Subversion Repository Public Repository

Divide-Dependencies

This repository has no backups
This repository's network speed is throttled to 100KB/sec

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
1001
1002
1003
1004
1005
1006
1007
1008
1009
1010
1011
1012
1013
1014
1015
1016
1017
1018
1019
1020
1021
1022
1023
1024
1025
1026
1027
1028
1029
1030
1031
1032
1033
1034
1035
1036
1037
1038
1039
1040
1041
1042
1043
1044
1045
1046
1047
1048
1049
1050
1051
1052
1053
1054
1055
1056
1057
1058
1059
1060
1061
1062
1063
1064
1065
1066
1067
1068
1069
1070
1071
1072
1073
1074
1075
1076
1077
1078
1079
1080
1081
1082
1083
1084
1085
1086
1087
1088
1089
1090
1091
1092
1093
1094
1095
1096
1097
1098
1099
1100
1101
1102
1103
1104
1105
1106
1107
1108
1109
1110
1111
1112
1113
1114
1115
1116
1117
1118
1119
1120
1121
1122
1123
1124
1125
1126
1127
1128
1129
1130
1131
1132
1133
1134
1135
1136
1137
1138
1139
1140
1141
1142
1143
1144
1145
1146
1147
1148
1149
1150
1151
1152
1153
1154
1155
1156
1157
1158
1159
1160
1161
1162
1163
1164
1165
1166
1167
1168
1169
1170
1171
1172
1173
1174
1175
1176
1177
1178
1179
1180
1181
1182
1183
1184
1185
1186
1187
1188
1189
1190
1191
1192
1193
1194
1195
1196
1197
1198
1199
1200
1201
1202
1203
1204
1205
1206
1207
1208
1209
1210
1211
1212
1213
1214
1215
1216
1217
1218
1219
1220
1221
1222
1223
1224
1225
1226
1227
1228
1229
1230
1231
1232
1233
1234
1235
1236
1237
1238
1239
1240
1241
1242
1243
1244
1245
1246
1247
1248
1249
1250
1251
1252
1253
1254
1255
1256
1257
1258
1259
1260
1261
1262
1263
1264
1265
1266
1267
1268
1269
1270
1271
1272
1273
1274
1275
1276
1277
1278
1279
1280
1281
1282
1283
1284
1285
1286
1287
1288
1289
1290
1291
1292
1293
1294
1295
1296
1297
1298
1299
1300
1301
1302
1303
1304
1305
1306
1307
1308
1309
1310
1311
1312
1313
1314
1315
1316
1317
1318
1319
1320
1321
1322
1323
1324
1325
1326
1327
1328
1329
1330
1331
1332
1333
1334
1335
1336
1337
1338
1339
1340
1341
1342
1343
1344
1345
1346
1347
1348
1349
1350
1351
1352
1353
1354
1355
1356
1357
1358
1359
1360
1361
1362
1363
1364
1365
1366
1367
1368
1369
1370
1371
1372
1373
1374
1375
1376
1377
1378
1379
1380
1381
1382
1383
1384
1385
1386
1387
1388
1389
1390
1391
1392
1393
1394
1395
1396
1397
1398
1399
1400
1401
1402
1403
1404
1405
1406
1407
1408
1409
1410
1411
1412
1413
1414
1415
1416
1417
1418
1419
1420
1421
1422
1423
1424
1425
1426
1427
1428
1429
1430
1431
1432
1433
1434
1435
1436
1437
1438
1439
1440
1441
1442
1443
1444
1445
1446
1447
1448
1449
1450
1451
1452
1453
1454
1455
1456
1457
1458
1459
1460
1461
1462
1463
1464
1465
1466
1467
1468
1469
1470
1471
1472
1473
1474
1475
1476
1477
1478
1479
1480
1481
1482
1483
1484
1485
1486
1487
1488
1489
1490
1491
1492
1493
1494
1495
1496
1497
1498
1499
1500
1501
1502
1503
1504
1505
1506
1507
1508
1509
1510
1511
1512
1513
1514
1515
1516
1517
1518
1519
1520
1521
1522
1523
1524
1525
1526
1527
1528
1529
1530
1531
1532
1533
1534
1535
1536
1537
1538
1539
1540
1541
1542
1543
1544
1545
1546
1547
1548
1549
1550
1551
1552
1553
1554
1555
1556
1557
1558
1559
1560
1561
1562
1563
1564
1565
1566
1567
1568
1569
1570
1571
1572
1573
1574
1575
1576
1577
1578
1579
1580
1581
1582
1583
1584
1585
1586
1587
1588
1589
1590
1591
1592
1593
1594
1595
1596
1597
1598
1599
1600
1601
1602
1603
1604
1605
1606
1607
1608
1609
1610
1611
1612
1613
1614
1615
1616
1617
1618
1619
1620
1621
1622
1623
1624
1625
1626
1627
1628
1629
1630
1631
1632
1633
1634
1635
1636
1637
1638
1639
1640
1641
1642
1643
1644
1645
1646
1647
1648
1649
1650
1651
1652
1653
1654
1655
1656
1657
1658
1659
1660
1661
1662
1663
1664
1665
1666
1667
1668
1669
1670
1671
1672
1673
1674
1675
1676
1677
1678
1679
1680
1681
1682
1683
1684
1685
1686
1687
1688
1689
1690
1691
1692
1693
1694
1695
1696
1697
1698
1699
1700
1701
1702
1703
1704
1705
1706
1707
1708
1709
1710
1711
1712
1713
1714
1715
1716
1717
1718
1719
1720
1721
1722
1723
1724
1725
1726
1727
1728
1729
1730
1731
1732
1733
1734
1735
1736
1737
1738
1739
1740
1741
1742
1743
1744
1745
1746
1747
1748
1749
1750
1751
1752
1753
1754
1755
1756
1757
1758
1759
1760
1761
1762
1763
1764
1765
1766
1767
1768
1769
1770
1771
1772
1773
1774
1775
1776
1777
1778
1779
1780
1781
1782
1783
1784
1785
1786
1787
1788
1789
1790
1791
1792
1793
1794
1795
1796
1797
1798
1799
1800
1801
1802
1803
1804
1805
1806
1807
1808
1809
1810
1811
1812
1813
1814
1815
1816
1817
1818
1819
1820
1821
1822
1823
1824
1825
1826
1827
1828
1829
1830
1831
1832
1833
1834
1835
1836
1837
1838
1839
1840
1841
1842
1843
1844
1845
1846
1847
1848
1849
1850
1851
1852
1853
1854
1855
1856
1857
1858
1859
1860
1861
1862
1863
1864
1865
1866
1867
1868
1869
1870
1871
1872
1873
1874
1875
1876
1877
1878
1879
1880
1881
1882
1883
1884
1885
1886
1887
1888
1889
1890
1891
1892
1893
1894
1895
1896
1897
1898
1899
1900
1901
1902
1903
1904
1905
1906
1907
1908
1909
1910
1911
1912
1913
1914
1915
1916
1917
1918
1919
1920
1921
1922
1923
1924
1925
1926
1927
1928
1929
1930
1931
1932
1933
1934
1935
1936
1937
1938
1939
1940
1941
1942
1943
1944
1945
1946
1947
1948
1949
1950
1951
1952
1953
1954
1955
1956
1957
1958
1959
1960
1961
1962
1963
1964
1965
1966
1967
1968
1969
1970
1971
1972
1973
1974
1975
1976
1977
1978
1979
1980
1981
1982
1983
1984
1985
1986
1987
1988
1989
1990
1991
1992
1993
1994
1995
1996
1997
1998
1999
2000
2001
2002
2003
2004
2005
2006
2007
2008
2009
2010
2011
2012
2013
2014
2015
2016
2017
2018
2019
2020
2021
2022
2023
2024
2025
2026
2027
2028
2029
2030
2031
2032
2033
2034
2035
2036
2037
2038
2039
2040
2041
2042
2043
2044
2045
2046
2047
2048
2049
2050
2051
2052
2053
2054
2055
2056
2057
2058
2059
2060
2061
2062
2063
2064
2065
2066
2067
2068
2069
2070
2071
2072
2073
2074
2075
2076
2077
2078
2079
2080
2081
2082
2083
2084
2085
2086
2087
2088
2089
2090
2091
2092
2093
2094
2095
2096
2097
2098
2099
2100
2101
2102
2103
2104
2105
2106
2107
2108
2109
2110
2111
2112
2113
2114
2115
2116
2117
2118
2119
2120
2121
2122
2123
2124
2125
2126
2127
2128
2129
2130
2131
2132
2133
2134
2135
2136
2137
2138
2139
2140
2141
2142
2143
2144
2145
2146
2147
2148
2149
2150
2151
2152
2153
2154
2155
2156
2157
2158
2159
2160
2161
2162
2163
2164
2165
2166
2167
2168
2169
2170
2171
2172
2173
2174
2175
2176
2177
2178
2179
2180
2181
2182
2183
2184
2185
2186
2187
2188
2189
2190
2191
2192
2193
2194
2195
2196
2197
2198
2199
2200
2201
2202
2203
2204
2205
2206
2207
2208
2209
2210
2211
2212
2213
2214
2215
2216
2217
2218
2219
2220
2221
2222
2223
2224
2225
2226
2227
2228
2229
2230
2231
2232
2233
2234
2235
2236
2237
2238
2239
2240
2241
2242
2243
2244
/*
   Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
   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.
    * Neither the name of the Sony Computer Entertainment Inc nor the names
      of its contributors may be used to endorse or promote products derived
      from this software without specific prior written permission.

