#include "shz_vector.h"
#include "shz_quat.h"
#include "shz_xmtrx.h"
#include "inline/shz_matrix.inl.h"

Include dependency graph for shz_matrix.h:

This graph shows which files directly or indirectly include this file:

Data Structures
struct	shz_mat4x4_t

Typedefs
typedef shz_mat4x4_t	shz_mat4x4

Functions
Initialization
Routines for fully initializing a matrix.
void	shz_mat4x4_init_identity (shz_mat4x4_t *mat) noexcept

void	shz_mat4x4_init_identity_safe (shz_mat4x4_t *mat) noexcept

void	shz_mat4x4_init_zero (shz_mat4x4_t *mat) noexcept

void	shz_mat4x4_init_one (shz_mat4x4_t *mat) noexcept

void	shz_mat4x4_init_fill (shz_mat4x4_t *mat, float value) noexcept

void	shz_mat4x4_init_translation (shz_mat4x4_t *mat, float x, float y, float z) noexcept

void	shz_mat4x4_init_scale (shz_mat4x4_t *mat, float x, float y, float z) noexcept

void	shz_mat4x4_init_rotation_x (shz_mat4x4_t *mat, float xAngle) noexcept

void	shz_mat4x4_init_rotation_y (shz_mat4x4_t *mat, float yAngle) noexcept

void	shz_mat4x4_init_rotation_z (shz_mat4x4_t *mat, float zAngle) noexcept

void	shz_mat4x4_init_rotation_xyz (shz_mat4x4_t *mat, float xAngle, float yAngle, float zAngle) noexcept

void	shz_mat4x4_init_rotation_zyx (shz_mat4x4_t *mat, float zAngle, float yAngle, float xAngle) noexcept

void	shz_mat4x4_init_rotation_zxy (shz_mat4x4_t *mat, float zAngle, float xAngle, float yAngle) noexcept

void	shz_mat4x4_init_rotation_yxz (shz_mat4x4_t *mat, float yAngle, float xAngle, float zAngle) noexcept

void	shz_mat4x4_init_rotation (shz_mat4x4_t *mat, float radians, float xAxis, float yAxis, float zAxis) noexcept

void	shz_mat4x4_init_rotation_dir (shz_mat4x4_t *mat, float angle, float x, float y, float z) noexcept

void	shz_mat4x4_init_rotation_quat (shz_mat4x4_t *m, shz_quat_t q) noexcept

void	shz_mat4x4_init_diagonal (shz_mat4x4_t *mat, float x, float y, float z, float w) noexcept

void	shz_mat4x4_init_upper_triangular (shz_mat4x4_t *mat, float col1, shz_vec2_t col2, shz_vec3_t col3, shz_vec4_t col4) noexcept

void	shz_mat4x4_init_lower_triangular (shz_mat4x4_t *mat, shz_vec4_t col1, shz_vec3_t col2, shz_vec2_t col3, float col4) noexcept

void	shz_mat4x4_init_symmetric_skew (shz_mat4x4_t *mat, float x, float y, float z) noexcept

void	shz_mat4x4_init_outer_product (shz_mat4x4_t *mat, shz_vec4_t v1, shz_vec4_t v2) noexcept

void	shz_mat4x4_init_permutation_wxyz (shz_mat4x4_t *mat) noexcept

void	shz_mat4x4_init_permutation_yzwx (shz_mat4x4_t *mat) noexcept

void	shz_mat4x4_init_screen (shz_mat4x4_t *mat, float width, float height) noexcept

void	shz_mat4x4_init_lookat (shz_mat4x4_t *mat, shz_vec3_t eye, shz_vec3_t center, shz_vec3_t up) noexcept

void	shz_mat4x4_init_ortho (shz_mat4x4_t *mat, float left, float right, float bottom, float top, float znear, float zfar) noexcept

void	shz_mat4x4_init_frustum (shz_mat4x4_t *mat, float left, float right, float bottom, float top, float znear, float zfar) noexcept

void	shz_mat4x4_init_perspective (shz_mat4x4_t *mat, float fov, float aspect, float znear) noexcept

Decomposition
Routines for decomposing a matrix into its constituent transforms.
void	shz_mat4x4_decompose (const shz_mat4x4_t mat, shz_vec3_t translation, shz_quat_t rotation, shz_vec3_t scale) noexcept

Getting
Routines for getting specific values within a matrix.
shz_vec4_t	shz_mat4x4_row (const shz_mat4x4_t *mat, size_t row) noexcept

shz_vec4_t	shz_mat4x4_col (const shz_mat4x4_t *mat, size_t col) noexcept

shz_vec3_t	shz_mat4x4_get_translation (const shz_mat4x4_t *mat) noexcept

shz_vec3_t	shz_mat4x4_get_scale (const shz_mat4x4_t *mat) noexcept

float	shz_mat4x4_determinant (const shz_mat4x4_t *mat) noexcept

float	shz_mat4x4_trace (const shz_mat4x4_t *mat) noexcept

void	shz_mat4x4_3x3 (const shz_mat4x4_t mat4, shz_mat3x3_t mat3) noexcept

void	shz_mat4x4_3x3_inverse_unscaled (const shz_mat4x4_t mat4, shz_mat3x3_t invmat3) noexcept

void	shz_mat4x4_3x3_inverse (const shz_mat4x4_t mat4, shz_mat3x3_t invmat3) noexcept

float	shz_mat4x4_3x3_determinant (const shz_mat4x4_t *mat) noexcept

Setting
Routines for setting specific values within a matrix
void	shz_mat4x4_set_row (shz_mat4x4_t *mat, size_t row, shz_vec4_t vec) noexcept

void	shz_mat4x4_set_col (shz_mat4x4_t *mat, size_t col, shz_vec4_t vec) noexcept

void	shz_mat4x4_swap_rows (shz_mat4x4_t *mat, size_t row1, size_t row2) noexcept

void	shz_mat4x4_swap_cols (shz_mat4x4_t *mat, size_t col1, size_t col2) noexcept

void	shz_mat4x4_set_translation (shz_mat4x4_t *mat, float x, float y, float z) noexcept

void	shz_mat4x4_set_scale (shz_mat4x4_t *mat, float x, float y, float z) noexcept

void	shz_mat4x4_set_rotation_quat (shz_mat4x4_t *m, shz_quat_t q) noexcept

void	shz_mat4x4_set_diagonal (shz_mat4x4_t *mat, float x, float y, float z, float w) noexcept

