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00031 #ifndef _VECTORMATH_AOS_CPP_SSE_H
00032 #define _VECTORMATH_AOS_CPP_SSE_H
00033
00034 #include <math.h>
00035 #include <xmmintrin.h>
00036 #include <emmintrin.h>
00037 #include <assert.h>
00038
00039 #define Vector3Ref Vector3&
00040 #define QuatRef Quat&
00041 #define Matrix3Ref Matrix3&
00042
00043 #if (defined (_WIN32) && (_MSC_VER) && _MSC_VER >= 1400)
00044 #define USE_SSE3_LDDQU
00045
00046 #define VM_ATTRIBUTE_ALIGNED_CLASS16(a) __declspec(align(16)) a
00047 #define VM_ATTRIBUTE_ALIGN16 __declspec(align(16))
00048 #define VECTORMATH_FORCE_INLINE __forceinline
00049 #else
00050 #define VM_ATTRIBUTE_ALIGNED_CLASS16(a) a __attribute__ ((aligned (16)))
00051 #define VM_ATTRIBUTE_ALIGN16 __attribute__ ((aligned (16)))
00052 #define VECTORMATH_FORCE_INLINE inline __attribute__ ((always_inline))
00053 #ifdef __SSE3__
00054 #define USE_SSE3_LDDQU
00055 #endif //__SSE3__
00056 #endif//_WIN32
00057
00058
00059 #ifdef USE_SSE3_LDDQU
00060 #include <pmmintrin.h>
00061 #endif //USE_SSE3_LDDQU
00062
00063
00064
00065 typedef __m128 vec_float4;
00066 typedef __m128 vec_uint4;
00067 typedef __m128 vec_int4;
00068 typedef __m128i vec_uchar16;
00069 typedef __m128i vec_ushort8;
00070
00071 #define vec_splat(x, e) _mm_shuffle_ps(x, x, _MM_SHUFFLE(e,e,e,e))
00072
00073 #define _mm_ror_ps(vec,i) \
00074 (((i)%4) ? (_mm_shuffle_ps(vec,vec, _MM_SHUFFLE((unsigned char)(i+3)%4,(unsigned char)(i+2)%4,(unsigned char)(i+1)%4,(unsigned char)(i+0)%4))) : (vec))
00075 #define _mm_rol_ps(vec,i) \
00076 (((i)%4) ? (_mm_shuffle_ps(vec,vec, _MM_SHUFFLE((unsigned char)(7-i)%4,(unsigned char)(6-i)%4,(unsigned char)(5-i)%4,(unsigned char)(4-i)%4))) : (vec))
00077
00078 #define vec_sld(vec,vec2,x) _mm_ror_ps(vec, ((x)/4))
00079
00080 #define _mm_abs_ps(vec) _mm_andnot_ps(_MASKSIGN_,vec)
00081 #define _mm_neg_ps(vec) _mm_xor_ps(_MASKSIGN_,vec)
00082
00083 #define vec_madd(a, b, c) _mm_add_ps(c, _mm_mul_ps(a, b) )
00084
00085 union SSEFloat
00086 {
00087 __m128i vi;
00088 __m128 m128;
00089 __m128 vf;
00090 unsigned int ui[4];
00091 unsigned short s[8];
00092 float f[4];
00093 SSEFloat(__m128 v) : m128(v) {}
00094 SSEFloat(__m128i v) : vi(v) {}
00095 SSEFloat() {}
00096 };
00097
00098 static VECTORMATH_FORCE_INLINE __m128 vec_sel(__m128 a, __m128 b, __m128 mask)
00099 {
00100 return _mm_or_ps(_mm_and_ps(mask, b), _mm_andnot_ps(mask, a));
00101 }
00102 static VECTORMATH_FORCE_INLINE __m128 vec_sel(__m128 a, __m128 b, const unsigned int *_mask)
00103 {
00104 return vec_sel(a, b, _mm_load_ps((float *)_mask));
00105 }
00106 static VECTORMATH_FORCE_INLINE __m128 vec_sel(__m128 a, __m128 b, unsigned int _mask)
00107 {
00108 return vec_sel(a, b, _mm_set1_ps(*(float *)&_mask));
00109 }
00110
00111 static VECTORMATH_FORCE_INLINE __m128 toM128(unsigned int x)
00112 {
00113 return _mm_set1_ps( *(float *)&x );
00114 }
00115
00116 static VECTORMATH_FORCE_INLINE __m128 fabsf4(__m128 x)
00117 {
00118 return _mm_and_ps( x, toM128( 0x7fffffff ) );
00119 }
00120
00121
00122
00123
00124
00125
00126
00127
00128
00129
00130
00131
00132
00133
00134
00135
00136
00137
00138
00139
00140
00141
00142
00143
00144
00145
00146
00147
00148
00149
00150
00151
00152
00153
00154
00155 static VECTORMATH_FORCE_INLINE __m128 vec_cts(__m128 x, int a)
00156 {
00157 assert(a == 0);
00158 (void)a;
00159 __m128i result = _mm_cvtps_epi32(x);
00160 return (__m128 &)result;
00161 }
00162
00163 static VECTORMATH_FORCE_INLINE __m128 vec_ctf(__m128 x, int a)
00164 {
00165 assert(a == 0);
00166 (void)a;
00167 return _mm_cvtepi32_ps((__m128i &)x);
00168 }
00169
00170 #define vec_nmsub(a,b,c) _mm_sub_ps( c, _mm_mul_ps( a, b ) )
00171 #define vec_sub(a,b) _mm_sub_ps( a, b )
00172 #define vec_add(a,b) _mm_add_ps( a, b )
00173 #define vec_mul(a,b) _mm_mul_ps( a, b )
00174 #define vec_xor(a,b) _mm_xor_ps( a, b )
00175 #define vec_and(a,b) _mm_and_ps( a, b )
00176 #define vec_cmpeq(a,b) _mm_cmpeq_ps( a, b )
00177 #define vec_cmpgt(a,b) _mm_cmpgt_ps( a, b )
00178
00179 #define vec_mergeh(a,b) _mm_unpacklo_ps( a, b )
00180 #define vec_mergel(a,b) _mm_unpackhi_ps( a, b )
00181
00182 #define vec_andc(a,b) _mm_andnot_ps( b, a )
00183
00184 #define sqrtf4(x) _mm_sqrt_ps( x )
00185 #define rsqrtf4(x) _mm_rsqrt_ps( x )
00186 #define recipf4(x) _mm_rcp_ps( x )
00187 #define negatef4(x) _mm_sub_ps( _mm_setzero_ps(), x )
00188
00189 static VECTORMATH_FORCE_INLINE __m128 newtonrapson_rsqrt4( const __m128 v )
00190 {
00191 #define _half4 _mm_setr_ps(.5f,.5f,.5f,.5f)
00192 #define _three _mm_setr_ps(3.f,3.f,3.f,3.f)
00193 const __m128 approx = _mm_rsqrt_ps( v );
00194 const __m128 muls = _mm_mul_ps(_mm_mul_ps(v, approx), approx);
00195 return _mm_mul_ps(_mm_mul_ps(_half4, approx), _mm_sub_ps(_three, muls) );
00196 }
00197
00198 static VECTORMATH_FORCE_INLINE __m128 acosf4(__m128 x)
00199 {
00200 __m128 xabs = fabsf4(x);
00201 __m128 select = _mm_cmplt_ps( x, _mm_setzero_ps() );
00202 __m128 t1 = sqrtf4(vec_sub(_mm_set1_ps(1.0f), xabs));
00203
00204
00205
00206
00207
00208
00209 __m128 xabs2 = _mm_mul_ps(xabs, xabs);
00210 __m128 xabs4 = _mm_mul_ps(xabs2, xabs2);
00211 __m128 hi = vec_madd(vec_madd(vec_madd(_mm_set1_ps(-0.0012624911f),
00212 xabs, _mm_set1_ps(0.0066700901f)),
00213 xabs, _mm_set1_ps(-0.0170881256f)),
00214 xabs, _mm_set1_ps( 0.0308918810f));
00215 __m128 lo = vec_madd(vec_madd(vec_madd(_mm_set1_ps(-0.0501743046f),
00216 xabs, _mm_set1_ps(0.0889789874f)),
00217 xabs, _mm_set1_ps(-0.2145988016f)),
00218 xabs, _mm_set1_ps( 1.5707963050f));
00219
00220 __m128 result = vec_madd(hi, xabs4, lo);
00221
00222
00223 return vec_sel(
00224 vec_mul(t1, result),
00225 vec_nmsub(t1, result, _mm_set1_ps(3.1415926535898f)),
00226 select);
00227 }
00228
00229 static VECTORMATH_FORCE_INLINE __m128 sinf4(vec_float4 x)
00230 {
00231
00232
00233
00234
00235 #define _SINCOS_CC0 -0.0013602249f
00236 #define _SINCOS_CC1 0.0416566950f
00237 #define _SINCOS_CC2 -0.4999990225f
00238 #define _SINCOS_SC0 -0.0001950727f
00239 #define _SINCOS_SC1 0.0083320758f
00240 #define _SINCOS_SC2 -0.1666665247f
00241
00242 #define _SINCOS_KC1 1.57079625129f
00243 #define _SINCOS_KC2 7.54978995489e-8f
00244
00245 vec_float4 xl,xl2,xl3,res;
00246
00247
00248
00249 xl = vec_mul(x, _mm_set1_ps(0.63661977236f));
00250
00251
00252
00253
00254 vec_int4 q = vec_cts(xl,0);
00255
00256
00257
00258 vec_int4 offset = _mm_and_ps(q,toM128(0x3));
00259
00260
00261
00262 vec_float4 qf = vec_ctf(q,0);
00263 xl = vec_nmsub(qf,_mm_set1_ps(_SINCOS_KC2),vec_nmsub(qf,_mm_set1_ps(_SINCOS_KC1),x));
00264
00265
00266
00267 xl2 = vec_mul(xl,xl);
00268 xl3 = vec_mul(xl2,xl);
00269
00270
00271
00272
00273
00274
00275
00276 vec_float4 cx =
00277 vec_madd(
00278 vec_madd(
00279 vec_madd(_mm_set1_ps(_SINCOS_CC0),xl2,_mm_set1_ps(_SINCOS_CC1)),xl2,_mm_set1_ps(_SINCOS_CC2)),xl2,_mm_set1_ps(1.0f));
00280 vec_float4 sx =
00281 vec_madd(
00282 vec_madd(
00283 vec_madd(_mm_set1_ps(_SINCOS_SC0),xl2,_mm_set1_ps(_SINCOS_SC1)),xl2,_mm_set1_ps(_SINCOS_SC2)),xl3,xl);
00284
00285
00286
00287
00288 res = vec_sel(cx,sx,vec_cmpeq(vec_and(offset,
00289 toM128(0x1)),
00290 _mm_setzero_ps()));
00291
00292
00293
00294 return vec_sel(
00295 vec_xor(toM128(0x80000000U), res),
00296 res,
00297 vec_cmpeq(vec_and(offset,toM128(0x2)),_mm_setzero_ps()));
00298 }
00299
00300 static VECTORMATH_FORCE_INLINE void sincosf4(vec_float4 x, vec_float4* s, vec_float4* c)
00301 {
00302 vec_float4 xl,xl2,xl3;