   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 _VECTORMATH_AOS_CPP_PPU_H
#define _VECTORMATH_AOS_CPP_PPU_H

#include <math.h>
#include <altivec.h>
#include "vecidx_aos.h"
#include "floatInVec.h"
#include "boolInVec.h"

#ifdef _VECTORMATH_DEBUG
#include <stdio.h>
#endif

namespace Vectormath {

namespace Aos {

//-----------------------------------------------------------------------------
// Forward Declarations
//

class Vector3;
class Vector4;
class Point3;
class Quat;
class Matrix3;
class Matrix4;
class Transform3;

// A 3-D vector in array-of-structures format
//
class Vector3
{
    vec_float4 mVec128;

public:
    // Default constructor; does no initialization
    // 
    inline Vector3( ) { };

    // Construct a 3-D vector from x, y, and z elements
    // 
    inline Vector3( float x, float y, float z );

    // Construct a 3-D vector from x, y, and z elements (scalar data contained in vector data type)
    // 
    inline Vector3( floatInVec x, floatInVec y, floatInVec z );

    // Copy elements from a 3-D point into a 3-D vector
    // 
    explicit inline Vector3( Point3 pnt );

    // Set all elements of a 3-D vector to the same scalar value
    // 
    explicit inline Vector3( float scalar );

    // Set all elements of a 3-D vector to the same scalar value (scalar data contained in vector data type)
    // 
    explicit inline Vector3( floatInVec scalar );

    // Set vector float data in a 3-D vector
    // 
    explicit inline Vector3( vec_float4 vf4 );

    // Get vector float data from a 3-D vector
    // 
    inline vec_float4 get128( ) const;

    // Assign one 3-D vector to another
    // 
    inline Vector3 & operator =( Vector3 vec );

    // Set the x element of a 3-D vector
    // 
    inline Vector3 & setX( float x );

    // Set the y element of a 3-D vector
    // 
    inline Vector3 & setY( float y );

    // Set the z element of a 3-D vector
    // 
    inline Vector3 & setZ( float z );

    // Set the x element of a 3-D vector (scalar data contained in vector data type)
    // 
    inline Vector3 & setX( floatInVec x );

    // Set the y element of a 3-D vector (scalar data contained in vector data type)
    // 
    inline Vector3 & setY( floatInVec y );

    // Set the z element of a 3-D vector (scalar data contained in vector data type)
    // 
    inline Vector3 & setZ( floatInVec z );

    // Get the x element of a 3-D vector
    // 
    inline const floatInVec getX( ) const;

    // Get the y element of a 3-D vector
    // 
    inline const floatInVec getY( ) const;

    // Get the z element of a 3-D vector
    // 
    inline const floatInVec getZ( ) const;

    // Set an x, y, or z element of a 3-D vector by index
    // 
    inline Vector3 & setElem( int idx, float value );

    // Set an x, y, or z element of a 3-D vector by index (scalar data contained in vector data type)
    // 
    inline Vector3 & setElem( int idx, floatInVec value );

    // Get an x, y, or z element of a 3-D vector by index
    // 
    inline const floatInVec getElem( int idx ) const;

    // Subscripting operator to set or get an element
    // 
    inline VecIdx operator []( int idx );

    // Subscripting operator to get an element
    // 
    inline const floatInVec operator []( int idx ) const;

    // Add two 3-D vectors
    // 
    inline const Vector3 operator +( Vector3 vec ) const;

    // Subtract a 3-D vector from another 3-D vector
    // 
    inline const Vector3 operator -( Vector3 vec ) const;

    // Add a 3-D vector to a 3-D point
    // 
    inline const Point3 operator +( Point3 pnt ) const;

    // Multiply a 3-D vector by a scalar
    // 
    inline const Vector3 operator *( float scalar ) const;

    // Divide a 3-D vector by a scalar
    // 
    inline const Vector3 operator /( float scalar ) const;

    // Multiply a 3-D vector by a scalar (scalar data contained in vector data type)
    // 
    inline const Vector3 operator *( floatInVec scalar ) const;

    // Divide a 3-D vector by a scalar (scalar data contained in vector data type)
    // 
    inline const Vector3 operator /( floatInVec scalar ) const;

    // Perform compound assignment and addition with a 3-D vector
    // 
    inline Vector3 & operator +=( Vector3 vec );

    // Perform compound assignment and subtraction by a 3-D vector
    // 
    inline Vector3 & operator -=( Vector3 vec );

    // Perform compound assignment and multiplication by a scalar
    // 
    inline Vector3 & operator *=( float scalar );

    // Perform compound assignment and division by a scalar
    // 
    inline Vector3 & operator /=( float scalar );

    // Perform compound assignment and multiplication by a scalar (scalar data contained in vector data type)
    // 
    inline Vector3 & operator *=( floatInVec scalar );

    // Perform compound assignment and division by a scalar (scalar data contained in vector data type)
    // 
    inline Vector3 & operator /=( floatInVec scalar );

    // Negate all elements of a 3-D vector
    // 
    inline const Vector3 operator -( ) const;

    // Construct x axis
    // 
    static inline const Vector3 xAxis( );

    // Construct y axis
    // 
    static inline const Vector3 yAxis( );

    // Construct z axis
    // 
    static inline const Vector3 zAxis( );

};

// Multiply a 3-D vector by a scalar
// 
inline const Vector3 operator *( float scalar, Vector3 vec );

// Multiply a 3-D vector by a scalar (scalar data contained in vector data type)
// 
inline const Vector3 operator *( floatInVec scalar, Vector3 vec );

// Multiply two 3-D vectors per element
// 
inline const Vector3 mulPerElem( Vector3 vec0, Vector3 vec1 );

// Divide two 3-D vectors per element
// NOTE: 
// Floating-point behavior matches standard library function divf4.
// 
inline const Vector3 divPerElem( Vector3 vec0, Vector3 vec1 );

// Compute the reciprocal of a 3-D vector per element
// NOTE: 
// Floating-point behavior matches standard library function recipf4.
// 
inline const Vector3 recipPerElem( Vector3 vec );

// Compute the square root of a 3-D vector per element
// NOTE: 
// Floating-point behavior matches standard library function sqrtf4.
// 
inline const Vector3 sqrtPerElem( Vector3 vec );

// Compute the reciprocal square root of a 3-D vector per element
// NOTE: 
// Floating-point behavior matches standard library function rsqrtf4.
// 
inline const Vector3 rsqrtPerElem( Vector3 vec );

// Compute the absolute value of a 3-D vector per element
// 
inline const Vector3 absPerElem( Vector3 vec );

// Copy sign from one 3-D vector to another, per element
// 
inline const Vector3 copySignPerElem( Vector3 vec0, Vector3 vec1 );

// Maximum of two 3-D vectors per element
// 
inline const Vector3 maxPerElem( Vector3 vec0, Vector3 vec1 );

// Minimum of two 3-D vectors per element
// 
inline const Vector3 minPerElem( Vector3 vec0, Vector3 vec1 );

// Maximum element of a 3-D vector
// 
inline const floatInVec maxElem( Vector3 vec );

// Minimum element of a 3-D vector
// 
inline const floatInVec minElem( Vector3 vec );

// Compute the sum of all elements of a 3-D vector
// 
inline const floatInVec sum( Vector3 vec );

// Compute the dot product of two 3-D vectors
// 
inline const floatInVec dot( Vector3 vec0, Vector3 vec1 );

// Compute the square of the length of a 3-D vector
// 
inline const floatInVec lengthSqr( Vector3 vec );

// Compute the length of a 3-D vector
// 
inline const floatInVec length( Vector3 vec );

// Normalize a 3-D vector
// NOTE: 
// The result is unpredictable when all elements of vec are at or near zero.
// 
inline const Vector3 normalize( Vector3 vec );

// Compute cross product of two 3-D vectors
// 
inline const Vector3 cross( Vector3 vec0, Vector3 vec1 );

// Outer product of two 3-D vectors
// 
inline const Matrix3 outer( Vector3 vec0, Vector3 vec1 );

// Pre-multiply a row vector by a 3x3 matrix
// NOTE: 
// Slower than column post-multiply.
// 
inline const Vector3 rowMul( Vector3 vec, const Matrix3 & mat );

// Cross-product matrix of a 3-D vector
// 
inline const Matrix3 crossMatrix( Vector3 vec );

// Create cross-product matrix and multiply
// NOTE: 
// Faster than separately creating a cross-product matrix and multiplying.
// 
inline const Matrix3 crossMatrixMul( Vector3 vec, const Matrix3 & mat );

// Linear interpolation between two 3-D vectors
// NOTE: 
// Does not clamp t between 0 and 1.
// 
inline const Vector3 lerp( float t, Vector3 vec0, Vector3 vec1 );

// Linear interpolation between two 3-D vectors (scalar data contained in vector data type)
// NOTE: 
// Does not clamp t between 0 and 1.
// 
inline const Vector3 lerp( floatInVec t, Vector3 vec0, Vector3 vec1 );

// Spherical linear interpolation between two 3-D vectors
// NOTE: 
// The result is unpredictable if the vectors point in opposite directions.
// Does not clamp t between 0 and 1.
// 
inline const Vector3 slerp( float t, Vector3 unitVec0, Vector3 unitVec1 );

// Spherical linear interpolation between two 3-D vectors (scalar data contained in vector data type)
// NOTE: 
// The result is unpredictable if the vectors point in opposite directions.
// Does not clamp t between 0 and 1.
// 
inline const Vector3 slerp( floatInVec t, Vector3 unitVec0, Vector3 unitVec1 );

// Conditionally select between two 3-D vectors
// NOTE: 
// This function uses a conditional select instruction to avoid a branch.
// However, the transfer of select1 to a VMX register may use more processing time than a branch.
// Use the boolInVec version for better performance.
// 
inline const Vector3 select( Vector3 vec0, Vector3 vec1, bool select1 );

// Conditionally select between two 3-D vectors (scalar data contained in vector data type)
// NOTE: 
// This function uses a conditional select instruction to avoid a branch.
// 
inline const Vector3 select( Vector3 vec0, Vector3 vec1, boolInVec select1 );

// Store x, y, and z elements of a 3-D vector in the first three words of a quadword.
// The value of the fourth word (the word with the highest address) remains unchanged
// 
inline void storeXYZ( Vector3 vec, vec_float4 * quad );