Applying
Routines for multiplying and accumulating onto the given matrix.
void	shz_mat4x4_apply (shz_mat4x4_t dst, const shz_mat4x4_t src) noexcept

void	shz_mat4x4_apply_unaligned (shz_mat4x4_t *dst, const float src[16]) noexcept

void	shz_mat4x4_apply_transpose (shz_mat4x4_t dst, const shz_mat4x4_t src) noexcept

void	shz_mat4x4_apply_transpose_unaligned (shz_mat4x4_t *dst, const float src[16]) noexcept

void	shz_mat4x4_apply_translation (shz_mat4x4_t *mat, float x, float y, float z) noexcept

void	shz_mat4x4_apply_scale (shz_mat4x4_t *mat, float x, float y, float z) noexcept

void	shz_mat4x4_apply_rotation_x (shz_mat4x4_t *mat, float xAngle) noexcept

void	shz_mat4x4_apply_rotation_y (shz_mat4x4_t *mat, float yAngle) noexcept

void	shz_mat4x4_apply_rotation_z (shz_mat4x4_t *mat, float zAngle) noexcept

void	shz_mat4x4_apply_rotation_xyz (shz_mat4x4_t *mat, float xAngle, float yAngle, float zAngle) noexcept

void	shz_mat4x4_apply_rotation_zyx (shz_mat4x4_t *mat, float zAngle, float yAngle, float xAngle) noexcept

void	shz_mat4x4_apply_rotation_zxy (shz_mat4x4_t *mat, float zAngle, float xAngle, float yAngle) noexcept

void	shz_mat4x4_apply_rotation_yxz (shz_mat4x4_t *mat, float yAngle, float xAngle, float zAngle) noexcept

void	shz_mat4x4_apply_rotation (shz_mat4x4_t *mat, float angle, float xAxis, float yAxis, float zAxis) noexcept

void	shz_mat4x4_apply_rotation_quat (shz_mat4x4_t *m, shz_quat_t q) noexcept

void	shz_mat4x4_apply_lookat (shz_mat4x4_t *m, shz_vec3_t pos, shz_vec3_t target, shz_vec3_t up) noexcept

void	shz_mat4x4_apply_ortho (shz_mat4x4_t *m, float left, float right, float bottom, float top, float znear, float zfar) noexcept

void	shz_mat4x4_apply_frustum (shz_mat4x4_t *m, float left, float right, float bottom, float top, float znear, float zfar) noexcept

void	shz_mat4x4_apply_perspective (shz_mat4x4_t *m, float fov, float aspect, float znear) noexcept

void	shz_mat4x4_apply_screen (shz_mat4x4_t *m, float width, float height) noexcept

void	shz_mat4x4_apply_symmetric_skew (shz_mat4x4_t *mat, float x, float y, float z) noexcept

void	shz_mat4x4_apply_permutation_wxyz (shz_mat4x4_t *mat) noexcept

void	shz_mat4x4_apply_permutation_yzwx (shz_mat4x4_t *mat) noexcept

void	shz_mat4x4_apply_self (shz_mat4x4_t *mat) noexcept

GL Transformations
OpenGL-style 4x4 matrix transforms.
void	shz_mat4x4_translate (shz_mat4x4_t *mat, float x, float y, float z) noexcept

void	shz_mat4x4_scale (shz_mat4x4_t *mat, float x, float y, float z) noexcept

void	shz_mat4x4_rotate_x (shz_mat4x4_t *mat, float radians) noexcept

void	shz_mat4x4_rotate_y (shz_mat4x4_t *mat, float radians) noexcept

void	shz_mat4x4_rotate_z (shz_mat4x4_t *mat, float radians) noexcept

void	shz_mat4x4_rotate_xyz (shz_mat4x4_t *mat, float xRadians, float yRadians, float zRadians) noexcept

void	shz_mat4x4_rotate_zyx (shz_mat4x4_t *mat, float zRadians, float yRadians, float xRadians) noexcept

void	shz_mat4x4_rotate_zxy (shz_mat4x4_t *mat, float zRadians, float xRadians, float yRadians) noexcept

void	shz_mat4x4_rotate_yxz (shz_mat4x4_t *mat, float yRadians, float xRadians, float zRadians) noexcept

void	shz_mat4x4_rotate (shz_mat4x4_t *mat, float radians, float xAxis, float yAxis, float zAxis) noexcept

Reverse GL Transformations
Pre-multiplication variants of OpenGL-style 4x4 matrix transforms.
void	shz_mat4x4_translate_reverse (shz_mat4x4_t *mat, float x, float y, float z) noexcept

void	shz_mat4x4_scale_reverse (shz_mat4x4_t *mat, float x, float y, float z) noexcept

Transforming
Routines for transforming vectors and points by a matrix.
void	shz_mat4x4_mult (shz_mat4x4_t mat, const shz_mat4x4_t lhs, const shz_mat4x4_t *rhs) noexcept

void	shz_mat4x4_mult_unaligned (shz_mat4x4_t mat, const shz_mat4x4_t lhs, const float rhs[16]) noexcept

void	shz_mat4x4_mult_transpose (shz_mat4x4_t mat, const shz_mat4x4_t lhs, const shz_mat4x4_t *rhs) noexcept

void	shz_mat4x4_mult_transpose_unaligned (shz_mat4x4_t mat, const shz_mat4x4_t lhs, const float rhs[16]) noexcept

shz_vec2_t	shz_mat4x4_transform_vec2 (const shz_mat4x4_t *m, shz_vec2_t v) noexcept

shz_vec3_t	shz_mat4x4_transform_vec3 (const shz_mat4x4_t *m, shz_vec3_t v) noexcept

shz_vec4_t	shz_mat4x4_transform_vec4 (const shz_mat4x4_t *mat, shz_vec4_t in) noexcept

shz_vec2_t	shz_mat4x4_transform_vec2_transpose (const shz_mat4x4_t *m, shz_vec2_t v) noexcept

shz_vec3_t	shz_mat4x4_transform_vec3_transpose (const shz_mat4x4_t *m, shz_vec3_t v) noexcept

shz_vec4_t	shz_mat4x4_transform_vec4_transpose (const shz_mat4x4_t *m, shz_vec4_t v) noexcept

shz_vec2_t	shz_mat4x4_transform_point2 (const shz_mat4x4_t *mat, shz_vec2_t pt) noexcept

shz_vec3_t	shz_mat4x4_transform_point3 (const shz_mat4x4_t *mat, shz_vec3_t pt) noexcept

shz_vec2_t	shz_mat4x4_transform_point2_transpose (const shz_mat4x4_t *mat, shz_vec2_t pt) noexcept

shz_vec3_t	shz_mat4x4_transform_point3_transpose (const shz_mat4x4_t *mat, shz_vec3_t pt) noexcept