00303 vec_int4 offsetSin, offsetCos;
00304
00305
00306
00307 xl = vec_mul(x, _mm_set1_ps(0.63661977236f));
00308
00309
00310
00311
00312
00313 vec_int4 q = vec_cts(xl,0);
00314
00315
00316
00317
00318 offsetSin = vec_and(q,toM128((int)0x3));
00319 __m128i temp = _mm_add_epi32(_mm_set1_epi32(1),(__m128i &)offsetSin);
00320 offsetCos = (__m128 &)temp;
00321
00322
00323
00324 vec_float4 qf = vec_ctf(q,0);
00325 xl = vec_nmsub(qf,_mm_set1_ps(_SINCOS_KC2),vec_nmsub(qf,_mm_set1_ps(_SINCOS_KC1),x));
00326
00327
00328
00329 xl2 = vec_mul(xl,xl);
00330 xl3 = vec_mul(xl2,xl);
00331
00332
00333
00334
00335
00336
00337 vec_float4 cx =
00338 vec_madd(
00339 vec_madd(
00340 vec_madd(_mm_set1_ps(_SINCOS_CC0),xl2,_mm_set1_ps(_SINCOS_CC1)),xl2,_mm_set1_ps(_SINCOS_CC2)),xl2,_mm_set1_ps(1.0f));
00341 vec_float4 sx =
00342 vec_madd(
00343 vec_madd(
00344 vec_madd(_mm_set1_ps(_SINCOS_SC0),xl2,_mm_set1_ps(_SINCOS_SC1)),xl2,_mm_set1_ps(_SINCOS_SC2)),xl3,xl);
00345
00346
00347
00348
00349 vec_uint4 sinMask = (vec_uint4)vec_cmpeq(vec_and(offsetSin,toM128(0x1)),_mm_setzero_ps());
00350 vec_uint4 cosMask = (vec_uint4)vec_cmpeq(vec_and(offsetCos,toM128(0x1)),_mm_setzero_ps());
00351 *s = vec_sel(cx,sx,sinMask);
00352 *c = vec_sel(cx,sx,cosMask);
00353
00354
00355
00356 sinMask = vec_cmpeq(vec_and(offsetSin,toM128(0x2)),_mm_setzero_ps());
00357 cosMask = vec_cmpeq(vec_and(offsetCos,toM128(0x2)),_mm_setzero_ps());
00358
00359 *s = vec_sel((vec_float4)vec_xor(toM128(0x80000000),(vec_uint4)*s),*s,sinMask);
00360 *c = vec_sel((vec_float4)vec_xor(toM128(0x80000000),(vec_uint4)*c),*c,cosMask);
00361 }
00362
00363 #include "vecidx_aos.h"
00364 #include "floatInVec.h"
00365 #include "boolInVec.h"
00366
00367 #ifdef _VECTORMATH_DEBUG
00368 #include <stdio.h>
00369 #endif
00370 namespace Vectormath {
00371
00372 namespace Aos {
00373
00374
00375
00376
00377
00378 class Vector3;
00379 class Vector4;
00380 class Point3;
00381 class Quat;
00382 class Matrix3;
00383 class Matrix4;
00384 class Transform3;
00385
00386
00387
00388 class Vector3
00389 {
00390 __m128 mVec128;
00391
00392 VECTORMATH_FORCE_INLINE void set128(vec_float4 vec);
00393
00394 VECTORMATH_FORCE_INLINE vec_float4& get128Ref();
00395
00396 public:
00397
00398
00399 VECTORMATH_FORCE_INLINE Vector3( ) { };
00400
00401
00402
00403 VECTORMATH_FORCE_INLINE Vector3(const Vector3& vec);
00404
00405
00406
00407 VECTORMATH_FORCE_INLINE Vector3( float x, float y, float z );
00408
00409
00410
00411 VECTORMATH_FORCE_INLINE Vector3( const floatInVec &x, const floatInVec &y, const floatInVec &z );
00412
00413
00414
00415 explicit VECTORMATH_FORCE_INLINE Vector3( const Point3 &pnt );
00416
00417
00418
00419 explicit VECTORMATH_FORCE_INLINE Vector3( float scalar );
00420
00421
00422
00423 explicit VECTORMATH_FORCE_INLINE Vector3( const floatInVec &scalar );
00424
00425
00426
00427 explicit VECTORMATH_FORCE_INLINE Vector3( __m128 vf4 );
00428
00429
00430
00431 VECTORMATH_FORCE_INLINE __m128 get128( ) const;
00432
00433
00434
00435 VECTORMATH_FORCE_INLINE Vector3 & operator =( const Vector3 &vec );
00436
00437
00438
00439 VECTORMATH_FORCE_INLINE Vector3 & setX( float x );
00440
00441
00442
00443 VECTORMATH_FORCE_INLINE Vector3 & setY( float y );
00444
00445
00446
00447 VECTORMATH_FORCE_INLINE Vector3 & setZ( float z );
00448
00449
00450
00451 VECTORMATH_FORCE_INLINE Vector3 & setX( const floatInVec &x );
00452
00453
00454
00455 VECTORMATH_FORCE_INLINE Vector3 & setY( const floatInVec &y );
00456
00457
00458
00459 VECTORMATH_FORCE_INLINE Vector3 & setZ( const floatInVec &z );
00460
00461
00462
00463 VECTORMATH_FORCE_INLINE const floatInVec getX( ) const;
00464
00465
00466
00467 VECTORMATH_FORCE_INLINE const floatInVec getY( ) const;
00468
00469
00470
00471 VECTORMATH_FORCE_INLINE const floatInVec getZ( ) const;
00472
00473
00474
00475 VECTORMATH_FORCE_INLINE Vector3 & setElem( int idx, float value );
00476
00477
00478
00479 VECTORMATH_FORCE_INLINE Vector3 & setElem( int idx, const floatInVec &value );
00480
00481
00482
00483 VECTORMATH_FORCE_INLINE const floatInVec getElem( int idx ) const;
00484
00485
00486
00487 VECTORMATH_FORCE_INLINE VecIdx operator []( int idx );
00488
00489
00490
00491 VECTORMATH_FORCE_INLINE const floatInVec operator []( int idx ) const;
00492
00493
00494
00495 VECTORMATH_FORCE_INLINE const Vector3 operator +( const Vector3 &vec ) const;
00496
00497
00498
00499 VECTORMATH_FORCE_INLINE const Vector3 operator -( const Vector3 &vec ) const;
00500
00501
00502
00503 VECTORMATH_FORCE_INLINE const Point3 operator +( const Point3 &pnt ) const;
00504
00505
00506
00507 VECTORMATH_FORCE_INLINE const Vector3 operator *( float scalar ) const;
00508
00509
00510
00511 VECTORMATH_FORCE_INLINE const Vector3 operator /( float scalar ) const;
00512
00513
00514
00515 VECTORMATH_FORCE_INLINE const Vector3 operator *( const floatInVec &scalar ) const;
00516
00517
00518
00519 VECTORMATH_FORCE_INLINE const Vector3 operator /( const floatInVec &scalar ) const;
00520
00521
00522
00523 VECTORMATH_FORCE_INLINE Vector3 & operator +=( const Vector3 &vec );
00524
00525
00526
00527 VECTORMATH_FORCE_INLINE Vector3 & operator -=( const Vector3 &vec );
00528
00529
00530
00531 VECTORMATH_FORCE_INLINE Vector3 & operator *=( float scalar );
00532
00533
00534
00535 VECTORMATH_FORCE_INLINE Vector3 & operator /=( float scalar );
00536
00537
00538
00539 VECTORMATH_FORCE_INLINE Vector3 & operator *=( const floatInVec &scalar );
00540
00541
00542
00543 VECTORMATH_FORCE_INLINE Vector3 & operator /=( const floatInVec &scalar );
00544
00545
00546
00547 VECTORMATH_FORCE_INLINE const Vector3 operator -( ) const;
00548
00549
00550
00551 static VECTORMATH_FORCE_INLINE const Vector3 xAxis( );
00552
00553
00554
00555 static VECTORMATH_FORCE_INLINE const Vector3 yAxis( );
00556
00557
00558
00559 static VECTORMATH_FORCE_INLINE const Vector3 zAxis( );
00560
00561 };
00562
00563
00564
00565 VECTORMATH_FORCE_INLINE const Vector3 operator *( float scalar, const Vector3 &vec );
00566
00567
00568
00569 VECTORMATH_FORCE_INLINE const Vector3 operator *( const floatInVec &scalar, const Vector3 &vec );
00570
00571
00572
00573 VECTORMATH_FORCE_INLINE const Vector3 mulPerElem( const Vector3 &vec0, const Vector3 &vec1 );
00574
00575
00576
00577
00578
00579 VECTORMATH_FORCE_INLINE const Vector3 divPerElem( const Vector3 &vec0, const Vector3 &vec1 );
00580
00581
00582
00583
00584
00585 VECTORMATH_FORCE_INLINE const Vector3 recipPerElem( const Vector3 &vec );
00586
00587
00588
00589 VECTORMATH_FORCE_INLINE const Vector3 absPerElem( const Vector3 &vec );
00590
00591
00592
00593 VECTORMATH_FORCE_INLINE const Vector3 copySignPerElem( const Vector3 &vec0, const Vector3 &vec1 );
00594
00595
00596
00597 VECTORMATH_FORCE_INLINE const Vector3 maxPerElem( const Vector3 &vec0, const Vector3 &vec1 );
00598
00599
00600
00601 VECTORMATH_FORCE_INLINE const Vector3 minPerElem( const Vector3 &vec0, const Vector3 &vec1 );
00602
00603
00604
00605 VECTORMATH_FORCE_INLINE const floatInVec maxElem( const Vector3 &vec );
00606
00607
00608
00609 VECTORMATH_FORCE_INLINE const floatInVec minElem( const Vector3 &vec );
00610
00611
00612
00613 VECTORMATH_FORCE_INLINE const floatInVec sum( const Vector3 &vec );
00614
00615
00616
00617 VECTORMATH_FORCE_INLINE const floatInVec dot( const Vector3 &vec0, const Vector3 &vec1 );
00618
00619
00620
00621 VECTORMATH_FORCE_INLINE const floatInVec lengthSqr( const Vector3 &vec );
00622
00623
00624