// Load four three-float 3-D vectors, stored in three quadwords
// 
inline void loadXYZArray( Vector3 & vec0, Vector3 & vec1, Vector3 & vec2, Vector3 & vec3, const vec_float4 * threeQuads );

// Store four 3-D vectors in three quadwords
// 
inline void storeXYZArray( Vector3 vec0, Vector3 vec1, Vector3 vec2, Vector3 vec3, vec_float4 * threeQuads );

// Store eight 3-D vectors as half-floats
// 
inline void storeHalfFloats( Vector3 vec0, Vector3 vec1, Vector3 vec2, Vector3 vec3, Vector3 vec4, Vector3 vec5, Vector3 vec6, Vector3 vec7, vec_ushort8 * threeQuads );

#ifdef _VECTORMATH_DEBUG

// Print a 3-D vector
// NOTE: 
// Function is only defined when _VECTORMATH_DEBUG is defined.
// 
inline void print( Vector3 vec );

// Print a 3-D vector and an associated string identifier
// NOTE: 
// Function is only defined when _VECTORMATH_DEBUG is defined.
// 
inline void print( Vector3 vec, const char * name );

#endif

// A 4-D vector in array-of-structures format
//
class Vector4
{
    vec_float4 mVec128;

public:
    // Default constructor; does no initialization
    // 
    inline Vector4( ) { };

    // Construct a 4-D vector from x, y, z, and w elements
    // 
    inline Vector4( float x, float y, float z, float w );

    // Construct a 4-D vector from x, y, z, and w elements (scalar data contained in vector data type)
    // 
    inline Vector4( floatInVec x, floatInVec y, floatInVec z, floatInVec w );

    // Construct a 4-D vector from a 3-D vector and a scalar
    // 
    inline Vector4( Vector3 xyz, float w );

    // Construct a 4-D vector from a 3-D vector and a scalar (scalar data contained in vector data type)
    // 
    inline Vector4( Vector3 xyz, floatInVec w );

    // Copy x, y, and z from a 3-D vector into a 4-D vector, and set w to 0
    // 
    explicit inline Vector4( Vector3 vec );

    // Copy x, y, and z from a 3-D point into a 4-D vector, and set w to 1
    // 
    explicit inline Vector4( Point3 pnt );

    // Copy elements from a quaternion into a 4-D vector
    // 
    explicit inline Vector4( Quat quat );

    // Set all elements of a 4-D vector to the same scalar value
    // 
    explicit inline Vector4( float scalar );

    // Set all elements of a 4-D vector to the same scalar value (scalar data contained in vector data type)
    // 
    explicit inline Vector4( floatInVec scalar );

    // Set vector float data in a 4-D vector
    // 
    explicit inline Vector4( vec_float4 vf4 );

    // Get vector float data from a 4-D vector
    // 
    inline vec_float4 get128( ) const;

    // Assign one 4-D vector to another
    // 
    inline Vector4 & operator =( Vector4 vec );

    // Set the x, y, and z elements of a 4-D vector
    // NOTE: 
    // This function does not change the w element.
    // 
    inline Vector4 & setXYZ( Vector3 vec );

    // Get the x, y, and z elements of a 4-D vector
    // 
    inline const Vector3 getXYZ( ) const;

    // Set the x element of a 4-D vector
    // 
    inline Vector4 & setX( float x );

    // Set the y element of a 4-D vector
    // 
    inline Vector4 & setY( float y );

    // Set the z element of a 4-D vector
    // 
    inline Vector4 & setZ( float z );

    // Set the w element of a 4-D vector
    // 
    inline Vector4 & setW( float w );

    // Set the x element of a 4-D vector (scalar data contained in vector data type)
    // 
    inline Vector4 & setX( floatInVec x );

    // Set the y element of a 4-D vector (scalar data contained in vector data type)
    // 
    inline Vector4 & setY( floatInVec y );

    // Set the z element of a 4-D vector (scalar data contained in vector data type)
    // 
    inline Vector4 & setZ( floatInVec z );

    // Set the w element of a 4-D vector (scalar data contained in vector data type)
    // 
    inline Vector4 & setW( floatInVec w );

    // Get the x element of a 4-D vector
    // 
    inline const floatInVec getX( ) const;

    // Get the y element of a 4-D vector
    // 
    inline const floatInVec getY( ) const;

    // Get the z element of a 4-D vector
    // 
    inline const floatInVec getZ( ) const;

    // Get the w element of a 4-D vector
    // 
    inline const floatInVec getW( ) const;

    // Set an x, y, z, or w element of a 4-D vector by index
    // 
    inline Vector4 & setElem( int idx, float value );

    // Set an x, y, z, or w element of a 4-D vector by index (scalar data contained in vector data type)
    // 
    inline Vector4 & setElem( int idx, floatInVec value );

    // Get an x, y, z, or w element of a 4-D vector by index
    // 
    inline const floatInVec getElem( int idx ) const;

    // Subscripting operator to set or get an element
    // 
    inline VecIdx operator []( int idx );

    // Subscripting operator to get an element
    // 
    inline const floatInVec operator []( int idx ) const;

    // Add two 4-D vectors
    // 
    inline const Vector4 operator +( Vector4 vec ) const;

    // Subtract a 4-D vector from another 4-D vector
    // 
    inline const Vector4 operator -( Vector4 vec ) const;

    // Multiply a 4-D vector by a scalar
    // 
    inline const Vector4 operator *( float scalar ) const;

    // Divide a 4-D vector by a scalar
    // 
    inline const Vector4 operator /( float scalar ) const;

    // Multiply a 4-D vector by a scalar (scalar data contained in vector data type)
    // 
    inline const Vector4 operator *( floatInVec scalar ) const;

    // Divide a 4-D vector by a scalar (scalar data contained in vector data type)
    // 
    inline const Vector4 operator /( floatInVec scalar ) const;

    // Perform compound assignment and addition with a 4-D vector
    // 
    inline Vector4 & operator +=( Vector4 vec );

    // Perform compound assignment and subtraction by a 4-D vector
    // 
    inline Vector4 & operator -=( Vector4 vec );

    // Perform compound assignment and multiplication by a scalar
    // 
    inline Vector4 & operator *=( float scalar );

    // Perform compound assignment and division by a scalar
    // 
    inline Vector4 & operator /=( float scalar );

    // Perform compound assignment and multiplication by a scalar (scalar data contained in vector data type)
    // 
    inline Vector4 & operator *=( floatInVec scalar );

    // Perform compound assignment and division by a scalar (scalar data contained in vector data type)
    // 
    inline Vector4 & operator /=( floatInVec scalar );

    // Negate all elements of a 4-D vector
    // 
    inline const Vector4 operator -( ) const;

    // Construct x axis
    // 
    static inline const Vector4 xAxis( );

    // Construct y axis
    // 
    static inline const Vector4 yAxis( );

    // Construct z axis
    // 
    static inline const Vector4 zAxis( );

    // Construct w axis
    // 
    static inline const Vector4 wAxis( );

};

// Multiply a 4-D vector by a scalar
// 
inline const Vector4 operator *( float scalar, Vector4 vec );

// Multiply a 4-D vector by a scalar (scalar data contained in vector data type)
// 
inline const Vector4 operator *( floatInVec scalar, Vector4 vec );

// Multiply two 4-D vectors per element
// 
inline const Vector4 mulPerElem( Vector4 vec0, Vector4 vec1 );

// Divide two 4-D vectors per element
// NOTE: 
// Floating-point behavior matches standard library function divf4.
// 
inline const Vector4 divPerElem( Vector4 vec0, Vector4 vec1 );

// Compute the reciprocal of a 4-D vector per element
// NOTE: 
// Floating-point behavior matches standard library function recipf4.
// 
inline const Vector4 recipPerElem( Vector4 vec );

// Compute the square root of a 4-D vector per element
// NOTE: 
// Floating-point behavior matches standard library function sqrtf4.
// 
inline const Vector4 sqrtPerElem( Vector4 vec );

// Compute the reciprocal square root of a 4-D vector per element
// NOTE: 
// Floating-point behavior matches standard library function rsqrtf4.
// 
inline const Vector4 rsqrtPerElem( Vector4 vec );

// Compute the absolute value of a 4-D vector per element
// 
inline const Vector4 absPerElem( Vector4 vec );

// Copy sign from one 4-D vector to another, per element
// 
inline const Vector4 copySignPerElem( Vector4 vec0, Vector4 vec1 );

// Maximum of two 4-D vectors per element
// 
inline const Vector4 maxPerElem( Vector4 vec0, Vector4 vec1 );

// Minimum of two 4-D vectors per element
// 
inline const Vector4 minPerElem( Vector4 vec0, Vector4 vec1 );

// Maximum element of a 4-D vector
// 
inline const floatInVec maxElem( Vector4 vec );

// Minimum element of a 4-D vector
// 
inline const floatInVec minElem( Vector4 vec );

// Compute the sum of all elements of a 4-D vector
// 
inline const floatInVec sum( Vector4 vec );

// Compute the dot product of two 4-D vectors
// 
inline const floatInVec dot( Vector4 vec0, Vector4 vec1 );

// Compute the square of the length of a 4-D vector
// 
inline const floatInVec lengthSqr( Vector4 vec );

// Compute the length of a 4-D vector
// 
inline const floatInVec length( Vector4 vec );

// Normalize a 4-D vector
// NOTE: 
// The result is unpredictable when all elements of vec are at or near zero.
// 
inline const Vector4 normalize( Vector4 vec );

// Outer product of two 4-D vectors
// 
inline const Matrix4 outer( Vector4 vec0, Vector4 vec1 );

// Linear interpolation between two 4-D vectors
// NOTE: 
// Does not clamp t between 0 and 1.
// 
inline const Vector4 lerp( float t, Vector4 vec0, Vector4 vec1 );

// Linear interpolation between two 4-D vectors (scalar data contained in vector data type)
// NOTE: 
// Does not clamp t between 0 and 1.
// 
inline const Vector4 lerp( floatInVec t, Vector4 vec0, Vector4 vec1 );