Miscellaneous
Other matrix-related operations and routines
shz_quat_t	shz_mat4x4_to_quat (const shz_mat4x4_t *mat) noexcept

void	shz_mat4x4_transpose (const shz_mat4x4_t mat, shz_mat4x4_t out) noexcept

void	shz_mat4x4_inverse (const shz_mat4x4_t SHZ_RESTRICT mtrx, shz_mat4x4_t SHZ_RESTRICT out) noexcept

void	shz_mat4x4_inverse_block_triangular (const shz_mat4x4_t mtx, shz_mat4x4_t out) noexcept

bool	shz_mat4x4_equal (const shz_mat4x4_t SHZ_RESTRICT mat1, const shz_mat4x4_t mat2) noexcept

bool	shz_mat4x4_is_block_triangular (const shz_mat4x4_t *mat) noexcept

void	shz_mat4x4_copy (shz_mat4x4_t dst, const shz_mat4x4_t src) noexcept

void	shz_mat4x4_copy_unaligned (shz_mat4x4_t *dst, const float src[16]) noexcept

void	shz_mat4x4_swap (shz_mat4x4_t matA, shz_mat4x4_t matB) noexcept

void	shz_mat4x4_blend (shz_mat4x4_t dst, const shz_mat4x4_t joint_matrix, float weights) noexcept

Detailed Description

API for operating on MxN matrices within memory.

This file provides a collection of routines for manipulating MxN matrices which are stored within memory, rather than in the XMTRX FP register back-bank.

Some of these routines are simply loading into the back-bank and are performing work there, temporarily. Some of them have implementations which have specific optimizations for when the matrices are NOT within such registers, which are faster than having to go through XMTRX and clobbering the back-bank.

Author: 2025, 2026 Falco Girgis; 2025 Daniel Fairchild

Copyright: MIT License

Definition in file shz_matrix.h.

Typedef Documentation

◆ shz_mat4x4

typedef shz_mat4x4_t shz_mat4x4

Alternate shz_mat4x4_t C typedef for those who hate POSIX style.

Definition at line 80 of file shz_matrix.h.

Function Documentation

◆ shz_mat4x4_init_identity()

void shz_mat4x4_init_identity ( shz_mat4x4_t * mat )

noexcept

Initializes the given matrix to the 4x4 identity matrix.

Warning: This routine clobbers XMTRX.

◆ shz_mat4x4_init_identity_safe()

void shz_mat4x4_init_identity_safe ( shz_mat4x4_t * mat )

noexcept

Safely initializes the given matrix to the 4x4 identity matrix.

Warning: This routine clobbers XMTRX.

Deprecated: shz_mat4x4_init_identity() is already safe now by default. This routine simply calls directly into it and should not be used.

See also: shz_mat4x4_init_identity()

◆ shz_mat4x4_init_zero()

void shz_mat4x4_init_zero ( shz_mat4x4_t * mat )

noexcept

Initializes the given matrix with all 0s for its element values.

Warning: This routine clobbers XMTRX.

◆ shz_mat4x4_init_one()

void shz_mat4x4_init_one ( shz_mat4x4_t * mat )

noexcept

Initializes the given matrix with all 1s for its element values.

Warning: This routine clobbers XMTRX.

◆ shz_mat4x4_init_fill()

void shz_mat4x4_init_fill	(	shz_mat4x4_t *	mat,
		float	value )

noexcept

Initializes the given matrix with all elements assigned to the given value.

Warning: This routine clobbers XMTRX.

◆ shz_mat4x4_init_translation()

void shz_mat4x4_init_translation	(	shz_mat4x4_t *	mat,
		float	x,
		float	y,
		float	z )

noexcept

Initializes the given matrix to a 3D translation matrix with the given coordinates.

Warning: This routine clobbers XMTRX.

◆ shz_mat4x4_init_scale()

void shz_mat4x4_init_scale	(	shz_mat4x4_t *	mat,
		float	x,
		float	y,
		float	z )

noexcept

Initializes the given matrix to a 3D scaling matrix with the given dimensions.

Warning: This routine clobbers XMTRX.

◆ shz_mat4x4_init_rotation_x()

void shz_mat4x4_init_rotation_x	(	shz_mat4x4_t *	mat,
		float	xAngle )

noexcept

Initializes the given matrix to a 3D rotation matrix by xAngle radians over the X-axis.

Warning: This routine clobbers XMTRX.

◆ shz_mat4x4_init_rotation_y()

void shz_mat4x4_init_rotation_y	(	shz_mat4x4_t *	mat,
		float	yAngle )

noexcept

Initializes the given matrix to a 3D rotation matrix by yAngle radians over the Y-axis.

Warning: This routine clobbers XMTRX.

◆ shz_mat4x4_init_rotation_z()

void shz_mat4x4_init_rotation_z	(	shz_mat4x4_t *	mat,
		float	zAngle )

noexcept

Initializes the given matrix to a 3D rotation matrix by zAngle radians over the Z-axis.

Warning: This routine clobber XMTRX.

◆ shz_mat4x4_init_rotation_xyz()

void shz_mat4x4_init_rotation_xyz	(	shz_mat4x4_t *	mat,
		float	xAngle,
		float	yAngle,
		float	zAngle )

noexcept

Initializes the given matrix to a 3D rotation matrix from the intrinsic rotation created by the given Tait-Bryan X-Y-Z angles.

Warning: This routine clobbers XMTRX.

◆ shz_mat4x4_init_rotation_zyx()

void shz_mat4x4_init_rotation_zyx	(	shz_mat4x4_t *	mat,
		float	zAngle,
		float	yAngle,
		float	xAngle )

noexcept

Initializes the given matrix to a 3D rotation matrix from the intrinsic rotation created by the given Tait-Bryan Z-Y-X angles.

Warning: This routine clobbers XMTRX.

◆ shz_mat4x4_init_rotation_zxy()

void shz_mat4x4_init_rotation_zxy	(	shz_mat4x4_t *	mat,
		float	zAngle,
		float	xAngle,
		float	yAngle )

noexcept

Initializes the given matrix to a 3D rotation matrix from the intrinsic rotation created by the given Tait-Bryan Z-X-Y angles.

Warning: This routine clobbers XMTRX.

◆ shz_mat4x4_init_rotation_yxz()

void shz_mat4x4_init_rotation_yxz	(	shz_mat4x4_t *	mat,
		float	yAngle,
		float	xAngle,
		float	zAngle )

noexcept

Initializes the given matrix to a 3D rotation matrix from the intrinsic rotation created by the given Tait-Bryan Y-X-Z angles.

