
// Construct a 3x4 transformation matrix from a 3x3 matrix and a 3-D vector
1666
inline Transform3( const Matrix3 & tfrm, const Vector3 & translateVec );
1668
// Construct a 3x4 transformation matrix from a unit-length quaternion and a 3-D vector
1670
inline Transform3( const Quat & unitQuat, const Vector3 & translateVec );
1672
// Set all elements of a 3x4 transformation matrix to the same scalar value
1674
explicit inline Transform3( float scalar );
1676
// Assign one 3x4 transformation matrix to another
1678
inline Transform3 & operator =( const Transform3 & tfrm );
1680
// Set the upper-left 3x3 submatrix
1682
inline Transform3 & setUpper3x3( const Matrix3 & mat3 );
1684
// Get the upper-left 3x3 submatrix of a 3x4 transformation matrix
1686
inline const Matrix3 getUpper3x3( ) const;
1688
// Set translation component
1690
inline Transform3 & setTranslation( const Vector3 & translateVec );
1692
// Get the translation component of a 3x4 transformation matrix
1694
inline const Vector3 getTranslation( ) const;
1696
// Set column 0 of a 3x4 transformation matrix
1698
inline Transform3 & setCol0( const Vector3 & col0 );
1700
// Set column 1 of a 3x4 transformation matrix
1702
inline Transform3 & setCol1( const Vector3 & col1 );
1704
// Set column 2 of a 3x4 transformation matrix
1706
inline Transform3 & setCol2( const Vector3 & col2 );
1708
// Set column 3 of a 3x4 transformation matrix
1710
inline Transform3 & setCol3( const Vector3 & col3 );
1712
// Get column 0 of a 3x4 transformation matrix
1714
inline const Vector3 getCol0( ) const;
1716
// Get column 1 of a 3x4 transformation matrix
1718
inline const Vector3 getCol1( ) const;
1720
// Get column 2 of a 3x4 transformation matrix
1722
inline const Vector3 getCol2( ) const;
1724
// Get column 3 of a 3x4 transformation matrix
1726
inline const Vector3 getCol3( ) const;
1728
// Set the column of a 3x4 transformation matrix referred to by the specified index
1730
inline Transform3 & setCol( int col, const Vector3 & vec );
1732
// Set the row of a 3x4 transformation matrix referred to by the specified index
1734
inline Transform3 & setRow( int row, const Vector4 & vec );
1736
// Get the column of a 3x4 transformation matrix referred to by the specified index
1738
inline const Vector3 getCol( int col ) const;
1740
// Get the row of a 3x4 transformation matrix referred to by the specified index
1742
inline const Vector4 getRow( int row ) const;
1744
// Subscripting operator to set or get a column
1746
inline Vector3 & operator []( int col );
1748
// Subscripting operator to get a column
1750
inline const Vector3 operator []( int col ) const;
1752
// Set the element of a 3x4 transformation matrix referred to by column and row indices
1754
inline Transform3 & setElem( int col, int row, float val );
1756
// Get the element of a 3x4 transformation matrix referred to by column and row indices
1758
inline float getElem( int col, int row ) const;
1760
// Multiply a 3x4 transformation matrix by a 3-D vector
1762
inline const Vector3 operator *( const Vector3 & vec ) const;
1764
// Multiply a 3x4 transformation matrix by a 3-D point
1766
inline const Point3 operator *( const Point3 & pnt ) const;
1768
// Multiply two 3x4 transformation matrices
1770
inline const Transform3 operator *( const Transform3 & tfrm ) const;
1772
// Perform compound assignment and multiplication by a 3x4 transformation matrix
1774
inline Transform3 & operator *=( const Transform3 & tfrm );
1776
// Construct an identity 3x4 transformation matrix
1778
static inline const Transform3 identity( );
1780
// Construct a 3x4 transformation matrix to rotate around the x axis
1782
static inline const Transform3 rotationX( float radians );
1784
// Construct a 3x4 transformation matrix to rotate around the y axis
1786
static inline const Transform3 rotationY( float radians );
1788
// Construct a 3x4 transformation matrix to rotate around the z axis
1790
static inline const Transform3 rotationZ( float radians );
1792
// Construct a 3x4 transformation matrix to rotate around the x, y, and z axes
1794
static inline const Transform3 rotationZYX( const Vector3 & radiansXYZ );
1796
// Construct a 3x4 transformation matrix to rotate around a unit-length 3-D vector
1798
static inline const Transform3 rotation( float radians, const Vector3 & unitVec );
1800
// Construct a rotation matrix from a unit-length quaternion
1802
static inline const Transform3 rotation( const Quat & unitQuat );
1804
// Construct a 3x4 transformation matrix to perform scaling
1806
static inline const Transform3 scale( const Vector3 & scaleVec );
1808
// Construct a 3x4 transformation matrix to perform translation
1810
static inline const Transform3 translation( const Vector3 & translateVec );
1813
// Append (post-multiply) a scale transformation to a 3x4 transformation matrix
1815
// Faster than creating and multiplying a scale transformation matrix.
1817
inline const Transform3 appendScale( const Transform3 & tfrm, const Vector3 & scaleVec );
1819
// Prepend (pre-multiply) a scale transformation to a 3x4 transformation matrix
1821
// Faster than creating and multiplying a scale transformation matrix.
1823
inline const Transform3 prependScale( const Vector3 & scaleVec, const Transform3 & tfrm );
1825
// Multiply two 3x4 transformation matrices per element
1827
inline const Transform3 mulPerElem( const Transform3 & tfrm0, const Transform3 & tfrm1 );
1829
// Compute the absolute value of a 3x4 transformation matrix per element
1831
inline const Transform3 absPerElem( const Transform3 & tfrm );
1833
// Inverse of a 3x4 transformation matrix
1835
// Result is unpredictable when the determinant of the left 3x3 submatrix is equal to or near 0.
1837
inline const Transform3 inverse( const Transform3 & tfrm );
1839
// Compute the inverse of a 3x4 transformation matrix, expected to have an orthogonal upper-left 3x3 submatrix
1841
// This can be used to achieve better performance than a general inverse when the specified 3x4 transformation matrix meets the given restrictions.
1843
inline const Transform3 orthoInverse( const Transform3 & tfrm );
1845
// Conditionally select between two 3x4 transformation matrices
1847
inline const Transform3 select( const Transform3 & tfrm0, const Transform3 & tfrm1, bool select1 );
1849
#ifdef _VECTORMATH_DEBUG
1851
// Print a 3x4 transformation matrix
1853
// Function is only defined when _VECTORMATH_DEBUG is defined.
1855
inline void print( const Transform3 & tfrm );
1857
// Print a 3x4 transformation matrix and an associated string identifier
1859
// Function is only defined when _VECTORMATH_DEBUG is defined.
1861
inline void print( const Transform3 & tfrm, const char * name );
1866
} // namespace Vectormath
1868
#include "vec_aos.h"
1869
#include "quat_aos.h"
1870
#include "mat_aos.h"
added
removed
tests/bullet/src/vectormath/scalar/vectormath_aos.h