// Spherical linear interpolation between two 4-D vectors
// NOTE: 
// The result is unpredictable if the vectors point in opposite directions.
// Does not clamp t between 0 and 1.
// 
inline const Vector4 slerp( float t, Vector4 unitVec0, Vector4 unitVec1 );

// Spherical linear interpolation between two 4-D vectors (scalar data contained in vector data type)
// NOTE: 
// The result is unpredictable if the vectors point in opposite directions.
// Does not clamp t between 0 and 1.
// 
inline const Vector4 slerp( floatInVec t, Vector4 unitVec0, Vector4 unitVec1 );

// Conditionally select between two 4-D vectors
// NOTE: 
// This function uses a conditional select instruction to avoid a branch.
// However, the transfer of select1 to a VMX register may use more processing time than a branch.
// Use the boolInVec version for better performance.
// 
inline const Vector4 select( Vector4 vec0, Vector4 vec1, bool select1 );

// Conditionally select between two 4-D vectors (scalar data contained in vector data type)
// NOTE: 
// This function uses a conditional select instruction to avoid a branch.
// 
inline const Vector4 select( Vector4 vec0, Vector4 vec1, boolInVec select1 );

// Store four 4-D vectors as half-floats
// 
inline void storeHalfFloats( Vector4 vec0, Vector4 vec1, Vector4 vec2, Vector4 vec3, vec_ushort8 * twoQuads );

#ifdef _VECTORMATH_DEBUG

// Print a 4-D vector
// NOTE: 
// Function is only defined when _VECTORMATH_DEBUG is defined.
// 
inline void print( Vector4 vec );

// Print a 4-D vector and an associated string identifier
// NOTE: 
// Function is only defined when _VECTORMATH_DEBUG is defined.
// 
inline void print( Vector4 vec, const char * name );

#endif

// A 3-D point in array-of-structures format
//
class Point3
{
    vec_float4 mVec128;

public:
    // Default constructor; does no initialization
    // 
    inline Point3( ) { };

    // Construct a 3-D point from x, y, and z elements
    // 
    inline Point3( float x, float y, float z );

    // Construct a 3-D point from x, y, and z elements (scalar data contained in vector data type)
    // 
    inline Point3( floatInVec x, floatInVec y, floatInVec z );

    // Copy elements from a 3-D vector into a 3-D point
    // 
    explicit inline Point3( Vector3 vec );

    // Set all elements of a 3-D point to the same scalar value
    // 
    explicit inline Point3( float scalar );

    // Set all elements of a 3-D point to the same scalar value (scalar data contained in vector data type)
    // 
    explicit inline Point3( floatInVec scalar );

    // Set vector float data in a 3-D point
    // 
    explicit inline Point3( vec_float4 vf4 );

    // Get vector float data from a 3-D point
    // 
    inline vec_float4 get128( ) const;

    // Assign one 3-D point to another
    // 
    inline Point3 & operator =( Point3 pnt );

    // Set the x element of a 3-D point
    // 
    inline Point3 & setX( float x );

    // Set the y element of a 3-D point
    // 
    inline Point3 & setY( float y );

    // Set the z element of a 3-D point
    // 
    inline Point3 & setZ( float z );

    // Set the x element of a 3-D point (scalar data contained in vector data type)
    // 
    inline Point3 & setX( floatInVec x );

    // Set the y element of a 3-D point (scalar data contained in vector data type)
    // 
    inline Point3 & setY( floatInVec y );

    // Set the z element of a 3-D point (scalar data contained in vector data type)
    // 
    inline Point3 & setZ( floatInVec z );

    // Get the x element of a 3-D point
    // 
    inline const floatInVec getX( ) const;

    // Get the y element of a 3-D point
    // 
    inline const floatInVec getY( ) const;

    // Get the z element of a 3-D point
    // 
    inline const floatInVec getZ( ) const;

    // Set an x, y, or z element of a 3-D point by index
    // 
    inline Point3 & setElem( int idx, float value );

    // Set an x, y, or z element of a 3-D point by index (scalar data contained in vector data type)
    // 
    inline Point3 & setElem( int idx, floatInVec value );

    // Get an x, y, or z element of a 3-D point by index
    // 
    inline const floatInVec getElem( int idx ) const;

    // Subscripting operator to set or get an element
    // 
    inline VecIdx operator []( int idx );

    // Subscripting operator to get an element
    // 
    inline const floatInVec operator []( int idx ) const;

    // Subtract a 3-D point from another 3-D point
    // 
    inline const Vector3 operator -( Point3 pnt ) const;

    // Add a 3-D point to a 3-D vector
    // 
    inline const Point3 operator +( Vector3 vec ) const;

    // Subtract a 3-D vector from a 3-D point
    // 
    inline const Point3 operator -( Vector3 vec ) const;

    // Perform compound assignment and addition with a 3-D vector
    // 
    inline Point3 & operator +=( Vector3 vec );

    // Perform compound assignment and subtraction by a 3-D vector
    // 
    inline Point3 & operator -=( Vector3 vec );

};

// Multiply two 3-D points per element
// 
inline const Point3 mulPerElem( Point3 pnt0, Point3 pnt1 );

// Divide two 3-D points per element
// NOTE: 
// Floating-point behavior matches standard library function divf4.
// 
inline const Point3 divPerElem( Point3 pnt0, Point3 pnt1 );

// Compute the reciprocal of a 3-D point per element
// NOTE: 
// Floating-point behavior matches standard library function recipf4.
// 
inline const Point3 recipPerElem( Point3 pnt );

// Compute the square root of a 3-D point per element
// NOTE: 
// Floating-point behavior matches standard library function sqrtf4.
// 
inline const Point3 sqrtPerElem( Point3 pnt );

// Compute the reciprocal square root of a 3-D point per element
// NOTE: 
// Floating-point behavior matches standard library function rsqrtf4.
// 
inline const Point3 rsqrtPerElem( Point3 pnt );

// Compute the absolute value of a 3-D point per element
// 
inline const Point3 absPerElem( Point3 pnt );

// Copy sign from one 3-D point to another, per element
// 
inline const Point3 copySignPerElem( Point3 pnt0, Point3 pnt1 );

// Maximum of two 3-D points per element
// 
inline const Point3 maxPerElem( Point3 pnt0, Point3 pnt1 );

// Minimum of two 3-D points per element
// 
inline const Point3 minPerElem( Point3 pnt0, Point3 pnt1 );

// Maximum element of a 3-D point
// 
inline const floatInVec maxElem( Point3 pnt );

// Minimum element of a 3-D point
// 
inline const floatInVec minElem( Point3 pnt );

// Compute the sum of all elements of a 3-D point
// 
inline const floatInVec sum( Point3 pnt );

// Apply uniform scale to a 3-D point
// 
inline const Point3 scale( Point3 pnt, float scaleVal );

// Apply uniform scale to a 3-D point (scalar data contained in vector data type)
// 
inline const Point3 scale( Point3 pnt, floatInVec scaleVal );

// Apply non-uniform scale to a 3-D point
// 
inline const Point3 scale( Point3 pnt, Vector3 scaleVec );

// Scalar projection of a 3-D point on a unit-length 3-D vector
// 
inline const floatInVec projection( Point3 pnt, Vector3 unitVec );

// Compute the square of the distance of a 3-D point from the coordinate-system origin
// 
inline const floatInVec distSqrFromOrigin( Point3 pnt );

// Compute the distance of a 3-D point from the coordinate-system origin
// 
inline const floatInVec distFromOrigin( Point3 pnt );

// Compute the square of the distance between two 3-D points
// 
inline const floatInVec distSqr( Point3 pnt0, Point3 pnt1 );

// Compute the distance between two 3-D points
// 
inline const floatInVec dist( Point3 pnt0, Point3 pnt1 );

// Linear interpolation between two 3-D points
// NOTE: 
// Does not clamp t between 0 and 1.
// 
inline const Point3 lerp( float t, Point3 pnt0, Point3 pnt1 );

// Linear interpolation between two 3-D points (scalar data contained in vector data type)
// NOTE: 
// Does not clamp t between 0 and 1.
// 
inline const Point3 lerp( floatInVec t, Point3 pnt0, Point3 pnt1 );

// Conditionally select between two 3-D points
// NOTE: 
// This function uses a conditional select instruction to avoid a branch.
// However, the transfer of select1 to a VMX register may use more processing time than a branch.
// Use the boolInVec version for better performance.
// 
inline const Point3 select( Point3 pnt0, Point3 pnt1, bool select1 );

// Conditionally select between two 3-D points (scalar data contained in vector data type)
// NOTE: 
// This function uses a conditional select instruction to avoid a branch.
// 
inline const Point3 select( Point3 pnt0, Point3 pnt1, boolInVec select1 );

// Store x, y, and z elements of a 3-D point in the first three words of a quadword.
// The value of the fourth word (the word with the highest address) remains unchanged
// 
inline void storeXYZ( Point3 pnt, vec_float4 * quad );

// Load four three-float 3-D points, stored in three quadwords
// 
inline void loadXYZArray( Point3 & pnt0, Point3 & pnt1, Point3 & pnt2, Point3 & pnt3, const vec_float4 * threeQuads );

// Store four 3-D points in three quadwords
// 
inline void storeXYZArray( Point3 pnt0, Point3 pnt1, Point3 pnt2, Point3 pnt3, vec_float4 * threeQuads );

// Store eight 3-D points as half-floats
// 
inline void storeHalfFloats( Point3 pnt0, Point3 pnt1, Point3 pnt2, Point3 pnt3, Point3 pnt4, Point3 pnt5, Point3 pnt6, Point3 pnt7, vec_ushort8 * threeQuads );

#ifdef _VECTORMATH_DEBUG

// Print a 3-D point
// NOTE: 
// Function is only defined when _VECTORMATH_DEBUG is defined.
// 
inline void print( Point3 pnt );