Warning: This routine clobbers XMTRX.

◆ shz_mat4x4_init_rotation()

void shz_mat4x4_init_rotation	(	shz_mat4x4_t *	mat,
		float	radians,
		float	xAxis,
		float	yAxis,
		float	zAxis )

noexcept

Initializes the given 4x4 matrix to a 3D rotation matrix of angle radians about the vector with the given components.

Note: This routine works similarly to glRotatef() applied to an identitiy matrix. The given axis will automatically be normalized internally.

Warning: This routine clobbers XMTRX.

See also: shz_mat4x4_init_rotation_dir()

◆ shz_mat4x4_init_rotation_dir()

void shz_mat4x4_init_rotation_dir	(	shz_mat4x4_t *	mat,
		float	angle,
		float	x,
		float	y,
		float	z )

noexcept

Initializes the given 4x4 matrix to contain a 3D rotation matrix of angle radians about the given direction.

This is a faster version of shz_mat4x4_init_rotation() or glRotatef() which requires being passed a unit vector for the rotation axis.

Warning: The vector components representing the axis of rotation must be prenormalized!

See also: shz_mat4x4_init_rotation()

◆ shz_mat4x4_init_rotation_quat()

void shz_mat4x4_init_rotation_quat	(	shz_mat4x4_t *	m,
		shz_quat_t	q )

noexcept

Initializes the given matrix to a 3D rotation matrix with its orientation given by a quaternion.

Warning: This routine clobbers XMTRX.

◆ shz_mat4x4_init_diagonal()

void shz_mat4x4_init_diagonal	(	shz_mat4x4_t *	mat,
		float	x,
		float	y,
		float	z,
		float	w )

noexcept

Initializes the given matrix to a diagonal matrix with the given 4 values.

Warning: This routine clobbers XMTRX.

◆ shz_mat4x4_init_upper_triangular()

void shz_mat4x4_init_upper_triangular	(	shz_mat4x4_t *	mat,
		float	col1,
		shz_vec2_t	col2,
		shz_vec3_t	col3,
		shz_vec4_t	col4 )

noexcept

Initializes the given matrix to an upper triangular matrix whose nonzero entries have the given value.

Warning: This routine clobbers XMTRX.

◆ shz_mat4x4_init_lower_triangular()

void shz_mat4x4_init_lower_triangular	(	shz_mat4x4_t *	mat,
		shz_vec4_t	col1,
		shz_vec3_t	col2,
		shz_vec2_t	col3,
		float	col4 )

noexcept

Initializes the given matrix to a lower triangular matrix whose nonzero entries have the given value.

Warning: This routine clobbers XMTRX.

◆ shz_mat4x4_init_symmetric_skew()

void shz_mat4x4_init_symmetric_skew	(	shz_mat4x4_t *	mat,
		float	x,
		float	y,
		float	z )

noexcept

Initializes the given matrix to be the symmetric skew of the given 3D vector components.

Note: This can be useful for batching the cross-product operation against a constant vector. For one-offs, prefer shz_vec3_cross().

Warning: This routine clobbers XMTRX.

◆ shz_mat4x4_init_outer_product()

void shz_mat4x4_init_outer_product	(	shz_mat4x4_t *	mat,
		shz_vec4_t	v1,
		shz_vec4_t	v2 )

noexcept

Initializes the given matrix to be the result from taking the outer product of the two given 4D vectors.

Warning: This routine clobbers XMTRX.

◆ shz_mat4x4_init_permutation_wxyz()

void shz_mat4x4_init_permutation_wxyz ( shz_mat4x4_t * mat )

noexcept

Initializes the matrix to to a permutation matrix, which reorders the components of transformed vectors to be in WXYZ order.

Warning: This routine clobbers XMTRX.

◆ shz_mat4x4_init_permutation_yzwx()

void shz_mat4x4_init_permutation_yzwx ( shz_mat4x4_t * mat )

noexcept

Initializes the matrix to to a permutation matrix, which reorders the components of transformed vectors to be in YZWX order.

Warning: This routine clobbers XMTRX.

◆ shz_mat4x4_init_screen()

void shz_mat4x4_init_screen	(	shz_mat4x4_t *	mat,
		float	width,
		float	height )

noexcept

Initializes the given matrix to the viewport matrix with the given dimenions.

See also: This routine clobbers XMTRX.

◆ shz_mat4x4_init_lookat()

void shz_mat4x4_init_lookat	(	shz_mat4x4_t *	mat,
		shz_vec3_t	eye,
		shz_vec3_t	center,
		shz_vec3_t	up )

noexcept

Initializes the given matrix to a "lookAt" view matrix.

Warning: This routine clobbers XMTRX.

◆ shz_mat4x4_init_ortho()

void shz_mat4x4_init_ortho	(	shz_mat4x4_t *	mat,
		float	left,
		float	right,
		float	bottom,
		float	top,
		float	znear,
		float	zfar )

noexcept

Initializes the given matrix to an orthographic projection matrix.

Warning: This routine clobbers XMTRX.

◆ shz_mat4x4_init_frustum()

void shz_mat4x4_init_frustum	(	shz_mat4x4_t *	mat,
		float	left,
		float	right,
		float	bottom,
		float	top,
		float	znear,
		float	zfar )

noexcept

Initializes the given matrix to a frustum projection matrix.

Warning: This routine clobbers XMTRX.

◆ shz_mat4x4_init_perspective()

void shz_mat4x4_init_perspective	(	shz_mat4x4_t *	mat,
		float	fov,
		float	aspect,
		float	znear )

noexcept

Initializes the given matrix to a perspective projection matrix.

Warning: This routine clobbers XMTRX.

◆ shz_mat4x4_decompose()

void shz_mat4x4_decompose	(	const shz_mat4x4_t *	mat,
		shz_vec3_t *	translation,
		shz_quat_t *	rotation,
		shz_vec3_t *	scale )

noexcept

Decomposes a 4x4 transform matrix into translation, rotation, and scale.

Note: Any output pointer may be NULL to skip that component.

Warning: This routine clobbers XMTRX.

◆ shz_mat4x4_row()

shz_vec4_t shz_mat4x4_row	(	const shz_mat4x4_t *	mat,
		size_t	row )

noexcept

Extracts the row index as a 4D row vector from the given matrix.

