//
// GLKMatrix3.h
// GLKit
//
// Copyright (c) 2011-2012, Apple Inc. All rights reserved.
//
#ifndef __GLK_MATRIX_3_H
#define __GLK_MATRIX_3_H
#include <stddef.h>
#include <stdbool.h>
#include <math.h>
#include <GLKit/GLKMathTypes.h>
#include <GLKit/GLKVector3.h>
#include <GLKit/GLKQuaternion.h>
#if defined(__ARM_NEON__)
#include <arm_neon.h>
#endif
#ifdef __cplusplus
extern "C" {
#endif
#pragma mark -
#pragma mark Prototypes
#pragma mark -
extern const GLKMatrix3 GLKMatrix3Identity;
GLK_INLINE GLKMatrix3 GLKMatrix3Make(float m00, float m01, float m02,
float m10, float m11, float m12,
float m20, float m21, float m22);
GLK_INLINE GLKMatrix3 GLKMatrix3MakeAndTranspose(float m00, float m01, float m02,
float m10, float m11, float m12,
float m20, float m21, float m22);
GLK_INLINE GLKMatrix3 GLKMatrix3MakeWithArray(float values[9]);
GLK_INLINE GLKMatrix3 GLKMatrix3MakeWithArrayAndTranspose(float values[9]);
GLK_INLINE GLKMatrix3 GLKMatrix3MakeWithRows(GLKVector3 row0,
GLKVector3 row1,
GLKVector3 row2);
GLK_INLINE GLKMatrix3 GLKMatrix3MakeWithColumns(GLKVector3 column0,
GLKVector3 column1,
GLKVector3 column2);
/*
The quaternion will be normalized before conversion.
*/
GLK_INLINE GLKMatrix3 GLKMatrix3MakeWithQuaternion(GLKQuaternion quaternion);
GLK_INLINE GLKMatrix3 GLKMatrix3MakeScale(float sx, float sy, float sz);
GLK_INLINE GLKMatrix3 GLKMatrix3MakeRotation(float radians, float x, float y, float z);
GLK_INLINE GLKMatrix3 GLKMatrix3MakeXRotation(float radians);
GLK_INLINE GLKMatrix3 GLKMatrix3MakeYRotation(float radians);
GLK_INLINE GLKMatrix3 GLKMatrix3MakeZRotation(float radians);
/*
Returns the upper left 2x2 portion of the 3x3 matrix.
*/
GLK_INLINE GLKMatrix2 GLKMatrix3GetMatrix2(GLKMatrix3 matrix);
GLK_INLINE GLKVector3 GLKMatrix3GetRow(GLKMatrix3 matrix, int row);
GLK_INLINE GLKVector3 GLKMatrix3GetColumn(GLKMatrix3 matrix, int column);
GLK_INLINE GLKMatrix3 GLKMatrix3SetRow(GLKMatrix3 matrix, int row, GLKVector3 vector);
GLK_INLINE GLKMatrix3 GLKMatrix3SetColumn(GLKMatrix3 matrix, int column, GLKVector3 vector);
GLK_INLINE GLKMatrix3 GLKMatrix3Transpose(GLKMatrix3 matrix);
GLKMatrix3 GLKMatrix3Invert(GLKMatrix3 matrix, bool *isInvertible);
GLKMatrix3 GLKMatrix3InvertAndTranspose(GLKMatrix3 matrix, bool *isInvertible);
GLK_INLINE GLKMatrix3 GLKMatrix3Multiply(GLKMatrix3 matrixLeft, GLKMatrix3 matrixRight);
GLK_INLINE GLKMatrix3 GLKMatrix3Add(GLKMatrix3 matrixLeft, GLKMatrix3 matrixRight);
GLK_INLINE GLKMatrix3 GLKMatrix3Subtract(GLKMatrix3 matrixLeft, GLKMatrix3 matrixRight);
GLK_INLINE GLKMatrix3 GLKMatrix3Scale(GLKMatrix3 matrix, float sx, float sy, float sz);
GLK_INLINE GLKMatrix3 GLKMatrix3ScaleWithVector3(GLKMatrix3 matrix, GLKVector3 scaleVector);
/*
The last component of the GLKVector4, scaleVector, is ignored.