// Print a 3-D point and an associated string identifier
// NOTE: 
// Function is only defined when _VECTORMATH_DEBUG is defined.
// 
inline void print( Point3 pnt, const char * name );

#endif

// A quaternion in array-of-structures format
//
class Quat
{
    vec_float4 mVec128;

public:
    // Default constructor; does no initialization
    // 
    inline Quat( ) { };

    // Construct a quaternion from x, y, z, and w elements
    // 
    inline Quat( float x, float y, float z, float w );

    // Construct a quaternion from x, y, z, and w elements (scalar data contained in vector data type)
    // 
    inline Quat( floatInVec x, floatInVec y, floatInVec z, floatInVec w );

    // Construct a quaternion from a 3-D vector and a scalar
    // 
    inline Quat( Vector3 xyz, float w );

    // Construct a quaternion from a 3-D vector and a scalar (scalar data contained in vector data type)
    // 
    inline Quat( Vector3 xyz, floatInVec w );

    // Copy elements from a 4-D vector into a quaternion
    // 
    explicit inline Quat( Vector4 vec );

    // Convert a rotation matrix to a unit-length quaternion
    // 
    explicit inline Quat( const Matrix3 & rotMat );

    // Set all elements of a quaternion to the same scalar value
    // 
    explicit inline Quat( float scalar );

    // Set all elements of a quaternion to the same scalar value (scalar data contained in vector data type)
    // 
    explicit inline Quat( floatInVec scalar );

    // Set vector float data in a quaternion
    // 
    explicit inline Quat( vec_float4 vf4 );

    // Get vector float data from a quaternion
    // 
    inline vec_float4 get128( ) const;

    // Assign one quaternion to another
    // 
    inline Quat & operator =( Quat quat );

    // Set the x, y, and z elements of a quaternion
    // NOTE: 
    // This function does not change the w element.
    // 
    inline Quat & setXYZ( Vector3 vec );

    // Get the x, y, and z elements of a quaternion
    // 
    inline const Vector3 getXYZ( ) const;

    // Set the x element of a quaternion
    // 
    inline Quat & setX( float x );

    // Set the y element of a quaternion
    // 
    inline Quat & setY( float y );

    // Set the z element of a quaternion
    // 
    inline Quat & setZ( float z );

    // Set the w element of a quaternion
    // 
    inline Quat & setW( float w );

    // Set the x element of a quaternion (scalar data contained in vector data type)
    // 
    inline Quat & setX( floatInVec x );

    // Set the y element of a quaternion (scalar data contained in vector data type)
    // 
    inline Quat & setY( floatInVec y );

    // Set the z element of a quaternion (scalar data contained in vector data type)
    // 
    inline Quat & setZ( floatInVec z );

    // Set the w element of a quaternion (scalar data contained in vector data type)
    // 
    inline Quat & setW( floatInVec w );

    // Get the x element of a quaternion
    // 
    inline const floatInVec getX( ) const;

    // Get the y element of a quaternion
    // 
    inline const floatInVec getY( ) const;

    // Get the z element of a quaternion
    // 
    inline const floatInVec getZ( ) const;

    // Get the w element of a quaternion
    // 
    inline const floatInVec getW( ) const;

    // Set an x, y, z, or w element of a quaternion by index
    // 
    inline Quat & setElem( int idx, float value );

    // Set an x, y, z, or w element of a quaternion by index (scalar data contained in vector data type)
    // 
    inline Quat & setElem( int idx, floatInVec value );

    // Get an x, y, z, or w element of a quaternion by index
    // 
    inline const floatInVec getElem( int idx ) const;

    // Subscripting operator to set or get an element
    // 
    inline VecIdx operator []( int idx );

    // Subscripting operator to get an element
    // 
    inline const floatInVec operator []( int idx ) const;

    // Add two quaternions
    // 
    inline const Quat operator +( Quat quat ) const;

    // Subtract a quaternion from another quaternion
    // 
    inline const Quat operator -( Quat quat ) const;

    // Multiply two quaternions
    // 
    inline const Quat operator *( Quat quat ) const;

    // Multiply a quaternion by a scalar
    // 
    inline const Quat operator *( float scalar ) const;

    // Divide a quaternion by a scalar
    // 
    inline const Quat operator /( float scalar ) const;

    // Multiply a quaternion by a scalar (scalar data contained in vector data type)
    // 
    inline const Quat operator *( floatInVec scalar ) const;

    // Divide a quaternion by a scalar (scalar data contained in vector data type)
    // 
    inline const Quat operator /( floatInVec scalar ) const;

    // Perform compound assignment and addition with a quaternion
    // 
    inline Quat & operator +=( Quat quat );

    // Perform compound assignment and subtraction by a quaternion
    // 
    inline Quat & operator -=( Quat quat );

    // Perform compound assignment and multiplication by a quaternion
    // 
    inline Quat & operator *=( Quat quat );

    // Perform compound assignment and multiplication by a scalar
    // 
    inline Quat & operator *=( float scalar );

    // Perform compound assignment and division by a scalar
    // 
    inline Quat & operator /=( float scalar );

    // Perform compound assignment and multiplication by a scalar (scalar data contained in vector data type)
    // 
    inline Quat & operator *=( floatInVec scalar );

    // Perform compound assignment and division by a scalar (scalar data contained in vector data type)
    // 
    inline Quat & operator /=( floatInVec scalar );

    // Negate all elements of a quaternion
    // 
    inline const Quat operator -( ) const;

    // Construct an identity quaternion
    // 
    static inline const Quat identity( );

    // Construct a quaternion to rotate between two unit-length 3-D vectors
    // NOTE: 
    // The result is unpredictable if unitVec0 and unitVec1 point in opposite directions.
    // 
    static inline const Quat rotation( Vector3 unitVec0, Vector3 unitVec1 );

    // Construct a quaternion to rotate around a unit-length 3-D vector
    // 
    static inline const Quat rotation( float radians, Vector3 unitVec );

    // Construct a quaternion to rotate around a unit-length 3-D vector (scalar data contained in vector data type)
    // 
    static inline const Quat rotation( floatInVec radians, Vector3 unitVec );

    // Construct a quaternion to rotate around the x axis
    // 
    static inline const Quat rotationX( float radians );

    // Construct a quaternion to rotate around the y axis
    // 
    static inline const Quat rotationY( float radians );

    // Construct a quaternion to rotate around the z axis
    // 
    static inline const Quat rotationZ( float radians );

    // Construct a quaternion to rotate around the x axis (scalar data contained in vector data type)
    // 
    static inline const Quat rotationX( floatInVec radians );

    // Construct a quaternion to rotate around the y axis (scalar data contained in vector data type)
    // 
    static inline const Quat rotationY( floatInVec radians );

    // Construct a quaternion to rotate around the z axis (scalar data contained in vector data type)
    // 
    static inline const Quat rotationZ( floatInVec radians );

};

// Multiply a quaternion by a scalar
// 
inline const Quat operator *( float scalar, Quat quat );

// Multiply a quaternion by a scalar (scalar data contained in vector data type)
// 
inline const Quat operator *( floatInVec scalar, Quat quat );

// Compute the conjugate of a quaternion
// 
inline const Quat conj( Quat quat );

// Use a unit-length quaternion to rotate a 3-D vector
// 
inline const Vector3 rotate( Quat unitQuat, Vector3 vec );

// Compute the dot product of two quaternions
// 
inline const floatInVec dot( Quat quat0, Quat quat1 );

// Compute the norm of a quaternion
// 
inline const floatInVec norm( Quat quat );

// Compute the length of a quaternion
// 
inline const floatInVec length( Quat quat );

// Normalize a quaternion
// NOTE: 
// The result is unpredictable when all elements of quat are at or near zero.
// 
inline const Quat normalize( Quat quat );

// Linear interpolation between two quaternions
// NOTE: 
// Does not clamp t between 0 and 1.
// 
inline const Quat lerp( float t, Quat quat0, Quat quat1 );

// Linear interpolation between two quaternions (scalar data contained in vector data type)
// NOTE: 
// Does not clamp t between 0 and 1.
// 
inline const Quat lerp( floatInVec t, Quat quat0, Quat quat1 );

// Spherical linear interpolation between two quaternions
// NOTE: 
// Interpolates along the shortest path between orientations.
// Does not clamp t between 0 and 1.
// 
inline const Quat slerp( float t, Quat unitQuat0, Quat unitQuat1 );

// Spherical linear interpolation between two quaternions (scalar data contained in vector data type)
// NOTE: 
// Interpolates along the shortest path between orientations.
// Does not clamp t between 0 and 1.
// 
inline const Quat slerp( floatInVec t, Quat unitQuat0, Quat unitQuat1 );

// Spherical quadrangle interpolation
// 
inline const Quat squad( float t, Quat unitQuat0, Quat unitQuat1, Quat unitQuat2, Quat unitQuat3 );

// Spherical quadrangle interpolation (scalar data contained in vector data type)
// 
inline const Quat squad( floatInVec t, Quat unitQuat0, Quat unitQuat1, Quat unitQuat2, Quat unitQuat3 );

// Conditionally select between two quaternions
// NOTE: 
// This function uses a conditional select instruction to avoid a branch.
// However, the transfer of select1 to a VMX register may use more processing time than a branch.
// Use the boolInVec version for better performance.
// 
inline const Quat select( Quat quat0, Quat quat1, bool select1 );

// Conditionally select between two quaternions (scalar data contained in vector data type)
// NOTE: 
// This function uses a conditional select instruction to avoid a branch.
// 
inline const Quat select( Quat quat0, Quat quat1, boolInVec select1 );

#ifdef _VECTORMATH_DEBUG

// Print a quaternion
// NOTE: 
// Function is only defined when _VECTORMATH_DEBUG is defined.
// 
inline void print( Quat quat );

// Print a quaternion and an associated string identifier
// NOTE: 
// Function is only defined when _VECTORMATH_DEBUG is defined.
// 
inline void print( Quat quat, const char * name );