00625 VECTORMATH_FORCE_INLINE const floatInVec length( const Vector3 &vec );
00626
00627
00628
00629
00630
00631 VECTORMATH_FORCE_INLINE const Vector3 normalize( const Vector3 &vec );
00632
00633
00634
00635 VECTORMATH_FORCE_INLINE const Vector3 cross( const Vector3 &vec0, const Vector3 &vec1 );
00636
00637
00638
00639 VECTORMATH_FORCE_INLINE const Matrix3 outer( const Vector3 &vec0, const Vector3 &vec1 );
00640
00641
00642
00643
00644
00645 VECTORMATH_FORCE_INLINE const Vector3 rowMul( const Vector3 &vec, const Matrix3 & mat );
00646
00647
00648
00649 VECTORMATH_FORCE_INLINE const Matrix3 crossMatrix( const Vector3 &vec );
00650
00651
00652
00653
00654
00655 VECTORMATH_FORCE_INLINE const Matrix3 crossMatrixMul( const Vector3 &vec, const Matrix3 & mat );
00656
00657
00658
00659
00660
00661 VECTORMATH_FORCE_INLINE const Vector3 lerp( float t, const Vector3 &vec0, const Vector3 &vec1 );
00662
00663
00664
00665
00666
00667 VECTORMATH_FORCE_INLINE const Vector3 lerp( const floatInVec &t, const Vector3 &vec0, const Vector3 &vec1 );
00668
00669
00670
00671
00672
00673
00674 VECTORMATH_FORCE_INLINE const Vector3 slerp( float t, const Vector3 &unitVec0, const Vector3 &unitVec1 );
00675
00676
00677
00678
00679
00680
00681 VECTORMATH_FORCE_INLINE const Vector3 slerp( const floatInVec &t, const Vector3 &unitVec0, const Vector3 &unitVec1 );
00682
00683
00684
00685
00686
00687
00688
00689 VECTORMATH_FORCE_INLINE const Vector3 select( const Vector3 &vec0, const Vector3 &vec1, bool select1 );
00690
00691
00692
00693
00694
00695 VECTORMATH_FORCE_INLINE const Vector3 select( const Vector3 &vec0, const Vector3 &vec1, const boolInVec &select1 );
00696
00697
00698
00699 VECTORMATH_FORCE_INLINE void storeXYZ( const Vector3 &vec, __m128 * quad );
00700
00701
00702
00703 VECTORMATH_FORCE_INLINE void loadXYZArray( Vector3 & vec0, Vector3 & vec1, Vector3 & vec2, Vector3 & vec3, const __m128 * threeQuads );
00704
00705
00706
00707 VECTORMATH_FORCE_INLINE void storeXYZArray( const Vector3 &vec0, const Vector3 &vec1, const Vector3 &vec2, const Vector3 &vec3, __m128 * threeQuads );
00708
00709
00710
00711 VECTORMATH_FORCE_INLINE void storeHalfFloats( const Vector3 &vec0, const Vector3 &vec1, const Vector3 &vec2, const Vector3 &vec3, const Vector3 &vec4, const Vector3 &vec5, const Vector3 &vec6, const Vector3 &vec7, vec_ushort8 * threeQuads );
00712
00713 #ifdef _VECTORMATH_DEBUG
00714
00715
00716
00717
00718
00719 VECTORMATH_FORCE_INLINE void print( const Vector3 &vec );
00720
00721
00722
00723
00724
00725 VECTORMATH_FORCE_INLINE void print( const Vector3 &vec, const char * name );
00726
00727 #endif
00728
00729
00730
00731 class Vector4
00732 {
00733 __m128 mVec128;
00734
00735 public:
00736
00737
00738 VECTORMATH_FORCE_INLINE Vector4( ) { };
00739
00740
00741
00742 VECTORMATH_FORCE_INLINE Vector4( float x, float y, float z, float w );
00743
00744
00745
00746 VECTORMATH_FORCE_INLINE Vector4( const floatInVec &x, const floatInVec &y, const floatInVec &z, const floatInVec &w );
00747
00748
00749
00750 VECTORMATH_FORCE_INLINE Vector4( const Vector3 &xyz, float w );
00751
00752
00753
00754 VECTORMATH_FORCE_INLINE Vector4( const Vector3 &xyz, const floatInVec &w );
00755
00756
00757
00758 explicit VECTORMATH_FORCE_INLINE Vector4( const Vector3 &vec );
00759
00760
00761
00762 explicit VECTORMATH_FORCE_INLINE Vector4( const Point3 &pnt );
00763
00764
00765
00766 explicit VECTORMATH_FORCE_INLINE Vector4( const Quat &quat );
00767
00768
00769
00770 explicit VECTORMATH_FORCE_INLINE Vector4( float scalar );
00771
00772
00773
00774 explicit VECTORMATH_FORCE_INLINE Vector4( const floatInVec &scalar );
00775
00776
00777
00778 explicit VECTORMATH_FORCE_INLINE Vector4( __m128 vf4 );
00779
00780
00781
00782 VECTORMATH_FORCE_INLINE __m128 get128( ) const;
00783
00784
00785
00786 VECTORMATH_FORCE_INLINE Vector4 & operator =( const Vector4 &vec );
00787
00788
00789
00790
00791
00792 VECTORMATH_FORCE_INLINE Vector4 & setXYZ( const Vector3 &vec );
00793
00794
00795
00796 VECTORMATH_FORCE_INLINE const Vector3 getXYZ( ) const;
00797
00798
00799
00800 VECTORMATH_FORCE_INLINE Vector4 & setX( float x );
00801
00802
00803
00804 VECTORMATH_FORCE_INLINE Vector4 & setY( float y );
00805
00806
00807
00808 VECTORMATH_FORCE_INLINE Vector4 & setZ( float z );
00809
00810
00811
00812 VECTORMATH_FORCE_INLINE Vector4 & setW( float w );
00813
00814
00815
00816 VECTORMATH_FORCE_INLINE Vector4 & setX( const floatInVec &x );
00817
00818
00819
00820 VECTORMATH_FORCE_INLINE Vector4 & setY( const floatInVec &y );
00821
00822
00823
00824 VECTORMATH_FORCE_INLINE Vector4 & setZ( const floatInVec &z );
00825
00826
00827
00828 VECTORMATH_FORCE_INLINE Vector4 & setW( const floatInVec &w );
00829
00830
00831
00832 VECTORMATH_FORCE_INLINE const floatInVec getX( ) const;
00833
00834
00835
00836 VECTORMATH_FORCE_INLINE const floatInVec getY( ) const;
00837
00838
00839
00840 VECTORMATH_FORCE_INLINE const floatInVec getZ( ) const;
00841
00842
00843
00844 VECTORMATH_FORCE_INLINE const floatInVec getW( ) const;
00845
00846
00847
00848 VECTORMATH_FORCE_INLINE Vector4 & setElem( int idx, float value );
00849
00850
00851
00852 VECTORMATH_FORCE_INLINE Vector4 & setElem( int idx, const floatInVec &value );
00853
00854
00855
00856 VECTORMATH_FORCE_INLINE const floatInVec getElem( int idx ) const;
00857
00858
00859
00860 VECTORMATH_FORCE_INLINE VecIdx operator []( int idx );
00861
00862
00863
00864 VECTORMATH_FORCE_INLINE const floatInVec operator []( int idx ) const;
00865
00866
00867
00868 VECTORMATH_FORCE_INLINE const Vector4 operator +( const Vector4 &vec ) const;
00869
00870
00871
00872 VECTORMATH_FORCE_INLINE const Vector4 operator -( const Vector4 &vec ) const;
00873
00874
00875
00876 VECTORMATH_FORCE_INLINE const Vector4 operator *( float scalar ) const;
00877
00878
00879
00880 VECTORMATH_FORCE_INLINE const Vector4 operator /( float scalar ) const;
00881
00882
00883
00884 VECTORMATH_FORCE_INLINE const Vector4 operator *( const floatInVec &scalar ) const;
00885
00886
00887
00888 VECTORMATH_FORCE_INLINE const Vector4 operator /( const floatInVec &scalar ) const;
00889
00890
00891
00892 VECTORMATH_FORCE_INLINE Vector4 & operator +=( const Vector4 &vec );
00893
00894
00895
00896 VECTORMATH_FORCE_INLINE Vector4 & operator -=( const Vector4 &vec );
00897
00898
00899
00900 VECTORMATH_FORCE_INLINE Vector4 & operator *=( float scalar );
00901
00902
00903
00904 VECTORMATH_FORCE_INLINE Vector4 & operator /=( float scalar );
00905
00906
00907
00908 VECTORMATH_FORCE_INLINE Vector4 & operator *=( const floatInVec &scalar );
00909
00910
00911
00912 VECTORMATH_FORCE_INLINE Vector4 & operator /=( const floatInVec &scalar );
00913
00914
00915
00916 VECTORMATH_FORCE_INLINE const Vector4 operator -( ) const;
00917
00918
00919
00920 static VECTORMATH_FORCE_INLINE const Vector4 xAxis( );
00921
00922
00923
00924 static VECTORMATH_FORCE_INLINE const Vector4 yAxis( );
00925
00926
00927
00928 static VECTORMATH_FORCE_INLINE const Vector4 zAxis( );
00929
00930
00931
00932 static VECTORMATH_FORCE_INLINE const Vector4 wAxis( );
00933
00934 };
00935
00936
00937
00938 VECTORMATH_FORCE_INLINE const Vector4 operator *( float scalar, const Vector4 &vec );
00939
00940
00941
00942 VECTORMATH_FORCE_INLINE const Vector4 operator *( const floatInVec &scalar, const Vector4 &vec );
00943
00944
00945
00946 VECTORMATH_FORCE_INLINE const Vector4 mulPerElem( const Vector4 &vec0, const Vector4 &vec1 );
00947
00948
00949
00950
00951
