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#ifndef B3_MAT3x3_H
#define B3_MAT3x3_H
#include "Bullet3Common/shared/b3Quat.h"
#ifdef __cplusplus
#include "Bullet3Common/b3Matrix3x3.h"
#define b3Mat3x3 b3Matrix3x3
#define b3Mat3x3ConstArg const b3Matrix3x3&
inline b3Mat3x3 b3QuatGetRotationMatrix(b3QuatConstArg quat)
{
return b3Mat3x3(quat);
}
inline b3Mat3x3 b3AbsoluteMat3x3(b3Mat3x3ConstArg mat)
{
return mat.absolute();
}
#define b3GetRow(m,row) m.getRow(row)
__inline
b3Float4 mtMul3(b3Float4ConstArg a, b3Mat3x3ConstArg b)
{
return b*a;
}
#else
typedef struct
{
b3Float4 m_row[3];
}b3Mat3x3;
#define b3Mat3x3ConstArg const b3Mat3x3
#define b3GetRow(m,row) (m.m_row[row])
inline b3Mat3x3 b3QuatGetRotationMatrix(b3Quat quat)
{
b3Float4 quat2 = (b3Float4)(quat.x*quat.x, quat.y*quat.y, quat.z*quat.z, 0.f);
b3Mat3x3 out;
out.m_row[0].x=1-2*quat2.y-2*quat2.z;
out.m_row[0].y=2*quat.x*quat.y-2*quat.w*quat.z;
out.m_row[0].z=2*quat.x*quat.z+2*quat.w*quat.y;
out.m_row[0].w = 0.f;
out.m_row[1].x=2*quat.x*quat.y+2*quat.w*quat.z;
out.m_row[1].y=1-2*quat2.x-2*quat2.z;
out.m_row[1].z=2*quat.y*quat.z-2*quat.w*quat.x;
out.m_row[1].w = 0.f;
out.m_row[2].x=2*quat.x*quat.z-2*quat.w*quat.y;
out.m_row[2].y=2*quat.y*quat.z+2*quat.w*quat.x;
out.m_row[2].z=1-2*quat2.x-2*quat2.y;
out.m_row[2].w = 0.f;
return out;
}
inline b3Mat3x3 b3AbsoluteMat3x3(b3Mat3x3ConstArg matIn)
{
b3Mat3x3 out;
out.m_row[0] = fabs(matIn.m_row[0]);
out.m_row[1] = fabs(matIn.m_row[1]);
out.m_row[2] = fabs(matIn.m_row[2]);
return out;
}
__inline
b3Mat3x3 mtZero();
__inline
b3Mat3x3 mtIdentity();
__inline
b3Mat3x3 mtTranspose(b3Mat3x3 m);
__inline
b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b);
__inline
b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b);
__inline
b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b);
__inline
b3Mat3x3 mtZero()
{
b3Mat3x3 m;
m.m_row[0] = (b3Float4)(0.f);
m.m_row[1] = (b3Float4)(0.f);
m.m_row[2] = (b3Float4)(0.f);
return m;
}
__inline
b3Mat3x3 mtIdentity()
{
b3Mat3x3 m;
m.m_row[0] = (b3Float4)(1,0,0,0);
m.m_row[1] = (b3Float4)(0,1,0,0);
m.m_row[2] = (b3Float4)(0,0,1,0);
return m;
}
__inline
b3Mat3x3 mtTranspose(b3Mat3x3 m)
{
b3Mat3x3 out;
out.m_row[0] = (b3Float4)(m.m_row[0].x, m.m_row[1].x, m.m_row[2].x, 0.f);
out.m_row[1] = (b3Float4)(m.m_row[0].y, m.m_row[1].y, m.m_row[2].y, 0.f);
out.m_row[2] = (b3Float4)(m.m_row[0].z, m.m_row[1].z, m.m_row[2].z, 0.f);
return out;
}
__inline
b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b)
{
b3Mat3x3 transB;
transB = mtTranspose( b );
b3Mat3x3 ans;
// why this doesn't run when 0ing in the for{}
a.m_row[0].w = 0.f;
a.m_row[1].w = 0.f;
a.m_row[2].w = 0.f;
for(int i=0; i<3; i++)
{
// a.m_row[i].w = 0.f;
ans.m_row[i].x = b3Dot3F4(a.m_row[i],transB.m_row[0]);
ans.m_row[i].y = b3Dot3F4(a.m_row[i],transB.m_row[1]);
ans.m_row[i].z = b3Dot3F4(a.m_row[i],transB.m_row[2]);
ans.m_row[i].w = 0.f;
}
return ans;
}
__inline
b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b)
{
b3Float4 ans;
ans.x = b3Dot3F4( a.m_row[0], b );
ans.y = b3Dot3F4( a.m_row[1], b );
ans.z = b3Dot3F4( a.m_row[2], b );
ans.w = 0.f;
return ans;
}
__inline
b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b)
{
b3Float4 colx = b3MakeFloat4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);
b3Float4 coly = b3MakeFloat4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);
b3Float4 colz = b3MakeFloat4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0);
b3Float4 ans;
ans.x = b3Dot3F4( a, colx );
ans.y = b3Dot3F4( a, coly );
ans.z = b3Dot3F4( a, colz );
return ans;
}
#endif
#endif //B3_MAT3x3_H
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