1 /*
2  * Copyright (C) 2016 The Android Open Source Project
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  *      http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  */
16 
17 #ifndef MAT_H_
18 
19 #define MAT_H_
20 
21 #include "vec.h"
22 #include <stdint.h>
23 #include <sys/types.h>
24 
25 #ifdef __cplusplus
26 extern "C" {
27 #endif
28 
29 struct Mat33 {
30     float elem[3][3];
31 
32 };
33 
34 struct Size3 {
35     uint32_t elem[3];
36 
37 };
38 
39 struct Mat44 {
40     float elem[4][4];
41 
42 };
43 
44 struct Size4 {
45     uint32_t elem[4];
46 
47 };
48 
49 void initZeroMatrix(struct Mat33 *A);
50 void initDiagonalMatrix(struct Mat33 *A, float x);
51 
52 void initMatrixColumns(
53         struct Mat33 *A, const struct Vec3 *v1, const struct Vec3 *v2, const struct Vec3 *v3);
54 
55 void mat33Apply(struct Vec3 *out, const struct Mat33 *A, const struct Vec3 *v);
56 void mat33Multiply(struct Mat33 *out, const struct Mat33 *A, const struct Mat33 *B);
57 void mat33ScalarMul(struct Mat33 *A, float c);
58 
59 void mat33Add(struct Mat33 *out, const struct Mat33 *A);
60 void mat33Sub(struct Mat33 *out, const struct Mat33 *A);
61 
62 int mat33IsPositiveSemidefinite(const struct Mat33 *A, float tolerance);
63 
64 // out = A^(-1)
65 void mat33Invert(struct Mat33 *out, const struct Mat33 *A);
66 
67 // out = A^T B
68 void mat33MultiplyTransposed(
69         struct Mat33 *out, const struct Mat33 *A, const struct Mat33 *B);
70 
71 // out = A B^T
72 void mat33MultiplyTransposed2(
73         struct Mat33 *out, const struct Mat33 *A, const struct Mat33 *B);
74 
75 // out = A^T
76 void mat33Transpose(struct Mat33 *out, const struct Mat33 *A);
77 
78 void mat33DecomposeLup(struct Mat33 *LU, struct Size3 *pivot);
79 
80 void mat33SwapRows(struct Mat33 *A, const uint32_t i, const uint32_t j);
81 
82 void mat33Solve(const struct Mat33 *A, struct Vec3 *x, const struct Vec3 *b, const struct Size3 *pivot);
83 
84 void mat33GetEigenbasis(struct Mat33 *S, struct Vec3 *eigenvals, struct Mat33 *eigenvecs);
85 
86 uint32_t mat33Maxind(const struct Mat33 *A, uint32_t k);
87 
88 void mat33Rotate(struct Mat33 *A, float c, float s, uint32_t k, uint32_t l, uint32_t i, uint32_t j);
89 
90 void mat44Apply(struct Vec4 *out, const struct Mat44 *A, const struct Vec4 *v);
91 
92 void mat44DecomposeLup(struct Mat44 *LU, struct Size4 *pivot);
93 
94 void mat44SwapRows(struct Mat44 *A, const uint32_t i, const uint32_t j);
95 
96 void mat44Solve(const struct Mat44 *A, struct Vec4 *x, const struct Vec4 *b, const struct Size4 *pivot);
97 
98 #ifdef __cplusplus
99 }
100 #endif
101 
102 #endif  // MAT_H_
103