#endif

// A 3x3 matrix in array-of-structures format
//
class Matrix3
{
    Vector3 mCol0;
    Vector3 mCol1;
    Vector3 mCol2;

public:
    // Default constructor; does no initialization
    // 
    inline Matrix3( ) { };

    // Copy a 3x3 matrix
    // 
    inline Matrix3( const Matrix3 & mat );

    // Construct a 3x3 matrix containing the specified columns
    // 
    inline Matrix3( Vector3 col0, Vector3 col1, Vector3 col2 );

    // Construct a 3x3 rotation matrix from a unit-length quaternion
    // 
    explicit inline Matrix3( Quat unitQuat );

    // Set all elements of a 3x3 matrix to the same scalar value
    // 
    explicit inline Matrix3( float scalar );

    // Set all elements of a 3x3 matrix to the same scalar value (scalar data contained in vector data type)
    // 
    explicit inline Matrix3( floatInVec scalar );

    // Assign one 3x3 matrix to another
    // 
    inline Matrix3 & operator =( const Matrix3 & mat );

    // Set column 0 of a 3x3 matrix
    // 
    inline Matrix3 & setCol0( Vector3 col0 );

    // Set column 1 of a 3x3 matrix
    // 
    inline Matrix3 & setCol1( Vector3 col1 );

    // Set column 2 of a 3x3 matrix
    // 
    inline Matrix3 & setCol2( Vector3 col2 );

    // Get column 0 of a 3x3 matrix
    // 
    inline const Vector3 getCol0( ) const;

    // Get column 1 of a 3x3 matrix
    // 
    inline const Vector3 getCol1( ) const;

    // Get column 2 of a 3x3 matrix
    // 
    inline const Vector3 getCol2( ) const;

    // Set the column of a 3x3 matrix referred to by the specified index
    // 
    inline Matrix3 & setCol( int col, Vector3 vec );

    // Set the row of a 3x3 matrix referred to by the specified index
    // 
    inline Matrix3 & setRow( int row, Vector3 vec );

    // Get the column of a 3x3 matrix referred to by the specified index
    // 
    inline const Vector3 getCol( int col ) const;

    // Get the row of a 3x3 matrix referred to by the specified index
    // 
    inline const Vector3 getRow( int row ) const;

    // Subscripting operator to set or get a column
    // 
    inline Vector3 & operator []( int col );

    // Subscripting operator to get a column
    // 
    inline const Vector3 operator []( int col ) const;

    // Set the element of a 3x3 matrix referred to by column and row indices
    // 
    inline Matrix3 & setElem( int col, int row, float val );

    // Set the element of a 3x3 matrix referred to by column and row indices (scalar data contained in vector data type)
    // 
    inline Matrix3 & setElem( int col, int row, floatInVec val );

    // Get the element of a 3x3 matrix referred to by column and row indices
    // 
    inline const floatInVec getElem( int col, int row ) const;

    // Add two 3x3 matrices
    // 
    inline const Matrix3 operator +( const Matrix3 & mat ) const;

    // Subtract a 3x3 matrix from another 3x3 matrix
    // 
    inline const Matrix3 operator -( const Matrix3 & mat ) const;

    // Negate all elements of a 3x3 matrix
    // 
    inline const Matrix3 operator -( ) const;

    // Multiply a 3x3 matrix by a scalar
    // 
    inline const Matrix3 operator *( float scalar ) const;

    // Multiply a 3x3 matrix by a scalar (scalar data contained in vector data type)
    // 
    inline const Matrix3 operator *( floatInVec scalar ) const;

    // Multiply a 3x3 matrix by a 3-D vector
    // 
    inline const Vector3 operator *( Vector3 vec ) const;

    // Multiply two 3x3 matrices
    // 
    inline const Matrix3 operator *( const Matrix3 & mat ) const;

    // Perform compound assignment and addition with a 3x3 matrix
    // 
    inline Matrix3 & operator +=( const Matrix3 & mat );

    // Perform compound assignment and subtraction by a 3x3 matrix
    // 
    inline Matrix3 & operator -=( const Matrix3 & mat );

    // Perform compound assignment and multiplication by a scalar
    // 
    inline Matrix3 & operator *=( float scalar );

    // Perform compound assignment and multiplication by a scalar (scalar data contained in vector data type)
    // 
    inline Matrix3 & operator *=( floatInVec scalar );

    // Perform compound assignment and multiplication by a 3x3 matrix
    // 
    inline Matrix3 & operator *=( const Matrix3 & mat );

    // Construct an identity 3x3 matrix
    // 
    static inline const Matrix3 identity( );

    // Construct a 3x3 matrix to rotate around the x axis
    // 
    static inline const Matrix3 rotationX( float radians );

    // Construct a 3x3 matrix to rotate around the y axis
    // 
    static inline const Matrix3 rotationY( float radians );

    // Construct a 3x3 matrix to rotate around the z axis
    // 
    static inline const Matrix3 rotationZ( float radians );

    // Construct a 3x3 matrix to rotate around the x axis (scalar data contained in vector data type)
    // 
    static inline const Matrix3 rotationX( floatInVec radians );

    // Construct a 3x3 matrix to rotate around the y axis (scalar data contained in vector data type)
    // 
    static inline const Matrix3 rotationY( floatInVec radians );

    // Construct a 3x3 matrix to rotate around the z axis (scalar data contained in vector data type)
    // 
    static inline const Matrix3 rotationZ( floatInVec radians );

    // Construct a 3x3 matrix to rotate around the x, y, and z axes
    // 
    static inline const Matrix3 rotationZYX( Vector3 radiansXYZ );

    // Construct a 3x3 matrix to rotate around a unit-length 3-D vector
    // 
    static inline const Matrix3 rotation( float radians, Vector3 unitVec );

    // Construct a 3x3 matrix to rotate around a unit-length 3-D vector (scalar data contained in vector data type)
    // 
    static inline const Matrix3 rotation( floatInVec radians, Vector3 unitVec );

    // Construct a rotation matrix from a unit-length quaternion
    // 
    static inline const Matrix3 rotation( Quat unitQuat );

    // Construct a 3x3 matrix to perform scaling
    // 
    static inline const Matrix3 scale( Vector3 scaleVec );

};
// Multiply a 3x3 matrix by a scalar
// 
inline const Matrix3 operator *( float scalar, const Matrix3 & mat );

// Multiply a 3x3 matrix by a scalar (scalar data contained in vector data type)
// 
inline const Matrix3 operator *( floatInVec scalar, const Matrix3 & mat );

// Append (post-multiply) a scale transformation to a 3x3 matrix
// NOTE: 
// Faster than creating and multiplying a scale transformation matrix.
// 
inline const Matrix3 appendScale( const Matrix3 & mat, Vector3 scaleVec );

// Prepend (pre-multiply) a scale transformation to a 3x3 matrix
// NOTE: 
// Faster than creating and multiplying a scale transformation matrix.
// 
inline const Matrix3 prependScale( Vector3 scaleVec, const Matrix3 & mat );

// Multiply two 3x3 matrices per element
// 
inline const Matrix3 mulPerElem( const Matrix3 & mat0, const Matrix3 & mat1 );

// Compute the absolute value of a 3x3 matrix per element
// 
inline const Matrix3 absPerElem( const Matrix3 & mat );

// Transpose of a 3x3 matrix
// 
inline const Matrix3 transpose( const Matrix3 & mat );

// Compute the inverse of a 3x3 matrix
// NOTE: 
// Result is unpredictable when the determinant of mat is equal to or near 0.
// 
inline const Matrix3 inverse( const Matrix3 & mat );

// Determinant of a 3x3 matrix
// 
inline const floatInVec determinant( const Matrix3 & mat );

// Conditionally select between two 3x3 matrices
// NOTE: 
// This function uses a conditional select instruction to avoid a branch.
// However, the transfer of select1 to a VMX register may use more processing time than a branch.
// Use the boolInVec version for better performance.
// 
inline const Matrix3 select( const Matrix3 & mat0, const Matrix3 & mat1, bool select1 );

// Conditionally select between two 3x3 matrices (scalar data contained in vector data type)
// NOTE: 
// This function uses a conditional select instruction to avoid a branch.
// 
inline const Matrix3 select( const Matrix3 & mat0, const Matrix3 & mat1, boolInVec select1 );

#ifdef _VECTORMATH_DEBUG

// Print a 3x3 matrix
// NOTE: 
// Function is only defined when _VECTORMATH_DEBUG is defined.
// 
inline void print( const Matrix3 & mat );

// Print a 3x3 matrix and an associated string identifier
// NOTE: 
// Function is only defined when _VECTORMATH_DEBUG is defined.
// 
inline void print( const Matrix3 & mat, const char * name );

#endif

// A 4x4 matrix in array-of-structures format
//
class Matrix4
{
    Vector4 mCol0;
    Vector4 mCol1;
    Vector4 mCol2;
    Vector4 mCol3;

public:
    // Default constructor; does no initialization
    // 
    inline Matrix4( ) { };

    // Copy a 4x4 matrix
    // 
    inline Matrix4( const Matrix4 & mat );

    // Construct a 4x4 matrix containing the specified columns
    // 
    inline Matrix4( Vector4 col0, Vector4 col1, Vector4 col2, Vector4 col3 );

    // Construct a 4x4 matrix from a 3x4 transformation matrix
    // 
    explicit inline Matrix4( const Transform3 & mat );

    // Construct a 4x4 matrix from a 3x3 matrix and a 3-D vector
    // 
    inline Matrix4( const Matrix3 & mat, Vector3 translateVec );

    // Construct a 4x4 matrix from a unit-length quaternion and a 3-D vector
    // 
    inline Matrix4( Quat unitQuat, Vector3 translateVec );

    // Set all elements of a 4x4 matrix to the same scalar value
    // 
    explicit inline Matrix4( float scalar );

    // Set all elements of a 4x4 matrix to the same scalar value (scalar data contained in vector data type)
    // 
    explicit inline Matrix4( floatInVec scalar );

