matrix.h

#ifndef VN_MATRIX_H_INCLUDED
#define VN_MATRIX_H_INCLUDED

#include "vn/util/compiler.h"

#ifdef __cplusplus
extern "C" {
#endif

typedef union
{
    float e[3*3];   
    /* Check if the compiler supports anonymous unions. */
    #if defined(__STDC_VERSION___) && (__STDC_VERSION__ >= 201112L) &&  defined(__GNUC__)

    struct
    {
        float e00;  
        float e10;  
        float e20;  
        float e01;  
        float e11;  
        float e21;  
        float e02;  
        float e12;  
        float e22;  
    };

    #endif

} mat3f;

typedef union
{
    float c[4];     
    /* Check if the compiler supports anonymous unions. */
    #if defined(__STDC_VERSION___) && (__STDC_VERSION__ >= 201112L) &&  defined(__GNUC__)

    struct
    {
        float x;    
        float y;    
        float z;    
        float w;    
    };

    struct
    {
        float c0;   
        float c1;   
        float c2;   
        float c3;   
    };

    #endif

} quatf;

void vn_m3_init_fa(mat3f* m, const float* fa);

void strFromMat3f(char* out, mat3f m);

mat3f vnm_negative_mat3f(mat3f m);

#ifdef __cplusplus
}
#endif

#endif