*/
GLK_INLINE GLKMatrix3 GLKMatrix3ScaleWithVector4(GLKMatrix3 matrix, GLKVector4 scaleVector);
GLK_INLINE GLKMatrix3 GLKMatrix3Rotate(GLKMatrix3 matrix, float radians, float x, float y, float z);
GLK_INLINE GLKMatrix3 GLKMatrix3RotateWithVector3(GLKMatrix3 matrix, float radians, GLKVector3 axisVector);
/*
The last component of the GLKVector4, axisVector, is ignored.
*/
GLK_INLINE GLKMatrix3 GLKMatrix3RotateWithVector4(GLKMatrix3 matrix, float radians, GLKVector4 axisVector);
GLK_INLINE GLKMatrix3 GLKMatrix3RotateX(GLKMatrix3 matrix, float radians);
GLK_INLINE GLKMatrix3 GLKMatrix3RotateY(GLKMatrix3 matrix, float radians);
GLK_INLINE GLKMatrix3 GLKMatrix3RotateZ(GLKMatrix3 matrix, float radians);
GLK_INLINE GLKVector3 GLKMatrix3MultiplyVector3(GLKMatrix3 matrixLeft, GLKVector3 vectorRight);
GLK_INLINE void GLKMatrix3MultiplyVector3Array(GLKMatrix3 matrix, GLKVector3 *vectors, size_t vectorCount);
#pragma mark -
#pragma mark Implementations
#pragma mark -
GLK_INLINE GLKMatrix3 GLKMatrix3Make(float m00, float m01, float m02,
float m10, float m11, float m12,
float m20, float m21, float m22)
{
GLKMatrix3 m = { m00, m01, m02,
m10, m11, m12,
m20, m21, m22 };
return m;
}
GLK_INLINE GLKMatrix3 GLKMatrix3MakeAndTranspose(float m00, float m01, float m02,
float m10, float m11, float m12,
float m20, float m21, float m22)
{
GLKMatrix3 m = { m00, m10, m20,
m01, m11, m21,
m02, m12, m22};
return m;
}
GLK_INLINE GLKMatrix3 GLKMatrix3MakeWithArray(float values[9])
{
GLKMatrix3 m = { values[0], values[1], values[2],
values[3], values[4], values[5],
values[6], values[7], values[8] };
return m;
}
GLK_INLINE GLKMatrix3 GLKMatrix3MakeWithArrayAndTranspose(float values[9])
{
GLKMatrix3 m = { values[0], values[3], values[6],
values[1], values[4], values[7],
values[2], values[5], values[8] };
return m;
}
GLK_INLINE GLKMatrix3 GLKMatrix3MakeWithRows(GLKVector3 row0,
GLKVector3 row1,
GLKVector3 row2)
{
GLKMatrix3 m = { row0.v[0], row1.v[0], row2.v[0],
row0.v[1], row1.v[1], row2.v[1],
row0.v[2], row1.v[2], row2.v[2] };
return m;
}
GLK_INLINE GLKMatrix3 GLKMatrix3MakeWithColumns(GLKVector3 column0,
GLKVector3 column1,
GLKVector3 column2)
{
GLKMatrix3 m = { column0.v[0], column0.v[1], column0.v[2],
column1.v[0], column1.v[1], column1.v[2],
column2.v[0], column2.v[1], column2.v[2] };
return m;
}
GLK_INLINE GLKMatrix3 GLKMatrix3MakeWithQuaternion(GLKQuaternion quaternion)
{
quaternion = GLKQuaternionNormalize(quaternion);
float x = quaternion.q[0];
float y = quaternion.q[1];
float z = quaternion.q[2];
float w = quaternion.q[3];
float _2x = x + x;
float _2y = y + y;
float _2z = z + z;