00952 VECTORMATH_FORCE_INLINE const Vector4 divPerElem( const Vector4 &vec0, const Vector4 &vec1 );
00953
00954
00955
00956
00957
00958 VECTORMATH_FORCE_INLINE const Vector4 recipPerElem( const Vector4 &vec );
00959
00960
00961
00962 VECTORMATH_FORCE_INLINE const Vector4 absPerElem( const Vector4 &vec );
00963
00964
00965
00966 VECTORMATH_FORCE_INLINE const Vector4 copySignPerElem( const Vector4 &vec0, const Vector4 &vec1 );
00967
00968
00969
00970 VECTORMATH_FORCE_INLINE const Vector4 maxPerElem( const Vector4 &vec0, const Vector4 &vec1 );
00971
00972
00973
00974 VECTORMATH_FORCE_INLINE const Vector4 minPerElem( const Vector4 &vec0, const Vector4 &vec1 );
00975
00976
00977
00978 VECTORMATH_FORCE_INLINE const floatInVec maxElem( const Vector4 &vec );
00979
00980
00981
00982 VECTORMATH_FORCE_INLINE const floatInVec minElem( const Vector4 &vec );
00983
00984
00985
00986 VECTORMATH_FORCE_INLINE const floatInVec sum( const Vector4 &vec );
00987
00988
00989
00990 VECTORMATH_FORCE_INLINE const floatInVec dot( const Vector4 &vec0, const Vector4 &vec1 );
00991
00992
00993
00994 VECTORMATH_FORCE_INLINE const floatInVec lengthSqr( const Vector4 &vec );
00995
00996
00997
00998 VECTORMATH_FORCE_INLINE const floatInVec length( const Vector4 &vec );
00999
01000
01001
01002
01003
01004 VECTORMATH_FORCE_INLINE const Vector4 normalize( const Vector4 &vec );
01005
01006
01007
01008 VECTORMATH_FORCE_INLINE const Matrix4 outer( const Vector4 &vec0, const Vector4 &vec1 );
01009
01010
01011
01012
01013
01014 VECTORMATH_FORCE_INLINE const Vector4 lerp( float t, const Vector4 &vec0, const Vector4 &vec1 );
01015
01016
01017
01018
01019
01020 VECTORMATH_FORCE_INLINE const Vector4 lerp( const floatInVec &t, const Vector4 &vec0, const Vector4 &vec1 );
01021
01022
01023
01024
01025
01026
01027 VECTORMATH_FORCE_INLINE const Vector4 slerp( float t, const Vector4 &unitVec0, const Vector4 &unitVec1 );
01028
01029
01030
01031
01032
01033
01034 VECTORMATH_FORCE_INLINE const Vector4 slerp( const floatInVec &t, const Vector4 &unitVec0, const Vector4 &unitVec1 );
01035
01036
01037
01038
01039
01040
01041
01042 VECTORMATH_FORCE_INLINE const Vector4 select( const Vector4 &vec0, const Vector4 &vec1, bool select1 );
01043
01044
01045
01046
01047
01048 VECTORMATH_FORCE_INLINE const Vector4 select( const Vector4 &vec0, const Vector4 &vec1, const boolInVec &select1 );
01049
01050
01051
01052 VECTORMATH_FORCE_INLINE void storeHalfFloats( const Vector4 &vec0, const Vector4 &vec1, const Vector4 &vec2, const Vector4 &vec3, vec_ushort8 * twoQuads );
01053
01054 #ifdef _VECTORMATH_DEBUG
01055
01056
01057
01058
01059
01060 VECTORMATH_FORCE_INLINE void print( const Vector4 &vec );
01061
01062
01063
01064
01065
01066 VECTORMATH_FORCE_INLINE void print( const Vector4 &vec, const char * name );
01067
01068 #endif
01069
01070
01071
01072 class Point3
01073 {
01074 __m128 mVec128;
01075
01076 public:
01077
01078
01079 VECTORMATH_FORCE_INLINE Point3( ) { };
01080
01081
01082
01083 VECTORMATH_FORCE_INLINE Point3( float x, float y, float z );
01084
01085
01086
01087 VECTORMATH_FORCE_INLINE Point3( const floatInVec &x, const floatInVec &y, const floatInVec &z );
01088
01089
01090
01091 explicit VECTORMATH_FORCE_INLINE Point3( const Vector3 &vec );
01092
01093
01094
01095 explicit VECTORMATH_FORCE_INLINE Point3( float scalar );
01096
01097
01098
01099 explicit VECTORMATH_FORCE_INLINE Point3( const floatInVec &scalar );
01100
01101
01102
01103 explicit VECTORMATH_FORCE_INLINE Point3( __m128 vf4 );
01104
01105
01106
01107 VECTORMATH_FORCE_INLINE __m128 get128( ) const;
01108
01109
01110
01111 VECTORMATH_FORCE_INLINE Point3 & operator =( const Point3 &pnt );
01112
01113
01114
01115 VECTORMATH_FORCE_INLINE Point3 & setX( float x );
01116
01117
01118
01119 VECTORMATH_FORCE_INLINE Point3 & setY( float y );
01120
01121
01122
01123 VECTORMATH_FORCE_INLINE Point3 & setZ( float z );
01124
01125
01126
01127 VECTORMATH_FORCE_INLINE Point3 & setX( const floatInVec &x );
01128
01129
01130
01131 VECTORMATH_FORCE_INLINE Point3 & setY( const floatInVec &y );
01132
01133
01134
01135 VECTORMATH_FORCE_INLINE Point3 & setZ( const floatInVec &z );
01136
01137
01138
01139 VECTORMATH_FORCE_INLINE const floatInVec getX( ) const;
01140
01141
01142
01143 VECTORMATH_FORCE_INLINE const floatInVec getY( ) const;
01144
01145
01146
01147 VECTORMATH_FORCE_INLINE const floatInVec getZ( ) const;
01148
01149
01150
01151 VECTORMATH_FORCE_INLINE Point3 & setElem( int idx, float value );
01152
01153
01154
01155 VECTORMATH_FORCE_INLINE Point3 & setElem( int idx, const floatInVec &value );
01156
01157
01158
01159 VECTORMATH_FORCE_INLINE const floatInVec getElem( int idx ) const;
01160
01161
01162
01163 VECTORMATH_FORCE_INLINE VecIdx operator []( int idx );
01164
01165
01166
01167 VECTORMATH_FORCE_INLINE const floatInVec operator []( int idx ) const;
01168
01169
01170
01171 VECTORMATH_FORCE_INLINE const Vector3 operator -( const Point3 &pnt ) const;
01172
01173
01174
01175 VECTORMATH_FORCE_INLINE const Point3 operator +( const Vector3 &vec ) const;
01176
01177
01178
01179 VECTORMATH_FORCE_INLINE const Point3 operator -( const Vector3 &vec ) const;
01180
01181
01182
01183 VECTORMATH_FORCE_INLINE Point3 & operator +=( const Vector3 &vec );
01184
01185
01186
01187 VECTORMATH_FORCE_INLINE Point3 & operator -=( const Vector3 &vec );
01188
01189 };
01190
01191
01192
01193 VECTORMATH_FORCE_INLINE const Point3 mulPerElem( const Point3 &pnt0, const Point3 &pnt1 );
01194
01195
01196
01197
01198
01199 VECTORMATH_FORCE_INLINE const Point3 divPerElem( const Point3 &pnt0, const Point3 &pnt1 );
01200
01201
01202
01203
01204
01205 VECTORMATH_FORCE_INLINE const Point3 recipPerElem( const Point3 &pnt );
01206
01207
01208
01209 VECTORMATH_FORCE_INLINE const Point3 absPerElem( const Point3 &pnt );
01210
01211
01212
01213 VECTORMATH_FORCE_INLINE const Point3 copySignPerElem( const Point3 &pnt0, const Point3 &pnt1 );
01214
01215
01216
01217 VECTORMATH_FORCE_INLINE const Point3 maxPerElem( const Point3 &pnt0, const Point3 &pnt1 );
01218
01219
01220
01221 VECTORMATH_FORCE_INLINE const Point3 minPerElem( const Point3 &pnt0, const Point3 &pnt1 );
01222
01223
01224
01225 VECTORMATH_FORCE_INLINE const floatInVec maxElem( const Point3 &pnt );
01226
01227
01228
01229 VECTORMATH_FORCE_INLINE const floatInVec minElem( const Point3 &pnt );
01230
01231
01232
01233 VECTORMATH_FORCE_INLINE const floatInVec sum( const Point3 &pnt );
01234
01235
01236
01237 VECTORMATH_FORCE_INLINE const Point3 scale( const Point3 &pnt, float scaleVal );
01238
01239
01240
01241 VECTORMATH_FORCE_INLINE const Point3 scale( const Point3 &pnt, const floatInVec &scaleVal );
01242
01243
01244
01245 VECTORMATH_FORCE_INLINE const Point3 scale( const Point3 &pnt, const Vector3 &scaleVec );
01246
01247
01248
01249 VECTORMATH_FORCE_INLINE const floatInVec projection( const Point3 &pnt, const Vector3 &unitVec );
01250
01251
01252
01253 VECTORMATH_FORCE_INLINE const floatInVec distSqrFromOrigin( const Point3 &pnt );
01254
01255
01256
01257 VECTORMATH_FORCE_INLINE const floatInVec distFromOrigin( const Point3 &pnt );
01258
01259
01260
01261 VECTORMATH_FORCE_INLINE const floatInVec distSqr( const Point3 &pnt0, const Point3 &pnt1 );
01262
01263
01264
01265 VECTORMATH_FORCE_INLINE const floatInVec dist( const Point3 &pnt0, const Point3 &pnt1 );
01266
01267
01268
01269
01270
01271 VECTORMATH_FORCE_INLINE const Point3 lerp( float t, const Point3 &pnt0, const Point3 &pnt1 );