◆ shz_mat4x4_col()

shz_vec4_t shz_mat4x4_col	(	const shz_mat4x4_t *	mat,
		size_t	col )

noexcept

Extracts the col index as a 4D column vector from the given matrix.

◆ shz_mat4x4_get_translation()

shz_vec3_t shz_mat4x4_get_translation ( const shz_mat4x4_t * mat )

noexcept

Returns the translational components from the 4th column as a 3D vector.

◆ shz_mat4x4_get_scale()

shz_vec3_t shz_mat4x4_get_scale ( const shz_mat4x4_t * mat )

noexcept

Exracts the 3D scale factors from the given 4x4 matrix.

Warning: This routine assumes mat is a standard TRS-style transform matrix, without shearing or reflection.

◆ shz_mat4x4_determinant()

float shz_mat4x4_determinant ( const shz_mat4x4_t * mat )

noexcept

Returns the determinant of the given 4x4 matrix.

◆ shz_mat4x4_trace()

float shz_mat4x4_trace ( const shz_mat4x4_t * mat )

noexcept

Returns the trace of the given 4x4 matrix.

◆ shz_mat4x4_3x3()

void shz_mat4x4_3x3	(	const shz_mat4x4_t *	mat4,
		shz_mat3x3_t *	mat3 )

noexcept

Extracts the top-left 3x3 of the given 4D matrix.

◆ shz_mat4x4_3x3_inverse_unscaled()

void shz_mat4x4_3x3_inverse_unscaled	(	const shz_mat4x4_t *	mat4,
		shz_mat3x3_t *	invmat3 )

noexcept

Extracts and inverts the top-level, unscaled 3x3 of the given 4x4 matrix.

◆ shz_mat4x4_3x3_inverse()

void shz_mat4x4_3x3_inverse	(	const shz_mat4x4_t *	mat4,
		shz_mat3x3_t *	invmat3 )

noexcept

Extracts and inverts the top-level 3x3 (which may be scaled) of the given 4x4 matrix.

◆ shz_mat4x4_3x3_determinant()

float shz_mat4x4_3x3_determinant ( const shz_mat4x4_t * mat )

noexcept

Returns the determinant of the given 4x4 matrix's internal top-level 3x3 matrix.

◆ shz_mat4x4_set_row()

void shz_mat4x4_set_row	(	shz_mat4x4_t *	mat,
		size_t	row,
		shz_vec4_t	vec )

noexcept

Sets the values of mat at the given row to those of the 4D vector, vec.

◆ shz_mat4x4_set_col()

void shz_mat4x4_set_col	(	shz_mat4x4_t *	mat,
		size_t	col,
		shz_vec4_t	vec )

noexcept

Sets the values of mat at the given col to those of the 4D vector, vec.

◆ shz_mat4x4_swap_rows()

void shz_mat4x4_swap_rows	(	shz_mat4x4_t *	mat,
		size_t	row1,
		size_t	row2 )

noexcept

Swaps the 4D row vectors located at row1 and row2 within mat.

◆ shz_mat4x4_swap_cols()

void shz_mat4x4_swap_cols	(	shz_mat4x4_t *	mat,
		size_t	col1,
		size_t	col2 )

noexcept

Swaps the 4D column vectors located at col1 and col2 within mat.

◆ shz_mat4x4_set_translation()

void shz_mat4x4_set_translation	(	shz_mat4x4_t *	mat,
		float	x,
		float	y,
		float	z )

noexcept

Assigns only the 3D translation-related elements of the given matrix to the given values.

◆ shz_mat4x4_set_scale()

void shz_mat4x4_set_scale	(	shz_mat4x4_t *	mat,
		float	x,
		float	y,
		float	z )

noexcept

Assigns only the 3D scale-related elements of the given matrix to the given values.

◆ shz_mat4x4_set_rotation_quat()

void shz_mat4x4_set_rotation_quat	(	shz_mat4x4_t *	m,
		shz_quat_t	q )

noexcept

Sets just the rotational component of the matrix to the orientation given by a quaternion, keeping the other elements in-tact.

◆ shz_mat4x4_set_diagonal()

void shz_mat4x4_set_diagonal	(	shz_mat4x4_t *	mat,
		float	x,
		float	y,
		float	z,
		float	w )

noexcept

Assigns only the 4 elements along the diagonal of the given matrix to the given values.

◆ shz_mat4x4_apply()

void shz_mat4x4_apply	(	shz_mat4x4_t *	dst,
		const shz_mat4x4_t *	src )

noexcept

Multiplies and accumulates the src 4x4 matrix onto the dst 4x4 matrix.

Warning: This routine clobbers XMTRX.

◆ shz_mat4x4_apply_unaligned()

void shz_mat4x4_apply_unaligned	(	shz_mat4x4_t *	dst,
		const float	src[16] )

noexcept

Multiplies and accumulates the unaligned src 4x4 matrix onto the dst 4x4 matrix.

Warning: This routine clobbers XMTRX.

◆ shz_mat4x4_apply_transpose()

void shz_mat4x4_apply_transpose	(	shz_mat4x4_t *	dst,
		const shz_mat4x4_t *	src )

noexcept

Multiplies and accumulates the transposed src 4x4 matrix onto the dst 4x4 matrix.

Warning: This routine clobbers XMTRX.

◆ shz_mat4x4_apply_transpose_unaligned()

void shz_mat4x4_apply_transpose_unaligned	(	shz_mat4x4_t *	dst,
		const float	src[16] )

noexcept

Multiplies and accumulates the transposed unaligned src 4x4 matrix onto the dst 4x4 matrix.

Warning: This routine clobbers XMTRX.

◆ shz_mat4x4_apply_translation()

void shz_mat4x4_apply_translation	(	shz_mat4x4_t *	mat,
		float	x,
		float	y,
		float	z )

noexcept

Adds the given 3D vector components to the translational values of the given matrix.

Note: This routine does not use XMTRX.

◆ shz_mat4x4_apply_scale()

void shz_mat4x4_apply_scale	(	shz_mat4x4_t *	mat,
		float	x,
		float	y,
		float	z )

noexcept

Multiplies and accumulates the scale-related elements of the given matrix by the given 3D components.

Warning: This routine clobbers XMTRX.

◆ shz_mat4x4_apply_rotation_x()

void shz_mat4x4_apply_rotation_x	(	shz_mat4x4_t *	mat,
		float	xAngle )

noexcept

Multiplies and accumulates a rotation matrix by xAngle radians about the X-axis onto the given matrix.

Warning: This routine clobbers XMTRX.