float _2w = w + w;
GLKMatrix3 m = { 1.0f - _2y * y - _2z * z,
_2x * y + _2w * z,
_2x * z - _2w * y,
_2x * y - _2w * z,
1.0f - _2x * x - _2z * z,
_2y * z + _2w * x,
_2x * z + _2w * y,
_2y * z - _2w * x,
1.0f - _2x * x - _2y * y };
return m;
}
GLK_INLINE GLKMatrix3 GLKMatrix3MakeScale(float sx, float sy, float sz)
{
GLKMatrix3 m = GLKMatrix3Identity;
m.m[0] = sx;
m.m[4] = sy;
m.m[8] = sz;
return m;
}
GLK_INLINE GLKMatrix3 GLKMatrix3MakeRotation(float radians, float x, float y, float z)
{
GLKVector3 v = GLKVector3Normalize(GLKVector3Make(x, y, z));
float cos = cosf(radians);
float cosp = 1.0f - cos;
float sin = sinf(radians);
GLKMatrix3 m = { cos + cosp * v.v[0] * v.v[0],
cosp * v.v[0] * v.v[1] + v.v[2] * sin,
cosp * v.v[0] * v.v[2] - v.v[1] * sin,
cosp * v.v[0] * v.v[1] - v.v[2] * sin,
cos + cosp * v.v[1] * v.v[1],
cosp * v.v[1] * v.v[2] + v.v[0] * sin,
cosp * v.v[0] * v.v[2] + v.v[1] * sin,
cosp * v.v[1] * v.v[2] - v.v[0] * sin,
cos + cosp * v.v[2] * v.v[2] };
return m;
}
GLK_INLINE GLKMatrix3 GLKMatrix3MakeXRotation(float radians)
{
float cos = cosf(radians);
float sin = sinf(radians);
GLKMatrix3 m = { 1.0f, 0.0f, 0.0f,
0.0f, cos, sin,
0.0f, -sin, cos };
return m;
}
GLK_INLINE GLKMatrix3 GLKMatrix3MakeYRotation(float radians)
{
float cos = cosf(radians);
float sin = sinf(radians);
GLKMatrix3 m = { cos, 0.0f, -sin,
0.0f, 1.0f, 0.0f,
sin, 0.0f, cos };
return m;
}
GLK_INLINE GLKMatrix3 GLKMatrix3MakeZRotation(float radians)
{
float cos = cosf(radians);
float sin = sinf(radians);
GLKMatrix3 m = { cos, sin, 0.0f,
-sin, cos, 0.0f,
0.0f, 0.0f, 1.0f };
return m;
}
GLK_INLINE GLKMatrix2 GLKMatrix3GetMatrix2(GLKMatrix3 matrix)
{
GLKMatrix2 m = { matrix.m[0], matrix.m[1],
matrix.m[3], matrix.m[4] };
return m;
}
GLK_INLINE GLKVector3 GLKMatrix3GetRow(GLKMatrix3 matrix, int row)
{
GLKVector3 v = { matrix.m[row], matrix.m[3 + row], matrix.m[6 + row] };
return v;
}
GLK_INLINE GLKVector3 GLKMatrix3GetColumn(GLKMatrix3 matrix, int column)
{
#if defined(__ARM_NEON__)
GLKVector3 v;
*((float32x2_t *)&v) = vld1_f32(&(matrix.m[column * 3]));
v.v[2] = matrix.m[column * 3 + 2];
return v;
#else
GLKVector3 v = { matrix.m[column * 3 + 0], matrix.m[column * 3 + 1], matrix.m[column * 3 + 2] };
return v;
#endif
}
GLK_INLINE GLKMatrix3 GLKMatrix3SetRow(GLKMatrix3 matrix, int row, GLKVector3 vector)
{
matrix.m[row] = vector.v[0];
matrix.m[row + 3] = vector.v[1];
matrix.m[row + 6] = vector.v[2];
return matrix;
}
GLK_INLINE GLKMatrix3 GLKMatrix3SetColumn(GLKMatrix3 matrix, int column, GLKVector3 vector)
{
#if defined(__ARM_NEON__)
float *dst = &(matrix.m[column * 3]);
vst1_f32(dst, vld1_f32(vector.v));