01272
01273
01274
01275
01276
01277 VECTORMATH_FORCE_INLINE const Point3 lerp( const floatInVec &t, const Point3 &pnt0, const Point3 &pnt1 );
01278
01279
01280
01281
01282
01283
01284
01285 VECTORMATH_FORCE_INLINE const Point3 select( const Point3 &pnt0, const Point3 &pnt1, bool select1 );
01286
01287
01288
01289
01290
01291 VECTORMATH_FORCE_INLINE const Point3 select( const Point3 &pnt0, const Point3 &pnt1, const boolInVec &select1 );
01292
01293
01294
01295 VECTORMATH_FORCE_INLINE void storeXYZ( const Point3 &pnt, __m128 * quad );
01296
01297
01298
01299 VECTORMATH_FORCE_INLINE void loadXYZArray( Point3 & pnt0, Point3 & pnt1, Point3 & pnt2, Point3 & pnt3, const __m128 * threeQuads );
01300
01301
01302
01303 VECTORMATH_FORCE_INLINE void storeXYZArray( const Point3 &pnt0, const Point3 &pnt1, const Point3 &pnt2, const Point3 &pnt3, __m128 * threeQuads );
01304
01305
01306
01307 VECTORMATH_FORCE_INLINE void storeHalfFloats( const Point3 &pnt0, const Point3 &pnt1, const Point3 &pnt2, const Point3 &pnt3, const Point3 &pnt4, const Point3 &pnt5, const Point3 &pnt6, const Point3 &pnt7, vec_ushort8 * threeQuads );
01308
01309 #ifdef _VECTORMATH_DEBUG
01310
01311
01312
01313
01314
01315 VECTORMATH_FORCE_INLINE void print( const Point3 &pnt );
01316
01317
01318
01319
01320
01321 VECTORMATH_FORCE_INLINE void print( const Point3 &pnt, const char * name );
01322
01323 #endif
01324
01325
01326
01327 class Quat
01328 {
01329 __m128 mVec128;
01330
01331 public:
01332
01333
01334 VECTORMATH_FORCE_INLINE Quat( ) { };
01335
01336 VECTORMATH_FORCE_INLINE Quat(const Quat& quat);
01337
01338
01339
01340 VECTORMATH_FORCE_INLINE Quat( float x, float y, float z, float w );
01341
01342
01343
01344 VECTORMATH_FORCE_INLINE Quat( const floatInVec &x, const floatInVec &y, const floatInVec &z, const floatInVec &w );
01345
01346
01347
01348 VECTORMATH_FORCE_INLINE Quat( const Vector3 &xyz, float w );
01349
01350
01351
01352 VECTORMATH_FORCE_INLINE Quat( const Vector3 &xyz, const floatInVec &w );
01353
01354
01355
01356 explicit VECTORMATH_FORCE_INLINE Quat( const Vector4 &vec );
01357
01358
01359
01360 explicit VECTORMATH_FORCE_INLINE Quat( const Matrix3 & rotMat );
01361
01362
01363
01364 explicit VECTORMATH_FORCE_INLINE Quat( float scalar );
01365
01366
01367
01368 explicit VECTORMATH_FORCE_INLINE Quat( const floatInVec &scalar );
01369
01370
01371
01372 explicit VECTORMATH_FORCE_INLINE Quat( __m128 vf4 );
01373
01374
01375
01376 VECTORMATH_FORCE_INLINE __m128 get128( ) const;
01377
01378
01379
01380 VECTORMATH_FORCE_INLINE void set128(vec_float4 vec);
01381
01382
01383
01384 VECTORMATH_FORCE_INLINE Quat & operator =( const Quat &quat );
01385
01386
01387
01388
01389
01390 VECTORMATH_FORCE_INLINE Quat & setXYZ( const Vector3 &vec );
01391
01392
01393
01394 VECTORMATH_FORCE_INLINE const Vector3 getXYZ( ) const;
01395
01396
01397
01398 VECTORMATH_FORCE_INLINE Quat & setX( float x );
01399
01400
01401
01402 VECTORMATH_FORCE_INLINE Quat & setY( float y );
01403
01404
01405
01406 VECTORMATH_FORCE_INLINE Quat & setZ( float z );
01407
01408
01409
01410 VECTORMATH_FORCE_INLINE Quat & setW( float w );
01411
01412
01413
01414 VECTORMATH_FORCE_INLINE Quat & setX( const floatInVec &x );
01415
01416
01417
01418 VECTORMATH_FORCE_INLINE Quat & setY( const floatInVec &y );
01419
01420
01421
01422 VECTORMATH_FORCE_INLINE Quat & setZ( const floatInVec &z );
01423
01424
01425
01426 VECTORMATH_FORCE_INLINE Quat & setW( const floatInVec &w );
01427
01428
01429
01430 VECTORMATH_FORCE_INLINE const floatInVec getX( ) const;
01431
01432
01433
01434 VECTORMATH_FORCE_INLINE const floatInVec getY( ) const;
01435
01436
01437
01438 VECTORMATH_FORCE_INLINE const floatInVec getZ( ) const;
01439
01440
01441
01442 VECTORMATH_FORCE_INLINE const floatInVec getW( ) const;
01443
01444
01445
01446 VECTORMATH_FORCE_INLINE Quat & setElem( int idx, float value );
01447
01448
01449
01450 VECTORMATH_FORCE_INLINE Quat & setElem( int idx, const floatInVec &value );
01451
01452
01453
01454 VECTORMATH_FORCE_INLINE const floatInVec getElem( int idx ) const;
01455
01456
01457
01458 VECTORMATH_FORCE_INLINE VecIdx operator []( int idx );
01459
01460
01461
01462 VECTORMATH_FORCE_INLINE const floatInVec operator []( int idx ) const;
01463
01464
01465
01466 VECTORMATH_FORCE_INLINE const Quat operator +( const Quat &quat ) const;
01467
01468
01469
01470 VECTORMATH_FORCE_INLINE const Quat operator -( const Quat &quat ) const;
01471
01472
01473
01474 VECTORMATH_FORCE_INLINE const Quat operator *( const Quat &quat ) const;
01475
01476
01477
01478 VECTORMATH_FORCE_INLINE const Quat operator *( float scalar ) const;
01479
01480
01481
01482 VECTORMATH_FORCE_INLINE const Quat operator /( float scalar ) const;
01483
01484
01485
01486 VECTORMATH_FORCE_INLINE const Quat operator *( const floatInVec &scalar ) const;
01487
01488
01489
01490 VECTORMATH_FORCE_INLINE const Quat operator /( const floatInVec &scalar ) const;
01491
01492
01493
01494 VECTORMATH_FORCE_INLINE Quat & operator +=( const Quat &quat );
01495
01496
01497
01498 VECTORMATH_FORCE_INLINE Quat & operator -=( const Quat &quat );
01499
01500
01501
01502 VECTORMATH_FORCE_INLINE Quat & operator *=( const Quat &quat );
01503
01504
01505
01506 VECTORMATH_FORCE_INLINE Quat & operator *=( float scalar );
01507
01508
01509
01510 VECTORMATH_FORCE_INLINE Quat & operator /=( float scalar );
01511
01512
01513
01514 VECTORMATH_FORCE_INLINE Quat & operator *=( const floatInVec &scalar );
01515
01516
01517
01518 VECTORMATH_FORCE_INLINE Quat & operator /=( const floatInVec &scalar );
01519
01520
01521
01522 VECTORMATH_FORCE_INLINE const Quat operator -( ) const;
01523
01524
01525
01526 static VECTORMATH_FORCE_INLINE const Quat identity( );
01527
01528
01529
01530
01531
01532 static VECTORMATH_FORCE_INLINE const Quat rotation( const Vector3 &unitVec0, const Vector3 &unitVec1 );
01533
01534
01535
01536 static VECTORMATH_FORCE_INLINE const Quat rotation( float radians, const Vector3 &unitVec );
01537
01538
01539
01540 static VECTORMATH_FORCE_INLINE const Quat rotation( const floatInVec &radians, const Vector3 &unitVec );
01541
01542
01543
01544 static VECTORMATH_FORCE_INLINE const Quat rotationX( float radians );
01545
01546
01547
01548 static VECTORMATH_FORCE_INLINE const Quat rotationY( float radians );
01549
01550
01551
01552 static VECTORMATH_FORCE_INLINE const Quat rotationZ( float radians );
01553
01554
01555
01556 static VECTORMATH_FORCE_INLINE const Quat rotationX( const floatInVec &radians );
01557
01558
01559
01560 static VECTORMATH_FORCE_INLINE const Quat rotationY( const floatInVec &radians );
01561
01562
01563
01564 static VECTORMATH_FORCE_INLINE const Quat rotationZ( const floatInVec &radians );
01565
01566 };
01567
01568
01569
01570 VECTORMATH_FORCE_INLINE const Quat operator *( float scalar, const Quat &quat );
01571
01572
01573
01574 VECTORMATH_FORCE_INLINE const Quat operator *( const floatInVec &scalar, const Quat &quat );
01575
01576
01577
01578 VECTORMATH_FORCE_INLINE const Quat conj( const Quat &quat );
01579
01580
01581
01582 VECTORMATH_FORCE_INLINE const Vector3 rotate( const Quat &unitQuat, const Vector3 &vec );
01583
01584
01585
01586 VECTORMATH_FORCE_INLINE const floatInVec dot( const Quat &quat0, const Quat &quat1 );
01587
01588
01589
01590 VECTORMATH_FORCE_INLINE const floatInVec norm( const Quat &quat );
01591
01592
01593
01594 VECTORMATH_FORCE_INLINE const floatInVec length( const Quat &quat );