    // Assign one 4x4 matrix to another
    // 
    inline Matrix4 & operator =( const Matrix4 & mat );

    // Set the upper-left 3x3 submatrix
    // NOTE: 
    // This function does not change the bottom row elements.
    // 
    inline Matrix4 & setUpper3x3( const Matrix3 & mat3 );

    // Get the upper-left 3x3 submatrix of a 4x4 matrix
    // 
    inline const Matrix3 getUpper3x3( ) const;

    // Set translation component
    // NOTE: 
    // This function does not change the bottom row elements.
    // 
    inline Matrix4 & setTranslation( Vector3 translateVec );

    // Get the translation component of a 4x4 matrix
    // 
    inline const Vector3 getTranslation( ) const;

    // Set column 0 of a 4x4 matrix
    // 
    inline Matrix4 & setCol0( Vector4 col0 );

    // Set column 1 of a 4x4 matrix
    // 
    inline Matrix4 & setCol1( Vector4 col1 );

    // Set column 2 of a 4x4 matrix
    // 
    inline Matrix4 & setCol2( Vector4 col2 );

    // Set column 3 of a 4x4 matrix
    // 
    inline Matrix4 & setCol3( Vector4 col3 );

    // Get column 0 of a 4x4 matrix
    // 
    inline const Vector4 getCol0( ) const;

    // Get column 1 of a 4x4 matrix
    // 
    inline const Vector4 getCol1( ) const;

    // Get column 2 of a 4x4 matrix
    // 
    inline const Vector4 getCol2( ) const;

    // Get column 3 of a 4x4 matrix
    // 
    inline const Vector4 getCol3( ) const;

    // Set the column of a 4x4 matrix referred to by the specified index
    // 
    inline Matrix4 & setCol( int col, Vector4 vec );

    // Set the row of a 4x4 matrix referred to by the specified index
    // 
    inline Matrix4 & setRow( int row, Vector4 vec );

    // Get the column of a 4x4 matrix referred to by the specified index
    // 
    inline const Vector4 getCol( int col ) const;

    // Get the row of a 4x4 matrix referred to by the specified index
    // 
    inline const Vector4 getRow( int row ) const;

    // Subscripting operator to set or get a column
    // 
    inline Vector4 & operator []( int col );

    // Subscripting operator to get a column
    // 
    inline const Vector4 operator []( int col ) const;

    // Set the element of a 4x4 matrix referred to by column and row indices
    // 
    inline Matrix4 & setElem( int col, int row, float val );

    // Set the element of a 4x4 matrix referred to by column and row indices (scalar data contained in vector data type)
    // 
    inline Matrix4 & setElem( int col, int row, floatInVec val );

    // Get the element of a 4x4 matrix referred to by column and row indices
    // 
    inline const floatInVec getElem( int col, int row ) const;

    // Add two 4x4 matrices
    // 
    inline const Matrix4 operator +( const Matrix4 & mat ) const;

    // Subtract a 4x4 matrix from another 4x4 matrix
    // 
    inline const Matrix4 operator -( const Matrix4 & mat ) const;

    // Negate all elements of a 4x4 matrix
    // 
    inline const Matrix4 operator -( ) const;

    // Multiply a 4x4 matrix by a scalar
    // 
    inline const Matrix4 operator *( float scalar ) const;

    // Multiply a 4x4 matrix by a scalar (scalar data contained in vector data type)
    // 
    inline const Matrix4 operator *( floatInVec scalar ) const;

    // Multiply a 4x4 matrix by a 4-D vector
    // 
    inline const Vector4 operator *( Vector4 vec ) const;

    // Multiply a 4x4 matrix by a 3-D vector
    // 
    inline const Vector4 operator *( Vector3 vec ) const;

    // Multiply a 4x4 matrix by a 3-D point
    // 
    inline const Vector4 operator *( Point3 pnt ) const;

    // Multiply two 4x4 matrices
    // 
    inline const Matrix4 operator *( const Matrix4 & mat ) const;

    // Multiply a 4x4 matrix by a 3x4 transformation matrix
    // 
    inline const Matrix4 operator *( const Transform3 & tfrm ) const;

    // Perform compound assignment and addition with a 4x4 matrix
    // 
    inline Matrix4 & operator +=( const Matrix4 & mat );

    // Perform compound assignment and subtraction by a 4x4 matrix
    // 
    inline Matrix4 & operator -=( const Matrix4 & mat );

    // Perform compound assignment and multiplication by a scalar
    // 
    inline Matrix4 & operator *=( float scalar );

    // Perform compound assignment and multiplication by a scalar (scalar data contained in vector data type)
    // 
    inline Matrix4 & operator *=( floatInVec scalar );

    // Perform compound assignment and multiplication by a 4x4 matrix
    // 
    inline Matrix4 & operator *=( const Matrix4 & mat );

    // Perform compound assignment and multiplication by a 3x4 transformation matrix
    // 
    inline Matrix4 & operator *=( const Transform3 & tfrm );

    // Construct an identity 4x4 matrix
    // 
    static inline const Matrix4 identity( );

    // Construct a 4x4 matrix to rotate around the x axis
    // 
    static inline const Matrix4 rotationX( float radians );

    // Construct a 4x4 matrix to rotate around the y axis
    // 
    static inline const Matrix4 rotationY( float radians );

    // Construct a 4x4 matrix to rotate around the z axis
    // 
    static inline const Matrix4 rotationZ( float radians );

    // Construct a 4x4 matrix to rotate around the x axis (scalar data contained in vector data type)
    // 
    static inline const Matrix4 rotationX( floatInVec radians );

    // Construct a 4x4 matrix to rotate around the y axis (scalar data contained in vector data type)
    // 
    static inline const Matrix4 rotationY( floatInVec radians );

    // Construct a 4x4 matrix to rotate around the z axis (scalar data contained in vector data type)
    // 
    static inline const Matrix4 rotationZ( floatInVec radians );

    // Construct a 4x4 matrix to rotate around the x, y, and z axes
    // 
    static inline const Matrix4 rotationZYX( Vector3 radiansXYZ );

    // Construct a 4x4 matrix to rotate around a unit-length 3-D vector
    // 
    static inline const Matrix4 rotation( float radians, Vector3 unitVec );

    // Construct a 4x4 matrix to rotate around a unit-length 3-D vector (scalar data contained in vector data type)
    // 
    static inline const Matrix4 rotation( floatInVec radians, Vector3 unitVec );

    // Construct a rotation matrix from a unit-length quaternion
    // 
    static inline const Matrix4 rotation( Quat unitQuat );

    // Construct a 4x4 matrix to perform scaling
    // 
    static inline const Matrix4 scale( Vector3 scaleVec );

    // Construct a 4x4 matrix to perform translation
    // 
    static inline const Matrix4 translation( Vector3 translateVec );

    // Construct viewing matrix based on eye position, position looked at, and up direction
    // 
    static inline const Matrix4 lookAt( Point3 eyePos, Point3 lookAtPos, Vector3 upVec );

    // Construct a perspective projection matrix
    // 
    static inline const Matrix4 perspective( float fovyRadians, float aspect, float zNear, float zFar );

    // Construct a perspective projection matrix based on frustum
    // 
    static inline const Matrix4 frustum( float left, float right, float bottom, float top, float zNear, float zFar );

    // Construct an orthographic projection matrix
    // 
    static inline const Matrix4 orthographic( float left, float right, float bottom, float top, float zNear, float zFar );

};
// Multiply a 4x4 matrix by a scalar
// 
inline const Matrix4 operator *( float scalar, const Matrix4 & mat );

// Multiply a 4x4 matrix by a scalar (scalar data contained in vector data type)
// 
inline const Matrix4 operator *( floatInVec scalar, const Matrix4 & mat );

// Append (post-multiply) a scale transformation to a 4x4 matrix
// NOTE: 
// Faster than creating and multiplying a scale transformation matrix.
// 
inline const Matrix4 appendScale( const Matrix4 & mat, Vector3 scaleVec );

// Prepend (pre-multiply) a scale transformation to a 4x4 matrix
// NOTE: 
// Faster than creating and multiplying a scale transformation matrix.
// 
inline const Matrix4 prependScale( Vector3 scaleVec, const Matrix4 & mat );

// Multiply two 4x4 matrices per element
// 
inline const Matrix4 mulPerElem( const Matrix4 & mat0, const Matrix4 & mat1 );

// Compute the absolute value of a 4x4 matrix per element
// 
inline const Matrix4 absPerElem( const Matrix4 & mat );

// Transpose of a 4x4 matrix
// 
inline const Matrix4 transpose( const Matrix4 & mat );

// Compute the inverse of a 4x4 matrix
// NOTE: 
// Result is unpredictable when the determinant of mat is equal to or near 0.
// 
inline const Matrix4 inverse( const Matrix4 & mat );

// Compute the inverse of a 4x4 matrix, which is expected to be an affine matrix
// NOTE: 
// This can be used to achieve better performance than a general inverse when the specified 4x4 matrix meets the given restrictions.  The result is unpredictable when the determinant of mat is equal to or near 0.
// 
inline const Matrix4 affineInverse( const Matrix4 & mat );

// Compute the inverse of a 4x4 matrix, which is expected to be an affine matrix with an orthogonal upper-left 3x3 submatrix
// NOTE: 
// This can be used to achieve better performance than a general inverse when the specified 4x4 matrix meets the given restrictions.
// 
inline const Matrix4 orthoInverse( const Matrix4 & mat );

// Determinant of a 4x4 matrix
// 
inline const floatInVec determinant( const Matrix4 & mat );

// Conditionally select between two 4x4 matrices
// NOTE: 
// This function uses a conditional select instruction to avoid a branch.
// However, the transfer of select1 to a VMX register may use more processing time than a branch.
// Use the boolInVec version for better performance.
// 
inline const Matrix4 select( const Matrix4 & mat0, const Matrix4 & mat1, bool select1 );