dst[2] = vector.v[2];
return matrix;
#else
matrix.m[column * 3 + 0] = vector.v[0];
matrix.m[column * 3 + 1] = vector.v[1];
matrix.m[column * 3 + 2] = vector.v[2];
return matrix;
#endif
}
GLK_INLINE GLKMatrix3 GLKMatrix3Transpose(GLKMatrix3 matrix)
{
GLKMatrix3 m = { matrix.m[0], matrix.m[3], matrix.m[6],
matrix.m[1], matrix.m[4], matrix.m[7],
matrix.m[2], matrix.m[5], matrix.m[8] };
return m;
}
GLK_INLINE GLKMatrix3 GLKMatrix3Multiply(GLKMatrix3 matrixLeft, GLKMatrix3 matrixRight)
{
#if defined(__ARM_NEON__)
GLKMatrix3 m;
float32x4x3_t iMatrixLeft;
float32x4x3_t iMatrixRight;
float32x4x3_t mm;
iMatrixLeft.val[0] = *(float32x4_t *)&matrixLeft.m[0]; // 0 1 2 3
iMatrixLeft.val[1] = *(float32x4_t *)&matrixLeft.m[3]; // 3 4 5 6
iMatrixLeft.val[2] = *(float32x4_t *)&matrixLeft.m[5]; // 5 6 7 8
iMatrixRight.val[0] = *(float32x4_t *)&matrixRight.m[0];
iMatrixRight.val[1] = *(float32x4_t *)&matrixRight.m[3];
iMatrixRight.val[2] = *(float32x4_t *)&matrixRight.m[5];
iMatrixLeft.val[2] = vextq_f32(iMatrixLeft.val[2], iMatrixLeft.val[2], 1); // 6 7 8 x
mm.val[0] = vmulq_n_f32(iMatrixLeft.val[0], vgetq_lane_f32(iMatrixRight.val[0], 0));
mm.val[1] = vmulq_n_f32(iMatrixLeft.val[0], vgetq_lane_f32(iMatrixRight.val[0], 3));
mm.val[2] = vmulq_n_f32(iMatrixLeft.val[0], vgetq_lane_f32(iMatrixRight.val[1], 3));
mm.val[0] = vmlaq_n_f32(mm.val[0], iMatrixLeft.val[1], vgetq_lane_f32(iMatrixRight.val[0], 1));
mm.val[1] = vmlaq_n_f32(mm.val[1], iMatrixLeft.val[1], vgetq_lane_f32(iMatrixRight.val[1], 1));
mm.val[2] = vmlaq_n_f32(mm.val[2], iMatrixLeft.val[1], vgetq_lane_f32(iMatrixRight.val[2], 2));
mm.val[0] = vmlaq_n_f32(mm.val[0], iMatrixLeft.val[2], vgetq_lane_f32(iMatrixRight.val[0], 2));
mm.val[1] = vmlaq_n_f32(mm.val[1], iMatrixLeft.val[2], vgetq_lane_f32(iMatrixRight.val[1], 2));
mm.val[2] = vmlaq_n_f32(mm.val[2], iMatrixLeft.val[2], vgetq_lane_f32(iMatrixRight.val[2], 3));
*(float32x4_t *)&m.m[0] = mm.val[0];
*(float32x4_t *)&m.m[3] = mm.val[1];
*(float32x2_t *)&m.m[6] = vget_low_f32(mm.val[2]);
m.m[8] = vgetq_lane_f32(mm.val[2], 2);
return m;
#elif defined(GLK_SSE3_INTRINSICS)
struct {
GLKMatrix3 m;
char pad[16*4 - sizeof(GLKMatrix3)];
} ret;
const __m128 iMatrixLeft0 = _mm_loadu_ps(&matrixLeft.m[0]); // 0 1 2 3 // unaligned load
const __m128 iMatrixLeft1 = _mm_loadu_ps(&matrixLeft.m[3]); // 3 4 5 6 // unaligned load
const __m128 iMatrixLeft2Tmp = _mm_loadu_ps(&matrixLeft.m[5]); // 5 6 7 8 // unaligned load
const __m128 iMatrixLeft2 = _mm_shuffle_ps(iMatrixLeft2Tmp, iMatrixLeft2Tmp, _MM_SHUFFLE(0, 3, 2, 1)); // 6 7 8 x
const __m128 iMatrixRight0 = _mm_loadu_ps(&matrixRight.m[0]);