01595
01596
01597
01598
01599
01600 VECTORMATH_FORCE_INLINE const Quat normalize( const Quat &quat );
01601
01602
01603
01604
01605
01606 VECTORMATH_FORCE_INLINE const Quat lerp( float t, const Quat &quat0, const Quat &quat1 );
01607
01608
01609
01610
01611
01612 VECTORMATH_FORCE_INLINE const Quat lerp( const floatInVec &t, const Quat &quat0, const Quat &quat1 );
01613
01614
01615
01616
01617
01618
01619 VECTORMATH_FORCE_INLINE const Quat slerp( float t, const Quat &unitQuat0, const Quat &unitQuat1 );
01620
01621
01622
01623
01624
01625
01626 VECTORMATH_FORCE_INLINE const Quat slerp( const floatInVec &t, const Quat &unitQuat0, const Quat &unitQuat1 );
01627
01628
01629
01630 VECTORMATH_FORCE_INLINE const Quat squad( float t, const Quat &unitQuat0, const Quat &unitQuat1, const Quat &unitQuat2, const Quat &unitQuat3 );
01631
01632
01633
01634 VECTORMATH_FORCE_INLINE const Quat squad( const floatInVec &t, const Quat &unitQuat0, const Quat &unitQuat1, const Quat &unitQuat2, const Quat &unitQuat3 );
01635
01636
01637
01638
01639
01640
01641
01642 VECTORMATH_FORCE_INLINE const Quat select( const Quat &quat0, const Quat &quat1, bool select1 );
01643
01644
01645
01646
01647
01648 VECTORMATH_FORCE_INLINE const Quat select( const Quat &quat0, const Quat &quat1, const boolInVec &select1 );
01649
01650 #ifdef _VECTORMATH_DEBUG
01651
01652
01653
01654
01655
01656 VECTORMATH_FORCE_INLINE void print( const Quat &quat );
01657
01658
01659
01660
01661
01662 VECTORMATH_FORCE_INLINE void print( const Quat &quat, const char * name );
01663
01664 #endif
01665
01666
01667
01668 class Matrix3
01669 {
01670 Vector3 mCol0;
01671 Vector3 mCol1;
01672 Vector3 mCol2;
01673
01674 public:
01675
01676
01677 VECTORMATH_FORCE_INLINE Matrix3( ) { };
01678
01679
01680
01681 VECTORMATH_FORCE_INLINE Matrix3( const Matrix3 & mat );
01682
01683
01684
01685 VECTORMATH_FORCE_INLINE Matrix3( const Vector3 &col0, const Vector3 &col1, const Vector3 &col2 );
01686
01687
01688
01689 explicit VECTORMATH_FORCE_INLINE Matrix3( const Quat &unitQuat );
01690
01691
01692
01693 explicit VECTORMATH_FORCE_INLINE Matrix3( float scalar );
01694
01695
01696
01697 explicit VECTORMATH_FORCE_INLINE Matrix3( const floatInVec &scalar );
01698
01699
01700
01701 VECTORMATH_FORCE_INLINE Matrix3 & operator =( const Matrix3 & mat );
01702
01703
01704
01705 VECTORMATH_FORCE_INLINE Matrix3 & setCol0( const Vector3 &col0 );
01706
01707
01708
01709 VECTORMATH_FORCE_INLINE Matrix3 & setCol1( const Vector3 &col1 );
01710
01711
01712
01713 VECTORMATH_FORCE_INLINE Matrix3 & setCol2( const Vector3 &col2 );
01714
01715
01716
01717 VECTORMATH_FORCE_INLINE const Vector3 getCol0( ) const;
01718
01719
01720
01721 VECTORMATH_FORCE_INLINE const Vector3 getCol1( ) const;
01722
01723
01724
01725 VECTORMATH_FORCE_INLINE const Vector3 getCol2( ) const;
01726
01727
01728
01729 VECTORMATH_FORCE_INLINE Matrix3 & setCol( int col, const Vector3 &vec );
01730
01731
01732
01733 VECTORMATH_FORCE_INLINE Matrix3 & setRow( int row, const Vector3 &vec );
01734
01735
01736
01737 VECTORMATH_FORCE_INLINE const Vector3 getCol( int col ) const;
01738
01739
01740
01741 VECTORMATH_FORCE_INLINE const Vector3 getRow( int row ) const;
01742
01743
01744
01745 VECTORMATH_FORCE_INLINE Vector3 & operator []( int col );
01746
01747
01748
01749 VECTORMATH_FORCE_INLINE const Vector3 operator []( int col ) const;
01750
01751
01752
01753 VECTORMATH_FORCE_INLINE Matrix3 & setElem( int col, int row, float val );
01754
01755
01756
01757 VECTORMATH_FORCE_INLINE Matrix3 & setElem( int col, int row, const floatInVec &val );
01758
01759
01760
01761 VECTORMATH_FORCE_INLINE const floatInVec getElem( int col, int row ) const;
01762
01763
01764
01765 VECTORMATH_FORCE_INLINE const Matrix3 operator +( const Matrix3 & mat ) const;
01766
01767
01768
01769 VECTORMATH_FORCE_INLINE const Matrix3 operator -( const Matrix3 & mat ) const;
01770
01771
01772
01773 VECTORMATH_FORCE_INLINE const Matrix3 operator -( ) const;
01774
01775
01776
01777 VECTORMATH_FORCE_INLINE const Matrix3 operator *( float scalar ) const;
01778
01779
01780
01781 VECTORMATH_FORCE_INLINE const Matrix3 operator *( const floatInVec &scalar ) const;
01782
01783
01784
01785 VECTORMATH_FORCE_INLINE const Vector3 operator *( const Vector3 &vec ) const;
01786
01787
01788
01789 VECTORMATH_FORCE_INLINE const Matrix3 operator *( const Matrix3 & mat ) const;
01790
01791
01792
01793 VECTORMATH_FORCE_INLINE Matrix3 & operator +=( const Matrix3 & mat );
01794
01795
01796
01797 VECTORMATH_FORCE_INLINE Matrix3 & operator -=( const Matrix3 & mat );
01798
01799
01800
01801 VECTORMATH_FORCE_INLINE Matrix3 & operator *=( float scalar );
01802
01803
01804
01805 VECTORMATH_FORCE_INLINE Matrix3 & operator *=( const floatInVec &scalar );
01806
01807
01808
01809 VECTORMATH_FORCE_INLINE Matrix3 & operator *=( const Matrix3 & mat );
01810
01811
01812
01813 static VECTORMATH_FORCE_INLINE const Matrix3 identity( );
01814
01815
01816
01817 static VECTORMATH_FORCE_INLINE const Matrix3 rotationX( float radians );
01818
01819
01820
01821 static VECTORMATH_FORCE_INLINE const Matrix3 rotationY( float radians );
01822
01823
01824
01825 static VECTORMATH_FORCE_INLINE const Matrix3 rotationZ( float radians );
01826
01827
01828
01829 static VECTORMATH_FORCE_INLINE const Matrix3 rotationX( const floatInVec &radians );
01830
01831
01832
01833 static VECTORMATH_FORCE_INLINE const Matrix3 rotationY( const floatInVec &radians );
01834
01835
01836
01837 static VECTORMATH_FORCE_INLINE const Matrix3 rotationZ( const floatInVec &radians );
01838
01839
01840
01841 static VECTORMATH_FORCE_INLINE const Matrix3 rotationZYX( const Vector3 &radiansXYZ );
01842
01843
01844
01845 static VECTORMATH_FORCE_INLINE const Matrix3 rotation( float radians, const Vector3 &unitVec );
01846
01847
01848
01849 static VECTORMATH_FORCE_INLINE const Matrix3 rotation( const floatInVec &radians, const Vector3 &unitVec );
01850
01851
01852
01853 static VECTORMATH_FORCE_INLINE const Matrix3 rotation( const Quat &unitQuat );
01854
01855
01856
01857 static VECTORMATH_FORCE_INLINE const Matrix3 scale( const Vector3 &scaleVec );
01858
01859 };
01860
01861
01862 VECTORMATH_FORCE_INLINE const Matrix3 operator *( float scalar, const Matrix3 & mat );
01863
01864
01865
01866 VECTORMATH_FORCE_INLINE const Matrix3 operator *( const floatInVec &scalar, const Matrix3 & mat );
01867
01868
01869
01870
01871
01872 VECTORMATH_FORCE_INLINE const Matrix3 appendScale( const Matrix3 & mat, const Vector3 &scaleVec );
01873
01874
01875
01876
01877
01878 VECTORMATH_FORCE_INLINE const Matrix3 prependScale( const Vector3 &scaleVec, const Matrix3 & mat );
01879
01880
01881
01882 VECTORMATH_FORCE_INLINE const Matrix3 mulPerElem( const Matrix3 & mat0, const Matrix3 & mat1 );
01883
01884
01885
01886 VECTORMATH_FORCE_INLINE const Matrix3 absPerElem( const Matrix3 & mat );
01887
01888
01889
01890 VECTORMATH_FORCE_INLINE const Matrix3 transpose( const Matrix3 & mat );
01891
01892
01893
01894
01895
01896 VECTORMATH_FORCE_INLINE const Matrix3 inverse( const Matrix3 & mat );
01897
01898
01899
01900 VECTORMATH_FORCE_INLINE const floatInVec determinant( const Matrix3 & mat );
01901
01902
01903
01904
01905
01906
01907
01908 VECTORMATH_FORCE_INLINE const Matrix3 select( const Matrix3 & mat0, const Matrix3 & mat1, bool select1 );
01909
01910
01911
01912
01913
01914 VECTORMATH_FORCE_INLINE const Matrix3 select( const Matrix3 & mat0, const Matrix3 & mat1, const boolInVec &select1 );
