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vnproglib/c/include/vn/math/matrix.h

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+#ifndef VN_MATRIX_H_INCLUDED
+#define VN_MATRIX_H_INCLUDED
+
+#include "vn/util/compiler.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/** \brief Represents a 3x3 matrix with an underlying data type of <c>float</c>. */
+typedef union
+{
+	float e[3*3];	/**< The matrix's elements in column-major ordering. */
+
+	/* Check if the compiler supports anonymous unions. */
+	#if defined(__STDC_VERSION___) && (__STDC_VERSION__ >= 201112L) &&  defined(__GNUC__)
+
+	struct
+	{
+		float e00;	/**< Element [0,0]. */
+		float e10;	/**< Element [1,0]. */
+		float e20;	/**< Element [2,0]. */
+		float e01;	/**< Element [0,1]. */
+		float e11;	/**< Element [1,1]. */
+		float e21;	/**< Element [2,1]. */
+		float e02;	/**< Element [0,2]. */
+		float e12;	/**< Element [1,2]. */
+		float e22;	/**< Element [2,2]. */
+	};
+
+	#endif
+
+} mat3f;
+
+/** \brief Represents a quaternion reading with underlying data type of <c>float</c>. */
+typedef union
+{
+	float c[4];		/**< Indexable. */
+
+	/* Check if the compiler supports anonymous unions. */
+	#if defined(__STDC_VERSION___) && (__STDC_VERSION__ >= 201112L) &&  defined(__GNUC__)
+
+	struct
+	{
+		float x;	/**< The x component. */
+		float y;	/**< The y component. */
+		float z;	/**< The z component. */
+		float w;	/**< The w component. */
+	};
+
+	struct
+	{
+		float c0;	/**< Component 0. */
+		float c1;	/**< Component 1. */
+		float c2;	/**< Component 2. */
+		float c3;	/**< Component 2. */
+	};
+
+	#endif
+
+} quatf;
+
+/** \brief Initializes a 3x3 float matrix from an float array with matrix
+  * elements in column-major ordering.
+  *
+  * \param[out] m 3x3 float matrix to initialize
+  * \param[in] fa float array containing a 3x3 matrix in column-major order */
+void vn_m3_init_fa(mat3f* m, const float* fa);
+
+/** \brief Converts a mat3f to a string.
+*
+* \param[out] out The char buffer to output the result to.
+* \param[in] m The mat3f to convert.
+*/
+void strFromMat3f(char* out, mat3f m);
+
+/** \brief Negates a mat3f.
+* \param[in] m Matrix to negate.
+* \return Negated matrix. */
+mat3f vnm_negative_mat3f(mat3f m);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
+