const __m128 iMatrixRight1 = _mm_loadu_ps(&matrixRight.m[3]);
const __m128 iMatrixRight2 = _mm_loadu_ps(&matrixRight.m[5]);
const __m128 mm0 = iMatrixLeft0 * _mm_shuffle_ps(iMatrixRight0, iMatrixRight0, _MM_SHUFFLE(0, 0, 0, 0)) // mm0 = L0*R0 L1*R0 L2*R0 L3*R0
+ iMatrixLeft1 * _mm_shuffle_ps(iMatrixRight0, iMatrixRight0, _MM_SHUFFLE(1, 1, 1, 1)) // mm0 = L0*R0+L3*R1 L1*R0+L4*R1 L2*R0+L5*R1 L3*R0+L6*R1
+ iMatrixLeft2 * _mm_shuffle_ps(iMatrixRight0, iMatrixRight0, _MM_SHUFFLE(2, 2, 2, 2));
const __m128 mm1 = iMatrixLeft0 * _mm_shuffle_ps(iMatrixRight0, iMatrixRight0, _MM_SHUFFLE(3, 3, 3, 3)) // mm1 = L0*R3 L1*R3 L2*R3 L3*R3
+ iMatrixLeft1 * _mm_shuffle_ps(iMatrixRight1, iMatrixRight1, _MM_SHUFFLE(1, 1, 1, 1)) // mm1 = L0*R3+L3*R4 L1*R3+L4*R4 L2*R3+L5*R4 L3*R3+
+ iMatrixLeft2 * _mm_shuffle_ps(iMatrixRight1, iMatrixRight1, _MM_SHUFFLE(2, 2, 2, 2));
const __m128 mm2 = iMatrixLeft0 * _mm_shuffle_ps(iMatrixRight1, iMatrixRight1, _MM_SHUFFLE(3, 3, 3, 3)) // mm2 = L0*R6 L1*R6 L2*R6 L3*R6
+ iMatrixLeft1 * _mm_shuffle_ps(iMatrixRight2, iMatrixRight2, _MM_SHUFFLE(2, 2, 2, 2))
+ iMatrixLeft2 * _mm_shuffle_ps(iMatrixRight2, iMatrixRight2, _MM_SHUFFLE(3, 3, 3, 3));
_mm_storeu_ps(&ret.m.m[0], mm0); //unaligned store to indices: 0 1 2 3
_mm_storeu_ps(&ret.m.m[3], mm1); //unaligned store to indices: 3 4 5 6
_mm_storeu_ps(&ret.m.m[6], mm2); //unaligned store to indices: 6 7 8
return ret.m;
#else
GLKMatrix3 m;
m.m[0] = matrixLeft.m[0] * matrixRight.m[0] + matrixLeft.m[3] * matrixRight.m[1] + matrixLeft.m[6] * matrixRight.m[2];
m.m[3] = matrixLeft.m[0] * matrixRight.m[3] + matrixLeft.m[3] * matrixRight.m[4] + matrixLeft.m[6] * matrixRight.m[5];
m.m[6] = matrixLeft.m[0] * matrixRight.m[6] + matrixLeft.m[3] * matrixRight.m[7] + matrixLeft.m[6] * matrixRight.m[8];
m.m[1] = matrixLeft.m[1] * matrixRight.m[0] + matrixLeft.m[4] * matrixRight.m[1] + matrixLeft.m[7] * matrixRight.m[2];
m.m[4] = matrixLeft.m[1] * matrixRight.m[3] + matrixLeft.m[4] * matrixRight.m[4] + matrixLeft.m[7] * matrixRight.m[5];
m.m[7] = matrixLeft.m[1] * matrixRight.m[6] + matrixLeft.m[4] * matrixRight.m[7] + matrixLeft.m[7] * matrixRight.m[8];
m.m[2] = matrixLeft.m[2] * matrixRight.m[0] + matrixLeft.m[5] * matrixRight.m[1] + matrixLeft.m[8] * matrixRight.m[2];
m.m[5] = matrixLeft.m[2] * matrixRight.m[3] + matrixLeft.m[5] * matrixRight.m[4] + matrixLeft.m[8] * matrixRight.m[5];
m.m[8] = matrixLeft.m[2] * matrixRight.m[6] + matrixLeft.m[5] * matrixRight.m[7] + matrixLeft.m[8] * matrixRight.m[8];
return m;
#endif
}
GLK_INLINE GLKMatrix3 GLKMatrix3Add(GLKMatrix3 matrixLeft, GLKMatrix3 matrixRight)
{