// Conditionally select between two 4x4 matrices (scalar data contained in vector data type)
// NOTE: 
// This function uses a conditional select instruction to avoid a branch.
// 
inline const Matrix4 select( const Matrix4 & mat0, const Matrix4 & mat1, boolInVec select1 );

#ifdef _VECTORMATH_DEBUG

// Print a 4x4 matrix
// NOTE: 
// Function is only defined when _VECTORMATH_DEBUG is defined.
// 
inline void print( const Matrix4 & mat );

// Print a 4x4 matrix and an associated string identifier
// NOTE: 
// Function is only defined when _VECTORMATH_DEBUG is defined.
// 
inline void print( const Matrix4 & mat, const char * name );

#endif

// A 3x4 transformation matrix in array-of-structures format
//
class Transform3
{
    Vector3 mCol0;
    Vector3 mCol1;
    Vector3 mCol2;
    Vector3 mCol3;

public:
    // Default constructor; does no initialization
    // 
    inline Transform3( ) { };

    // Copy a 3x4 transformation matrix
    // 
    inline Transform3( const Transform3 & tfrm );

    // Construct a 3x4 transformation matrix containing the specified columns
    // 
    inline Transform3( Vector3 col0, Vector3 col1, Vector3 col2, Vector3 col3 );

    // Construct a 3x4 transformation matrix from a 3x3 matrix and a 3-D vector
    // 
    inline Transform3( const Matrix3 & tfrm, Vector3 translateVec );

    // Construct a 3x4 transformation matrix from a unit-length quaternion and a 3-D vector
    // 
    inline Transform3( Quat unitQuat, Vector3 translateVec );

    // Set all elements of a 3x4 transformation matrix to the same scalar value
    // 
    explicit inline Transform3( float scalar );

    // Set all elements of a 3x4 transformation matrix to the same scalar value (scalar data contained in vector data type)
    // 
    explicit inline Transform3( floatInVec scalar );

    // Assign one 3x4 transformation matrix to another
    // 
    inline Transform3 & operator =( const Transform3 & tfrm );

    // Set the upper-left 3x3 submatrix
    // 
    inline Transform3 & setUpper3x3( const Matrix3 & mat3 );

    // Get the upper-left 3x3 submatrix of a 3x4 transformation matrix
    // 
    inline const Matrix3 getUpper3x3( ) const;

    // Set translation component
    // 
    inline Transform3 & setTranslation( Vector3 translateVec );

    // Get the translation component of a 3x4 transformation matrix
    // 
    inline const Vector3 getTranslation( ) const;

    // Set column 0 of a 3x4 transformation matrix
    // 
    inline Transform3 & setCol0( Vector3 col0 );

    // Set column 1 of a 3x4 transformation matrix
    // 
    inline Transform3 & setCol1( Vector3 col1 );

    // Set column 2 of a 3x4 transformation matrix
    // 
    inline Transform3 & setCol2( Vector3 col2 );

    // Set column 3 of a 3x4 transformation matrix
    // 
    inline Transform3 & setCol3( Vector3 col3 );

    // Get column 0 of a 3x4 transformation matrix
    // 
    inline const Vector3 getCol0( ) const;

    // Get column 1 of a 3x4 transformation matrix
    // 
    inline const Vector3 getCol1( ) const;

    // Get column 2 of a 3x4 transformation matrix
    // 
    inline const Vector3 getCol2( ) const;

    // Get column 3 of a 3x4 transformation matrix
    // 
    inline const Vector3 getCol3( ) const;

    // Set the column of a 3x4 transformation matrix referred to by the specified index
    // 
    inline Transform3 & setCol( int col, Vector3 vec );

    // Set the row of a 3x4 transformation matrix referred to by the specified index
    // 
    inline Transform3 & setRow( int row, Vector4 vec );

    // Get the column of a 3x4 transformation matrix referred to by the specified index
    // 
    inline const Vector3 getCol( int col ) const;

    // Get the row of a 3x4 transformation matrix referred to by the specified index
    // 
    inline const Vector4 getRow( int row ) const;

    // Subscripting operator to set or get a column
    // 
    inline Vector3 & operator []( int col );

    // Subscripting operator to get a column
    // 
    inline const Vector3 operator []( int col ) const;

    // Set the element of a 3x4 transformation matrix referred to by column and row indices
    // 
    inline Transform3 & setElem( int col, int row, float val );

    // Set the element of a 3x4 transformation matrix referred to by column and row indices (scalar data contained in vector data type)
    // 
    inline Transform3 & setElem( int col, int row, floatInVec val );

    // Get the element of a 3x4 transformation matrix referred to by column and row indices
    // 
    inline const floatInVec getElem( int col, int row ) const;

    // Multiply a 3x4 transformation matrix by a 3-D vector
    // 
    inline const Vector3 operator *( Vector3 vec ) const;

    // Multiply a 3x4 transformation matrix by a 3-D point
    // 
    inline const Point3 operator *( Point3 pnt ) const;

    // Multiply two 3x4 transformation matrices
    // 
    inline const Transform3 operator *( const Transform3 & tfrm ) const;

    // Perform compound assignment and multiplication by a 3x4 transformation matrix
    // 
    inline Transform3 & operator *=( const Transform3 & tfrm );

    // Construct an identity 3x4 transformation matrix
    // 
    static inline const Transform3 identity( );

    // Construct a 3x4 transformation matrix to rotate around the x axis
    // 
    static inline const Transform3 rotationX( float radians );

    // Construct a 3x4 transformation matrix to rotate around the y axis
    // 
    static inline const Transform3 rotationY( float radians );

    // Construct a 3x4 transformation matrix to rotate around the z axis
    // 
    static inline const Transform3 rotationZ( float radians );

    // Construct a 3x4 transformation matrix to rotate around the x axis (scalar data contained in vector data type)
    // 
    static inline const Transform3 rotationX( floatInVec radians );

    // Construct a 3x4 transformation matrix to rotate around the y axis (scalar data contained in vector data type)
    // 
    static inline const Transform3 rotationY( floatInVec radians );

    // Construct a 3x4 transformation matrix to rotate around the z axis (scalar data contained in vector data type)
    // 
    static inline const Transform3 rotationZ( floatInVec radians );

    // Construct a 3x4 transformation matrix to rotate around the x, y, and z axes
    // 
    static inline const Transform3 rotationZYX( Vector3 radiansXYZ );

    // Construct a 3x4 transformation matrix to rotate around a unit-length 3-D vector
    // 
    static inline const Transform3 rotation( float radians, Vector3 unitVec );

    // Construct a 3x4 transformation matrix to rotate around a unit-length 3-D vector (scalar data contained in vector data type)
    // 
    static inline const Transform3 rotation( floatInVec radians, Vector3 unitVec );

    // Construct a rotation matrix from a unit-length quaternion
    // 
    static inline const Transform3 rotation( Quat unitQuat );

    // Construct a 3x4 transformation matrix to perform scaling
    // 
    static inline const Transform3 scale( Vector3 scaleVec );

    // Construct a 3x4 transformation matrix to perform translation
    // 
    static inline const Transform3 translation( Vector3 translateVec );

};
// Append (post-multiply) a scale transformation to a 3x4 transformation matrix
// NOTE: 
// Faster than creating and multiplying a scale transformation matrix.
// 
inline const Transform3 appendScale( const Transform3 & tfrm, Vector3 scaleVec );

// Prepend (pre-multiply) a scale transformation to a 3x4 transformation matrix
// NOTE: 
// Faster than creating and multiplying a scale transformation matrix.
// 
inline const Transform3 prependScale( Vector3 scaleVec, const Transform3 & tfrm );

// Multiply two 3x4 transformation matrices per element
// 
inline const Transform3 mulPerElem( const Transform3 & tfrm0, const Transform3 & tfrm1 );

// Compute the absolute value of a 3x4 transformation matrix per element
// 
inline const Transform3 absPerElem( const Transform3 & tfrm );

// Inverse of a 3x4 transformation matrix
// NOTE: 
// Result is unpredictable when the determinant of the left 3x3 submatrix is equal to or near 0.
// 
inline const Transform3 inverse( const Transform3 & tfrm );

// Compute the inverse of a 3x4 transformation matrix, expected to have an orthogonal upper-left 3x3 submatrix
// NOTE: 
// This can be used to achieve better performance than a general inverse when the specified 3x4 transformation matrix meets the given restrictions.
// 
inline const Transform3 orthoInverse( const Transform3 & tfrm );

// Conditionally select between two 3x4 transformation matrices
// NOTE: 
// This function uses a conditional select instruction to avoid a branch.
// However, the transfer of select1 to a VMX register may use more processing time than a branch.
// Use the boolInVec version for better performance.
// 
inline const Transform3 select( const Transform3 & tfrm0, const Transform3 & tfrm1, bool select1 );

// Conditionally select between two 3x4 transformation matrices (scalar data contained in vector data type)
// NOTE: 
// This function uses a conditional select instruction to avoid a branch.
// 
inline const Transform3 select( const Transform3 & tfrm0, const Transform3 & tfrm1, boolInVec select1 );

#ifdef _VECTORMATH_DEBUG

// Print a 3x4 transformation matrix
// NOTE: 
// Function is only defined when _VECTORMATH_DEBUG is defined.
// 
inline void print( const Transform3 & tfrm );

// Print a 3x4 transformation matrix and an associated string identifier
// NOTE: 
// Function is only defined when _VECTORMATH_DEBUG is defined.
// 
inline void print( const Transform3 & tfrm, const char * name );

#endif

} // namespace Aos
} // namespace Vectormath

#include "vec_aos.h"
#include "quat_aos.h"
#include "mat_aos.h"

#endif

Commits for Divide-Dependencies/debug-draw/samples/vectormath/ppu/cpp/vectormath_aos.h

Diff revisions: vs.
Revision Author Commited Message
70 IonutCava picture IonutCava Wed 26 Jul, 2017 20:21:42 +0000

[Ionut]
- Added Hodgman’s variant of the debug-draw library. ref: https://github.com/hodgman/debug-draw