mat4.h

/*
Copyright (c) 2008, Luke Benstead.
All rights reserved.

Redistribution and use in source and binary forms, with or without modification,
are permitted provided that the following conditions are met:

    * Redistributions of source code must retain the above copyright notice,
      this list of conditions and the following disclaimer.
    * Redistributions in binary form must reproduce the above copyright notice,
      this list of conditions and the following disclaimer in the documentation
      and/or other materials provided with the distribution.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/

#ifndef MAT4_H_INCLUDED
#define MAT4_H_INCLUDED

#include "utility.h"

struct kmVec3;
struct kmMat3;
struct kmQuaternion;

/*
A 4x4 matrix

        | 0   4   8  12 |
mat = | 1   5   9  13 |
        | 2   6  10  14 |
        | 3   7  11  15 |
*/

#ifdef __cplusplus
extern "C" {
#endif

typedef struct kmMat4 {
	kmScalar mat[16];
} kmMat4;

kmMat4* const kmMat4Fill(kmMat4* pOut, const kmScalar* pMat);


kmMat4* const kmMat4Identity(kmMat4* pOut);

kmMat4* const kmMat4Inverse(kmMat4* pOut, const kmMat4* pM);


const int kmMat4IsIdentity(const kmMat4* pIn);

kmMat4* const kmMat4Transpose(kmMat4* pOut, const kmMat4* pIn);
kmMat4* const kmMat4Multiply(kmMat4* pOut, const kmMat4* pM1, const kmMat4* pM2);

kmMat4* const kmMat4Assign(kmMat4* pOut, const kmMat4* pIn);
const int kmMat4AreEqual(const kmMat4* pM1, const kmMat4* pM2);

kmMat4* const kmMat4RotationX(kmMat4* pOut, const kmScalar radians);
kmMat4* const kmMat4RotationY(kmMat4* pOut, const kmScalar radians);
kmMat4* const kmMat4RotationZ(kmMat4* pOut, const kmScalar radians);
kmMat4* const kmMat4RotationPitchYawRoll(kmMat4* pOut, const kmScalar pitch, const kmScalar yaw, const kmScalar roll);
kmMat4* const kmMat4RotationQuaternion(kmMat4* pOut, const struct kmQuaternion* pQ);
kmMat4* const kmMat4RotationTranslation(kmMat4* pOut, const struct kmMat3* rotation, const struct kmVec3* translation);
kmMat4* const kmMat4Scaling(kmMat4* pOut, const kmScalar x, const kmScalar y, const kmScalar z);
kmMat4* const kmMat4Translation(kmMat4* pOut, const kmScalar x, const kmScalar y, const kmScalar z);

struct kmVec3* const kmMat4GetUpVec3(struct kmVec3* pOut, const kmMat4* pIn);
struct kmVec3* const kmMat4GetRightVec3(struct kmVec3* pOut, const kmMat4* pIn);
struct kmVec3* const kmMat4GetForwardVec3(struct kmVec3* pOut, const kmMat4* pIn);

kmMat4* const kmMat4PerspectiveProjection(kmMat4* pOut, kmScalar fovY, kmScalar aspect, kmScalar zNear, kmScalar zFar);
kmMat4* const kmMat4OrthographicProjection(kmMat4* pOut, kmScalar left, kmScalar right, kmScalar bottom, kmScalar top, kmScalar nearVal, kmScalar farVal);
kmMat4* const kmMat4LookAt(kmMat4* pOut, const struct kmVec3* pEye, const struct kmVec3* pCenter, const struct kmVec3* pUp);

kmMat4* const kmMat4RotationAxisAngle(kmMat4* pOut, const struct kmVec3* axis, kmScalar radians);
struct kmMat3* const kmMat4ExtractRotation(struct kmMat3* pOut, const kmMat4* pIn);
struct kmVec3* const kmMat4RotationToAxisAngle(struct kmVec3* pAxis, kmScalar* radians, const kmMat4* pIn);
#ifdef __cplusplus
}
#endif
#endif /* MAT4_H_INCLUDED */