#if defined(__ARM_NEON__)
GLKMatrix3 m;
*(float32x4_t *)&(m.m[0]) = vaddq_f32(*(float32x4_t *)&(matrixLeft.m[0]), *(float32x4_t *)&(matrixRight.m[0]));
*(float32x4_t *)&(m.m[4]) = vaddq_f32(*(float32x4_t *)&(matrixLeft.m[4]), *(float32x4_t *)&(matrixRight.m[4]));
m.m[8] = matrixLeft.m[8] + matrixRight.m[8];
return m;
#elif defined(GLK_SSE3_INTRINSICS)
GLKMatrix3 m;
_mm_storeu_ps(&m.m[0], _mm_loadu_ps(&matrixLeft.m[0]) + _mm_loadu_ps(&matrixRight.m[0]));
_mm_storeu_ps(&m.m[4], _mm_loadu_ps(&matrixLeft.m[4]) + _mm_loadu_ps(&matrixRight.m[4]));
m.m[8] = matrixLeft.m[8] + matrixRight.m[8];
return m;
#else
GLKMatrix3 m;
m.m[0] = matrixLeft.m[0] + matrixRight.m[0];
m.m[1] = matrixLeft.m[1] + matrixRight.m[1];
m.m[2] = matrixLeft.m[2] + matrixRight.m[2];
m.m[3] = matrixLeft.m[3] + matrixRight.m[3];
m.m[4] = matrixLeft.m[4] + matrixRight.m[4];
m.m[5] = matrixLeft.m[5] + matrixRight.m[5];
m.m[6] = matrixLeft.m[6] + matrixRight.m[6];
m.m[7] = matrixLeft.m[7] + matrixRight.m[7];
m.m[8] = matrixLeft.m[8] + matrixRight.m[8];
return m;
#endif
}
GLK_INLINE GLKMatrix3 GLKMatrix3Subtract(GLKMatrix3 matrixLeft, GLKMatrix3 matrixRight)
{
#if defined(__ARM_NEON__)
GLKMatrix3 m;
*(float32x4_t *)&(m.m[0]) = vsubq_f32(*(float32x4_t *)&(matrixLeft.m[0]), *(float32x4_t *)&(matrixRight.m[0]));
*(float32x4_t *)&(m.m[4]) = vsubq_f32(*(float32x4_t *)&(matrixLeft.m[4]), *(float32x4_t *)&(matrixRight.m[4]));
m.m[8] = matrixLeft.m[8] - matrixRight.m[8];
return m;
#elif defined(GLK_SSE3_INTRINSICS)
GLKMatrix3 m;
_mm_storeu_ps(&m.m[0], _mm_loadu_ps(&matrixLeft.m[0]) - _mm_loadu_ps(&matrixRight.m[0]));
_mm_storeu_ps(&m.m[4], _mm_loadu_ps(&matrixLeft.m[4]) - _mm_loadu_ps(&matrixRight.m[4]));
m.m[8] = matrixLeft.m[8] - matrixRight.m[8];
return m;
#else
GLKMatrix3 m;
m.m[0] = matrixLeft.m[0] - matrixRight.m[0];
m.m[1] = matrixLeft.m[1] - matrixRight.m[1];
m.m[2] = matrixLeft.m[2] - matrixRight.m[2];
m.m[3] = matrixLeft.m[3] - matrixRight.m[3];
m.m[4] = matrixLeft.m[4] - matrixRight.m[4];
m.m[5] = matrixLeft.m[5] - matrixRight.m[5];
m.m[6] = matrixLeft.m[6] - matrixRight.m[6];
m.m[7] = matrixLeft.m[7] - matrixRight.m[7];
m.m[8] = matrixLeft.m[8] - matrixRight.m[8];
return m;
#endif
}
GLK_INLINE GLKMatrix3 GLKMatrix3Scale(GLKMatrix3 matrix, float sx, float sy, float sz)
{
GLKMatrix3 m = { matrix.m[0] * sx, matrix.m[1] * sx, matrix.m[2] * sx,
matrix.m[3] * sy, matrix.m[4] * sy, matrix.m[5] * sy,
matrix.m[6] * sz, matrix.m[7] * sz, matrix.m[8] * sz };
return m;
}
GLK_INLINE GLKMatrix3 GLKMatrix3ScaleWithVector3(GLKMatrix3 matrix, GLKVector3 scaleVector)
{