01915
01916 #ifdef _VECTORMATH_DEBUG
01917
01918
01919
01920
01921
01922 VECTORMATH_FORCE_INLINE void print( const Matrix3 & mat );
01923
01924
01925
01926
01927
01928 VECTORMATH_FORCE_INLINE void print( const Matrix3 & mat, const char * name );
01929
01930 #endif
01931
01932
01933
01934 class Matrix4
01935 {
01936 Vector4 mCol0;
01937 Vector4 mCol1;
01938 Vector4 mCol2;
01939 Vector4 mCol3;
01940
01941 public:
01942
01943
01944 VECTORMATH_FORCE_INLINE Matrix4( ) { };
01945
01946
01947
01948 VECTORMATH_FORCE_INLINE Matrix4( const Matrix4 & mat );
01949
01950
01951
01952 VECTORMATH_FORCE_INLINE Matrix4( const Vector4 &col0, const Vector4 &col1, const Vector4 &col2, const Vector4 &col3 );
01953
01954
01955
01956 explicit VECTORMATH_FORCE_INLINE Matrix4( const Transform3 & mat );
01957
01958
01959
01960 VECTORMATH_FORCE_INLINE Matrix4( const Matrix3 & mat, const Vector3 &translateVec );
01961
01962
01963
01964 VECTORMATH_FORCE_INLINE Matrix4( const Quat &unitQuat, const Vector3 &translateVec );
01965
01966
01967
01968 explicit VECTORMATH_FORCE_INLINE Matrix4( float scalar );
01969
01970
01971
01972 explicit VECTORMATH_FORCE_INLINE Matrix4( const floatInVec &scalar );
01973
01974
01975
01976 VECTORMATH_FORCE_INLINE Matrix4 & operator =( const Matrix4 & mat );
01977
01978
01979
01980
01981
01982 VECTORMATH_FORCE_INLINE Matrix4 & setUpper3x3( const Matrix3 & mat3 );
01983
01984
01985
01986 VECTORMATH_FORCE_INLINE const Matrix3 getUpper3x3( ) const;
01987
01988
01989
01990
01991
01992 VECTORMATH_FORCE_INLINE Matrix4 & setTranslation( const Vector3 &translateVec );
01993
01994
01995
01996 VECTORMATH_FORCE_INLINE const Vector3 getTranslation( ) const;
01997
01998
01999
02000 VECTORMATH_FORCE_INLINE Matrix4 & setCol0( const Vector4 &col0 );
02001
02002
02003
02004 VECTORMATH_FORCE_INLINE Matrix4 & setCol1( const Vector4 &col1 );
02005
02006
02007
02008 VECTORMATH_FORCE_INLINE Matrix4 & setCol2( const Vector4 &col2 );
02009
02010
02011
02012 VECTORMATH_FORCE_INLINE Matrix4 & setCol3( const Vector4 &col3 );
02013
02014
02015
02016 VECTORMATH_FORCE_INLINE const Vector4 getCol0( ) const;
02017
02018
02019
02020 VECTORMATH_FORCE_INLINE const Vector4 getCol1( ) const;
02021
02022
02023
02024 VECTORMATH_FORCE_INLINE const Vector4 getCol2( ) const;
02025
02026
02027
02028 VECTORMATH_FORCE_INLINE const Vector4 getCol3( ) const;
02029
02030
02031
02032 VECTORMATH_FORCE_INLINE Matrix4 & setCol( int col, const Vector4 &vec );
02033
02034
02035
02036 VECTORMATH_FORCE_INLINE Matrix4 & setRow( int row, const Vector4 &vec );
02037
02038
02039
02040 VECTORMATH_FORCE_INLINE const Vector4 getCol( int col ) const;
02041
02042
02043
02044 VECTORMATH_FORCE_INLINE const Vector4 getRow( int row ) const;
02045
02046
02047
02048 VECTORMATH_FORCE_INLINE Vector4 & operator []( int col );
02049
02050
02051
02052 VECTORMATH_FORCE_INLINE const Vector4 operator []( int col ) const;
02053
02054
02055
02056 VECTORMATH_FORCE_INLINE Matrix4 & setElem( int col, int row, float val );
02057
02058
02059
02060 VECTORMATH_FORCE_INLINE Matrix4 & setElem( int col, int row, const floatInVec &val );
02061
02062
02063
02064 VECTORMATH_FORCE_INLINE const floatInVec getElem( int col, int row ) const;
02065
02066
02067
02068 VECTORMATH_FORCE_INLINE const Matrix4 operator +( const Matrix4 & mat ) const;
02069
02070
02071
02072 VECTORMATH_FORCE_INLINE const Matrix4 operator -( const Matrix4 & mat ) const;
02073
02074
02075
02076 VECTORMATH_FORCE_INLINE const Matrix4 operator -( ) const;
02077
02078
02079
02080 VECTORMATH_FORCE_INLINE const Matrix4 operator *( float scalar ) const;
02081
02082
02083
02084 VECTORMATH_FORCE_INLINE const Matrix4 operator *( const floatInVec &scalar ) const;
02085
02086
02087
02088 VECTORMATH_FORCE_INLINE const Vector4 operator *( const Vector4 &vec ) const;
02089
02090
02091
02092 VECTORMATH_FORCE_INLINE const Vector4 operator *( const Vector3 &vec ) const;
02093
02094
02095
02096 VECTORMATH_FORCE_INLINE const Vector4 operator *( const Point3 &pnt ) const;
02097
02098
02099
02100 VECTORMATH_FORCE_INLINE const Matrix4 operator *( const Matrix4 & mat ) const;
02101
02102
02103
02104 VECTORMATH_FORCE_INLINE const Matrix4 operator *( const Transform3 & tfrm ) const;
02105
02106
02107
02108 VECTORMATH_FORCE_INLINE Matrix4 & operator +=( const Matrix4 & mat );
02109
02110
02111
02112 VECTORMATH_FORCE_INLINE Matrix4 & operator -=( const Matrix4 & mat );
02113
02114
02115
02116 VECTORMATH_FORCE_INLINE Matrix4 & operator *=( float scalar );
02117
02118
02119
02120 VECTORMATH_FORCE_INLINE Matrix4 & operator *=( const floatInVec &scalar );
02121
02122
02123
02124 VECTORMATH_FORCE_INLINE Matrix4 & operator *=( const Matrix4 & mat );
02125
02126
02127
02128 VECTORMATH_FORCE_INLINE Matrix4 & operator *=( const Transform3 & tfrm );
02129
02130
02131
02132 static VECTORMATH_FORCE_INLINE const Matrix4 identity( );
02133
02134
02135
02136 static VECTORMATH_FORCE_INLINE const Matrix4 rotationX( float radians );
02137
02138
02139
02140 static VECTORMATH_FORCE_INLINE const Matrix4 rotationY( float radians );
02141
02142
02143
02144 static VECTORMATH_FORCE_INLINE const Matrix4 rotationZ( float radians );
02145
02146
02147
02148 static VECTORMATH_FORCE_INLINE const Matrix4 rotationX( const floatInVec &radians );
02149
02150
02151
02152 static VECTORMATH_FORCE_INLINE const Matrix4 rotationY( const floatInVec &radians );
02153
02154
02155
02156 static VECTORMATH_FORCE_INLINE const Matrix4 rotationZ( const floatInVec &radians );
02157
02158
02159
02160 static VECTORMATH_FORCE_INLINE const Matrix4 rotationZYX( const Vector3 &radiansXYZ );
02161
02162
02163
02164 static VECTORMATH_FORCE_INLINE const Matrix4 rotation( float radians, const Vector3 &unitVec );
02165
02166
02167
02168 static VECTORMATH_FORCE_INLINE const Matrix4 rotation( const floatInVec &radians, const Vector3 &unitVec );
02169
02170
02171
02172 static VECTORMATH_FORCE_INLINE const Matrix4 rotation( const Quat &unitQuat );
02173
02174
02175
02176 static VECTORMATH_FORCE_INLINE const Matrix4 scale( const Vector3 &scaleVec );
02177
02178
02179
02180 static VECTORMATH_FORCE_INLINE const Matrix4 translation( const Vector3 &translateVec );
02181
02182
02183
02184 static VECTORMATH_FORCE_INLINE const Matrix4 lookAt( const Point3 &eyePos, const Point3 &lookAtPos, const Vector3 &upVec );
02185
02186
02187
02188 static VECTORMATH_FORCE_INLINE const Matrix4 perspective( float fovyRadians, float aspect, float zNear, float zFar );
02189
02190
02191
02192 static VECTORMATH_FORCE_INLINE const Matrix4 frustum( float left, float right, float bottom, float top, float zNear, float zFar );
02193
02194
02195
02196 static VECTORMATH_FORCE_INLINE const Matrix4 orthographic( float left, float right, float bottom, float top, float zNear, float zFar );
02197
02198 };
02199
02200
02201 VECTORMATH_FORCE_INLINE const Matrix4 operator *( float scalar, const Matrix4 & mat );
02202
02203
02204
02205 VECTORMATH_FORCE_INLINE const Matrix4 operator *( const floatInVec &scalar, const Matrix4 & mat );
02206
02207
02208
02209
02210
02211 VECTORMATH_FORCE_INLINE const Matrix4 appendScale( const Matrix4 & mat, const Vector3 &scaleVec );
02212
02213
02214
02215
02216
02217 VECTORMATH_FORCE_INLINE const Matrix4 prependScale( const Vector3 &scaleVec, const Matrix4 & mat );
02218
02219
02220
02221 VECTORMATH_FORCE_INLINE const Matrix4 mulPerElem( const Matrix4 & mat0, const Matrix4 & mat1 );