◆ shz_mat4x4_apply_rotation_y()

void shz_mat4x4_apply_rotation_y	(	shz_mat4x4_t *	mat,
		float	yAngle )

noexcept

Multiplies and accumulates a rotation matrix by yAngle radians about the Y-axis onto the given matrix.

Warning: This routine clobbers XMTRX.

◆ shz_mat4x4_apply_rotation_z()

void shz_mat4x4_apply_rotation_z	(	shz_mat4x4_t *	mat,
		float	zAngle )

noexcept

Multiplies and accumulates a rotation matrix by zAngle radians about the Z-axis onto the given matrix.

Warning: This routine clobbers XMTRX.

◆ shz_mat4x4_apply_rotation_xyz()

void shz_mat4x4_apply_rotation_xyz	(	shz_mat4x4_t *	mat,
		float	xAngle,
		float	yAngle,
		float	zAngle )

noexcept

Rotates the given transform matrix about the X axis, then the Y axis, then the Z axis by the given angles in radians.

Multiplies and accumulates the given matrix with the 3D rotation matrix formed from the intrinsic rotation created by the given Tait-Bryan X-Y-Z angles.

Warning: This routine clobbers XMTRX.

◆ shz_mat4x4_apply_rotation_zyx()

void shz_mat4x4_apply_rotation_zyx	(	shz_mat4x4_t *	mat,
		float	zAngle,
		float	yAngle,
		float	xAngle )

noexcept

Rotates the given transform matrix about the Z axis, then the Y axis, then the X axis by the given angles in radians.

Multiplies and accumulates the given matrix with the 3D rotation matrix formed from the intrinsic rotation created by the given Tait-Bryan Z-Y-X angles.

Warning: This routine clobbers XMTRX.

◆ shz_mat4x4_apply_rotation_zxy()

void shz_mat4x4_apply_rotation_zxy	(	shz_mat4x4_t *	mat,
		float	zAngle,
		float	xAngle,
		float	yAngle )

noexcept

Rotates the given transform matrix about the Z axis, then the X axis, then the Y axis by the given angles in radians.

Multiplies and accumulates the given matrix with the 3D rotation matrix formed from the intrinsic rotation created by the given Tait-Bryan Z-Y-X angles.

Warning: This routine clobbers XMTRX.

◆ shz_mat4x4_apply_rotation_yxz()

void shz_mat4x4_apply_rotation_yxz	(	shz_mat4x4_t *	mat,
		float	yAngle,
		float	xAngle,
		float	zAngle )

noexcept

Rotates the given transform matrix about the Y axis, then the X axis, then the Z axis by the given angles in radians.

Multiplies and accumulates the given matrix with the 3D rotation matrix formed from the intrinsic rotation created by the given Tait-Bryan Y-X-Z angles.

Warning: This routine clobbers XMTRX.

◆ shz_mat4x4_apply_rotation()

void shz_mat4x4_apply_rotation	(	shz_mat4x4_t *	mat,
		float	angle,
		float	xAxis,
		float	yAxis,
		float	zAxis )

noexcept

Rotates the given transform matrix about the arbitrary axis given by a 3D direction vector and angle of rotation in radians.

Multiplies and accumulates the given matrix with the 3D rotation matrix formed from the intrinsic rotation created by the given Tait-Bryan Z-Y-X angles.

Warning: This routine clobbers XMTRX.

◆ shz_mat4x4_apply_rotation_quat()

void shz_mat4x4_apply_rotation_quat	(	shz_mat4x4_t *	m,
		shz_quat_t	q )

noexcept

Multiplies and accumulates the given matrix with a rotation matrix whose orientation is given by a quaternion.

Note: This routine clobbers XMTRX.

◆ shz_mat4x4_apply_lookat()

void shz_mat4x4_apply_lookat	(	shz_mat4x4_t *	m,
		shz_vec3_t	pos,
		shz_vec3_t	target,
		shz_vec3_t	up )

noexcept

Applies the 3D "lookAt" matrix constructed with the given vector components onto the given matrix.

Warning: This routine clobbers XMTRX.

◆ shz_mat4x4_apply_ortho()

void shz_mat4x4_apply_ortho	(	shz_mat4x4_t *	m,
		float	left,
		float	right,
		float	bottom,
		float	top,
		float	znear,
		float	zfar )

noexcept

Multiplies and accumulates the ortho matrix constructed from the given values onto the given matrix.

Warning: This routine clobbers XMTRX.

◆ shz_mat4x4_apply_frustum()

void shz_mat4x4_apply_frustum	(	shz_mat4x4_t *	m,
		float	left,
		float	right,
		float	bottom,
		float	top,
		float	znear,
		float	zfar )

noexcept

Multiplies and accumulates the frustum matrix constructed from the given values onto the given matrix.

Warning: This routine clobbers XMTRX.

◆ shz_mat4x4_apply_perspective()

void shz_mat4x4_apply_perspective	(	shz_mat4x4_t *	m,
		float	fov,
		float	aspect,
		float	znear )

noexcept

Multiplies and accumulates the perspective matrix constructed from the given values onto the given matrix.

Warning: This routine clobbers XMTRX.

◆ shz_mat4x4_apply_screen()

void shz_mat4x4_apply_screen	(	shz_mat4x4_t *	m,
		float	width,
		float	height )

noexcept

Multiplies and accumulates the viewport matrix created with the given components ont othe given matrix.

Warning: This routine clobbers XMTRX.

◆ shz_mat4x4_apply_symmetric_skew()

void shz_mat4x4_apply_symmetric_skew	(	shz_mat4x4_t *	mat,
		float	x,
		float	y,
		float	z )

noexcept

Multiplies and accumulates the given matrix with a symmetric skew matrix formed from the given 3D vector components.

Warning: This routine clobbers XMTRX.

◆ shz_mat4x4_apply_permutation_wxyz()

void shz_mat4x4_apply_permutation_wxyz ( shz_mat4x4_t * mat )

noexcept

Multiplies and accumulates a permutation matrix, which reorders the components of transformed vectors to be in WXYZ order.

Warning: This routine clobbers XMTRX.

◆ shz_mat4x4_apply_permutation_yzwx()

void shz_mat4x4_apply_permutation_yzwx ( shz_mat4x4_t * mat )

noexcept

Multiplies and accumulates a permutation matrix, which reorders the components of transformed vectors to be in YZWX order.

Warning: This routine clobbers XMTRX.

◆ shz_mat4x4_apply_self()

void shz_mat4x4_apply_self ( shz_mat4x4_t * mat )

noexcept

Multiplies and accumulates the given matrix onto itself.

Warning: This routine clobbers XMTRX.