GLKMatrix3 m = { matrix.m[0] * scaleVector.v[0], matrix.m[1] * scaleVector.v[0], matrix.m[2] * scaleVector.v[0],
matrix.m[3] * scaleVector.v[1], matrix.m[4] * scaleVector.v[1], matrix.m[5] * scaleVector.v[1],
matrix.m[6] * scaleVector.v[2], matrix.m[7] * scaleVector.v[2], matrix.m[8] * scaleVector.v[2] };
return m;
}
GLK_INLINE GLKMatrix3 GLKMatrix3ScaleWithVector4(GLKMatrix3 matrix, GLKVector4 scaleVector)
{
GLKMatrix3 m = { matrix.m[0] * scaleVector.v[0], matrix.m[1] * scaleVector.v[0], matrix.m[2] * scaleVector.v[0],
matrix.m[3] * scaleVector.v[1], matrix.m[4] * scaleVector.v[1], matrix.m[5] * scaleVector.v[1],
matrix.m[6] * scaleVector.v[2], matrix.m[7] * scaleVector.v[2], matrix.m[8] * scaleVector.v[2] };
return m;
}
GLK_INLINE GLKMatrix3 GLKMatrix3Rotate(GLKMatrix3 matrix, float radians, float x, float y, float z)
{
GLKMatrix3 rm = GLKMatrix3MakeRotation(radians, x, y, z);
return GLKMatrix3Multiply(matrix, rm);
}
GLK_INLINE GLKMatrix3 GLKMatrix3RotateWithVector3(GLKMatrix3 matrix, float radians, GLKVector3 axisVector)
{
GLKMatrix3 rm = GLKMatrix3MakeRotation(radians, axisVector.v[0], axisVector.v[1], axisVector.v[2]);
return GLKMatrix3Multiply(matrix, rm);
}
GLK_INLINE GLKMatrix3 GLKMatrix3RotateWithVector4(GLKMatrix3 matrix, float radians, GLKVector4 axisVector)
{
GLKMatrix3 rm = GLKMatrix3MakeRotation(radians, axisVector.v[0], axisVector.v[1], axisVector.v[2]);
return GLKMatrix3Multiply(matrix, rm);
}
GLK_INLINE GLKMatrix3 GLKMatrix3RotateX(GLKMatrix3 matrix, float radians)
{
GLKMatrix3 rm = GLKMatrix3MakeXRotation(radians);
return GLKMatrix3Multiply(matrix, rm);
}
GLK_INLINE GLKMatrix3 GLKMatrix3RotateY(GLKMatrix3 matrix, float radians)
{
GLKMatrix3 rm = GLKMatrix3MakeYRotation(radians);
return GLKMatrix3Multiply(matrix, rm);
}
GLK_INLINE GLKMatrix3 GLKMatrix3RotateZ(GLKMatrix3 matrix, float radians)
{
GLKMatrix3 rm = GLKMatrix3MakeZRotation(radians);
return GLKMatrix3Multiply(matrix, rm);
}
GLK_INLINE GLKVector3 GLKMatrix3MultiplyVector3(GLKMatrix3 matrixLeft, GLKVector3 vectorRight)
{
GLKVector3 v = { matrixLeft.m[0] * vectorRight.v[0] + matrixLeft.m[3] * vectorRight.v[1] + matrixLeft.m[6] * vectorRight.v[2],
matrixLeft.m[1] * vectorRight.v[0] + matrixLeft.m[4] * vectorRight.v[1] + matrixLeft.m[7] * vectorRight.v[2],
matrixLeft.m[2] * vectorRight.v[0] + matrixLeft.m[5] * vectorRight.v[1] + matrixLeft.m[8] * vectorRight.v[2] };
return v;
}
GLK_INLINE void GLKMatrix3MultiplyVector3Array(GLKMatrix3 matrix, GLKVector3 *vectors, size_t vectorCount)
{
int i;
for (i=0; i < vectorCount; i++)
vectors[i] = GLKMatrix3MultiplyVector3(matrix, vectors[i]);
}
#ifdef __cplusplus
}
#endif
#endif /* __GLK_MATRIX_3_H */