02222
02223
02224
02225 VECTORMATH_FORCE_INLINE const Matrix4 absPerElem( const Matrix4 & mat );
02226
02227
02228
02229 VECTORMATH_FORCE_INLINE const Matrix4 transpose( const Matrix4 & mat );
02230
02231
02232
02233
02234
02235 VECTORMATH_FORCE_INLINE const Matrix4 inverse( const Matrix4 & mat );
02236
02237
02238
02239
02240
02241 VECTORMATH_FORCE_INLINE const Matrix4 affineInverse( const Matrix4 & mat );
02242
02243
02244
02245
02246
02247 VECTORMATH_FORCE_INLINE const Matrix4 orthoInverse( const Matrix4 & mat );
02248
02249
02250
02251 VECTORMATH_FORCE_INLINE const floatInVec determinant( const Matrix4 & mat );
02252
02253
02254
02255
02256
02257
02258
02259 VECTORMATH_FORCE_INLINE const Matrix4 select( const Matrix4 & mat0, const Matrix4 & mat1, bool select1 );
02260
02261
02262
02263
02264
02265 VECTORMATH_FORCE_INLINE const Matrix4 select( const Matrix4 & mat0, const Matrix4 & mat1, const boolInVec &select1 );
02266
02267 #ifdef _VECTORMATH_DEBUG
02268
02269
02270
02271
02272
02273 VECTORMATH_FORCE_INLINE void print( const Matrix4 & mat );
02274
02275
02276
02277
02278
02279 VECTORMATH_FORCE_INLINE void print( const Matrix4 & mat, const char * name );
02280
02281 #endif
02282
02283
02284
02285 class Transform3
02286 {
02287 Vector3 mCol0;
02288 Vector3 mCol1;
02289 Vector3 mCol2;
02290 Vector3 mCol3;
02291
02292 public:
02293
02294
02295 VECTORMATH_FORCE_INLINE Transform3( ) { };
02296
02297
02298
02299 VECTORMATH_FORCE_INLINE Transform3( const Transform3 & tfrm );
02300
02301
02302
02303 VECTORMATH_FORCE_INLINE Transform3( const Vector3 &col0, const Vector3 &col1, const Vector3 &col2, const Vector3 &col3 );
02304
02305
02306
02307 VECTORMATH_FORCE_INLINE Transform3( const Matrix3 & tfrm, const Vector3 &translateVec );
02308
02309
02310
02311 VECTORMATH_FORCE_INLINE Transform3( const Quat &unitQuat, const Vector3 &translateVec );
02312
02313
02314
02315 explicit VECTORMATH_FORCE_INLINE Transform3( float scalar );
02316
02317
02318
02319 explicit VECTORMATH_FORCE_INLINE Transform3( const floatInVec &scalar );
02320
02321
02322
02323 VECTORMATH_FORCE_INLINE Transform3 & operator =( const Transform3 & tfrm );
02324
02325
02326
02327 VECTORMATH_FORCE_INLINE Transform3 & setUpper3x3( const Matrix3 & mat3 );
02328
02329
02330
02331 VECTORMATH_FORCE_INLINE const Matrix3 getUpper3x3( ) const;
02332
02333
02334
02335 VECTORMATH_FORCE_INLINE Transform3 & setTranslation( const Vector3 &translateVec );
02336
02337
02338
02339 VECTORMATH_FORCE_INLINE const Vector3 getTranslation( ) const;
02340
02341
02342
02343 VECTORMATH_FORCE_INLINE Transform3 & setCol0( const Vector3 &col0 );
02344
02345
02346
02347 VECTORMATH_FORCE_INLINE Transform3 & setCol1( const Vector3 &col1 );
02348
02349
02350
02351 VECTORMATH_FORCE_INLINE Transform3 & setCol2( const Vector3 &col2 );
02352
02353
02354
02355 VECTORMATH_FORCE_INLINE Transform3 & setCol3( const Vector3 &col3 );
02356
02357
02358
02359 VECTORMATH_FORCE_INLINE const Vector3 getCol0( ) const;
02360
02361
02362
02363 VECTORMATH_FORCE_INLINE const Vector3 getCol1( ) const;
02364
02365
02366
02367 VECTORMATH_FORCE_INLINE const Vector3 getCol2( ) const;
02368
02369
02370
02371 VECTORMATH_FORCE_INLINE const Vector3 getCol3( ) const;
02372
02373
02374
02375 VECTORMATH_FORCE_INLINE Transform3 & setCol( int col, const Vector3 &vec );
02376
02377
02378
02379 VECTORMATH_FORCE_INLINE Transform3 & setRow( int row, const Vector4 &vec );
02380
02381
02382
02383 VECTORMATH_FORCE_INLINE const Vector3 getCol( int col ) const;
02384
02385
02386
02387 VECTORMATH_FORCE_INLINE const Vector4 getRow( int row ) const;
02388
02389
02390
02391 VECTORMATH_FORCE_INLINE Vector3 & operator []( int col );
02392
02393
02394
02395 VECTORMATH_FORCE_INLINE const Vector3 operator []( int col ) const;
02396
02397
02398
02399 VECTORMATH_FORCE_INLINE Transform3 & setElem( int col, int row, float val );
02400
02401
02402
02403 VECTORMATH_FORCE_INLINE Transform3 & setElem( int col, int row, const floatInVec &val );
02404
02405
02406
02407 VECTORMATH_FORCE_INLINE const floatInVec getElem( int col, int row ) const;
02408
02409
02410
02411 VECTORMATH_FORCE_INLINE const Vector3 operator *( const Vector3 &vec ) const;
02412
02413
02414
02415 VECTORMATH_FORCE_INLINE const Point3 operator *( const Point3 &pnt ) const;
02416
02417
02418
02419 VECTORMATH_FORCE_INLINE const Transform3 operator *( const Transform3 & tfrm ) const;
02420
02421
02422
02423 VECTORMATH_FORCE_INLINE Transform3 & operator *=( const Transform3 & tfrm );
02424
02425
02426
02427 static VECTORMATH_FORCE_INLINE const Transform3 identity( );
02428
02429
02430
02431 static VECTORMATH_FORCE_INLINE const Transform3 rotationX( float radians );
02432
02433
02434
02435 static VECTORMATH_FORCE_INLINE const Transform3 rotationY( float radians );
02436
02437
02438
02439 static VECTORMATH_FORCE_INLINE const Transform3 rotationZ( float radians );
02440
02441
02442
02443 static VECTORMATH_FORCE_INLINE const Transform3 rotationX( const floatInVec &radians );
02444
02445
02446
02447 static VECTORMATH_FORCE_INLINE const Transform3 rotationY( const floatInVec &radians );
02448
02449
02450
02451 static VECTORMATH_FORCE_INLINE const Transform3 rotationZ( const floatInVec &radians );
02452
02453
02454
02455 static VECTORMATH_FORCE_INLINE const Transform3 rotationZYX( const Vector3 &radiansXYZ );
02456
02457
02458
02459 static VECTORMATH_FORCE_INLINE const Transform3 rotation( float radians, const Vector3 &unitVec );
02460
02461
02462
02463 static VECTORMATH_FORCE_INLINE const Transform3 rotation( const floatInVec &radians, const Vector3 &unitVec );
02464
02465
02466
02467 static VECTORMATH_FORCE_INLINE const Transform3 rotation( const Quat &unitQuat );
02468
02469
02470
02471 static VECTORMATH_FORCE_INLINE const Transform3 scale( const Vector3 &scaleVec );
02472
02473
02474
02475 static VECTORMATH_FORCE_INLINE const Transform3 translation( const Vector3 &translateVec );
02476
02477 };
02478
02479
02480
02481
02482 VECTORMATH_FORCE_INLINE const Transform3 appendScale( const Transform3 & tfrm, const Vector3 &scaleVec );
02483
02484
02485
02486
02487
02488 VECTORMATH_FORCE_INLINE const Transform3 prependScale( const Vector3 &scaleVec, const Transform3 & tfrm );
02489
02490
02491
02492 VECTORMATH_FORCE_INLINE const Transform3 mulPerElem( const Transform3 & tfrm0, const Transform3 & tfrm1 );
02493
02494
02495
02496 VECTORMATH_FORCE_INLINE const Transform3 absPerElem( const Transform3 & tfrm );
02497
02498
02499
02500
02501
02502 VECTORMATH_FORCE_INLINE const Transform3 inverse( const Transform3 & tfrm );
02503
02504
02505
02506
02507
02508 VECTORMATH_FORCE_INLINE const Transform3 orthoInverse( const Transform3 & tfrm );
02509
02510
02511
02512
02513
02514
02515
02516 VECTORMATH_FORCE_INLINE const Transform3 select( const Transform3 & tfrm0, const Transform3 & tfrm1, bool select1 );
02517
02518
02519
02520
02521
02522 VECTORMATH_FORCE_INLINE const Transform3 select( const Transform3 & tfrm0, const Transform3 & tfrm1, const boolInVec &select1 );
02523
02524 #ifdef _VECTORMATH_DEBUG
02525
02526
02527
02528
02529
02530 VECTORMATH_FORCE_INLINE void print( const Transform3 & tfrm );
02531
02532
02533
02534
02535
02536 VECTORMATH_FORCE_INLINE void print( const Transform3 & tfrm, const char * name );
02537
02538 #endif
02539
02540 }
02541 }
02542
02543 #include "vec_aos.h"
02544 #include "quat_aos.h"
02545 #include "mat_aos.h"
02546
02547 #endif