◆ shz_mat4x4_translate()

void shz_mat4x4_translate	(	shz_mat4x4_t *	mat,
		float	x,
		float	y,
		float	z )

noexcept

Multiplies and accumulates mat by a 3D translation matrix with the given components.

Note: glTranslatef() equivalent.

Warning: This routine clobbers XMTRX.

◆ shz_mat4x4_scale()

void shz_mat4x4_scale	(	shz_mat4x4_t *	mat,
		float	x,
		float	y,
		float	z )

noexcept

Multiplies and accumulates mat by a 3D scaling matrix with the given components.

Note: glScalef() equivalent.

Warning: This routine clobbers XMTRX.

◆ shz_mat4x4_rotate_x()

void shz_mat4x4_rotate_x	(	shz_mat4x4_t *	mat,
		float	radians )

noexcept

Multiplies and accumulates mat by a 3D rotation matrix about the X axis.

Warning: This routine clobbers XMTRX.

◆ shz_mat4x4_rotate_y()

void shz_mat4x4_rotate_y	(	shz_mat4x4_t *	mat,
		float	radians )

noexcept

Multiplies and accumulates mat by a 3D rotation matrix about the Y axis.

Warning: This routine clobbers XMTRX.

◆ shz_mat4x4_rotate_z()

void shz_mat4x4_rotate_z	(	shz_mat4x4_t *	mat,
		float	radians )

noexcept

Multiplies and accumulates mat by a 3D rotation matrix about the Z axis.

Warning: This routine clobbers XMTRX.

◆ shz_mat4x4_rotate_xyz()

void shz_mat4x4_rotate_xyz	(	shz_mat4x4_t *	mat,
		float	xRadians,
		float	yRadians,
		float	zRadians )

noexcept

Multiplies and accumulates mat by 3D rotation matrices about the X then Y then Z axes.

Warning: This routine clobbers XMTRX.

◆ shz_mat4x4_rotate_zyx()

void shz_mat4x4_rotate_zyx	(	shz_mat4x4_t *	mat,
		float	zRadians,
		float	yRadians,
		float	xRadians )

noexcept

Multiplies and accumulates mat by 3D rotation matrices about the Z then Y then X axes.

Warning: This routine clobbers XMTRX.

◆ shz_mat4x4_rotate_zxy()

void shz_mat4x4_rotate_zxy	(	shz_mat4x4_t *	mat,
		float	zRadians,
		float	xRadians,
		float	yRadians )

noexcept

Multiplies and accumulates mat by 3D rotation matrices about the Z then X then Y axes.

Warning: This routine clobbers XMTRX.

◆ shz_mat4x4_rotate_yxz()

void shz_mat4x4_rotate_yxz	(	shz_mat4x4_t *	mat,
		float	yRadians,
		float	xRadians,
		float	zRadians )

noexcept

Multiplies and accumulates mat by 3D rotation matrices about the Y then X then Z axes.

Warning: This routine clobbers XMTRX.

◆ shz_mat4x4_rotate()

void shz_mat4x4_rotate	(	shz_mat4x4_t *	mat,
		float	radians,
		float	xAxis,
		float	yAxis,
		float	zAxis )

noexcept

Multiplies and accumulates mat by the 3D rotation matrix formed by the given axis and angle.

Note: Equivalent to glRotatef().

Warning: This routine clobbers XMTRX.

◆ shz_mat4x4_translate_reverse()

void shz_mat4x4_translate_reverse	(	shz_mat4x4_t *	mat,
		float	x,
		float	y,
		float	z )

noexcept

Pre-multiplies and accumulates the given matrix onto the 3D translation matrix with the given components.

Warning: This routin clobbers XMTRX.

◆ shz_mat4x4_scale_reverse()

void shz_mat4x4_scale_reverse	(	shz_mat4x4_t *	mat,
		float	x,
		float	y,
		float	z )

noexcept

Pre-multiplies and accumulates the given matrix onto the 3D scaling matrix with the given components.

Warning: This routine clobbers XMTRX

◆ shz_mat4x4_mult()

void shz_mat4x4_mult	(	shz_mat4x4_t *	mat,
		const shz_mat4x4_t *	lhs,
		const shz_mat4x4_t *	rhs )

noexcept

Multiplies two 4x4 matrices together, storing the result into a third.

Warning: This routine clobbers XMTRX.

◆ shz_mat4x4_mult_unaligned()

void shz_mat4x4_mult_unaligned	(	shz_mat4x4_t *	mat,
		const shz_mat4x4_t *	lhs,
		const float	rhs[16] )

noexcept

Multiplies two 4x4 matrices together, with the right handed matrix being unaligned, storing the result into a third.

Warning: This routine clobbers XMTRX.

◆ shz_mat4x4_mult_transpose()

void shz_mat4x4_mult_transpose	(	shz_mat4x4_t *	mat,
		const shz_mat4x4_t *	lhs,
		const shz_mat4x4_t *	rhs )

noexcept

Multiplies the regular matrix, lhs, by the transpose of the matrix, rhs, storing the result into mat.

Warning: This routine clobbers XMTRX.

◆ shz_mat4x4_mult_transpose_unaligned()

void shz_mat4x4_mult_transpose_unaligned	(	shz_mat4x4_t *	mat,
		const shz_mat4x4_t *	lhs,
		const float	rhs[16] )

noexcept

Multiplies the regular matrix, lhs, by the transpose of the unaligned matrix, rhs, storing the result into mat.

Warning: This routine clobbers XMTRX.

◆ shz_mat4x4_transform_vec2()

shz_vec2_t shz_mat4x4_transform_vec2	(	const shz_mat4x4_t *	m,
		shz_vec2_t	v )

noexcept

Transforms a 2D vector by a 4x4 matrix.

This is a routine specializing in one-off transforms of a single 2D vector by a single 4x4 matrix. It should be faster than going through XMTRX.

Note: For batch transforming multiple 2D vectors against the same 4x4 matrix, preload the matrix into XMTRX, then use shz_xmtrx_trans_vec2().

See also: shz_mat4x4_transform_vec2(), shz_xmtrx_transform_vec3()

◆ shz_mat4x4_transform_vec3()

shz_vec3_t shz_mat4x4_transform_vec3	(	const shz_mat4x4_t *	m,
		shz_vec3_t	v )

noexcept

Transforms a 3D vector by a 4x4 matrix.

This is a routine specializing in one-off transforms of a single 3D vector (such as a normal, without a W component) by a single 4x4 matrix. It should be faster than going through XMTRX.

Note: For batch transforming multiple 3D vectors against the same 4x4 matrix, preload the matrix into XMTRX, then use shz_xmtrx_trans_vec3().

See also: shz_mat4x4_transform_vec4(), shz_xmtrx_transform_vec3()

◆ shz_mat4x4_transform_vec4()

shz_vec4_t shz_mat4x4_transform_vec4	(	const shz_mat4x4_t *	mat,
		shz_vec4_t	in )

noexcept

Transforms a 4D vector by a 4x4 matrix.

This is a routine specializing in one-off transforms of a single 4D vector by a single 4x4 matrix. It should be faster than going through XMTRX.

Note: For batch transforming multiple 4D vectors against the same 4x4 matrix, preload the matrix into XMTRX, then use shz_xmtrx_trans_vec4().

See also: shz_mat4x4_transform_vec3(), shz_xmtrx_transform_vec4()

◆ shz_mat4x4_transform_vec2_transpose()

shz_vec2_t shz_mat4x4_transform_vec2_transpose	(	const shz_mat4x4_t *	m,
		shz_vec2_t	v )

noexcept

Transforms a 2D vector the the transpose of a 4x4 matrix.

This is a routine specializing in one-off transforms of a single 2D vector by the transpose of a single 4x4 matrix. It should be faster than going through XMTRX.

Note: For batch transforming multiple 2D vectors against the transpose of the same 4x4 matrix, preload the matrix into XMTRX, take its transpose with shz_xmtrx_transpose(), then use shz_xmtrx_transform_vec2().

See also: shz_xmtrx_transpose(), shz_xmtrx_transform_vec2().

◆ shz_mat4x4_transform_vec3_transpose()

shz_vec3_t shz_mat4x4_transform_vec3_transpose	(	const shz_mat4x4_t *	m,
		shz_vec3_t	v )

noexcept

Transforms a 3D vector the the transpose of a 4x4 matrix.

This is a routine specializing in one-off transforms of a single 3D vector by the transpose of a single 4x4 matrix. It should be faster than going through XMTRX.

Note: For batch transforming multiple 3D vectors against the transpose of the same 4x4 matrix, preload the matrix into XMTRX, take its transpose with shz_xmtrx_transpose(), then use shz_xmtrx_transform_vec3().

See also: shz_xmtrx_transpose(), shz_xmtrx_transform_vec3().

◆ shz_mat4x4_transform_vec4_transpose()

shz_vec4_t shz_mat4x4_transform_vec4_transpose	(	const shz_mat4x4_t *	m,
		shz_vec4_t	v )

noexcept

Transforms a 4D vector the the transpose of a 4x4 matrix.

This is a routine specializing in one-off transforms of a single 4D vector by the transpose of a single 4x4 matrix. It should be faster than going through XMTRX.

Note: For batch transforming multiple 4D vectors against the transpose of the same 4x4 matrix, preload the matrix into XMTRX, take its transpose with shz_xmtrx_transpose(), then use shz_xmtrx_transform_vec4().

See also: shz_xmtrx_transpose(), shz_xmtrx_transform_vec4().

◆ shz_mat4x4_transform_point2()

shz_vec2_t shz_mat4x4_transform_point2	(	const shz_mat4x4_t *	mat,
		shz_vec2_t	pt )

noexcept

Transforms a 2D point by a 4x4 matrix.

This is a routine specializing in one-off transforms of a single 2D point by a single 4x4 matrix. It should be faster than going through XMTRX.

Note: For batch transforming multiple 2D points against the same 4x4 matrix, preload the matrix into XMTRX, then use shz_xmtrx_transform_point2().

See also: shz_xmtrx_transform_point2()

◆ shz_mat4x4_transform_point3()

shz_vec3_t shz_mat4x4_transform_point3	(	const shz_mat4x4_t *	mat,
		shz_vec3_t	pt )

noexcept

Transforms a 3D point by a 4x4 matrix.

This is a routine specializing in one-off transforms of a single 3D point by a single 4x4 matrix. It should be faster than going through XMTRX.

Note: For batch transforming multiple 3D points against the same 4x4 matrix, preload the matrix into XMTRX, then use shz_xmtrx_transform_point3().

See also: shz_xmtrx_transform_point3()

◆ shz_mat4x4_transform_point2_transpose()

shz_vec2_t shz_mat4x4_transform_point2_transpose	(	const shz_mat4x4_t *	mat,
		shz_vec2_t	pt )

noexcept

Transforms a 2D point by the transpose of a 4x4 matrix.

This is a routine specializing in one-off transforms of a single 2D point by the transpose of a a single 4x4 matrix. It should be faster than going through XMTRX.

Note: For batch transforming multiple 2D points against the same 4x4 matrix, preload the matrix into XMTRX, use shz_xmtrx_transpose(), then use shz_xmtrx_transform_point2().

See also: shz_xmtrx_transpose(), shz_xmtrx_transform_point2()

◆ shz_mat4x4_transform_point3_transpose()

shz_vec3_t shz_mat4x4_transform_point3_transpose	(	const shz_mat4x4_t *	mat,
		shz_vec3_t	pt )

noexcept

Transforms a 3D point by the transpose of a 4x4 matrix.

This is a routine specializing in one-off transforms of a single 3D point by the transpose of a a single 4x4 matrix. It should be faster than going through XMTRX.

Note: For batch transforming multiple 3D points against the same 4x4 matrix, preload the matrix into XMTRX, use shz_xmtrx_transpose(), then use shz_xmtrx_transform_point2().

See also: shz_xmtrx_transpose(), shz_xmtrx_transform_point3()

◆ shz_mat4x4_to_quat()

shz_quat_t shz_mat4x4_to_quat ( const shz_mat4x4_t * mat )

noexcept

Converts the given 4x4 orientation matrix into a quaternion.

◆ shz_mat4x4_transpose()

void shz_mat4x4_transpose	(	const shz_mat4x4_t *	mat,
		shz_mat4x4_t *	out )

noexcept

Stores the transpose of mat within out.

Warning: This routine clobbers XMTRX.

◆ shz_mat4x4_inverse()

void shz_mat4x4_inverse	(	const shz_mat4x4_t *SHZ_RESTRICT	mtrx,
		shz_mat4x4_t *SHZ_RESTRICT	out )

noexcept

Computes the inverse of a 4x4 matrix.

Note: In-place inversion (mtrx == out) is not supported.

Warning: This routine clobbers XMTRX.

Parameters

mtrx	Pointer to the 4x4 matrix to invert.
out	Pointer to the resulting inverted matrix.

◆ shz_mat4x4_inverse_block_triangular()

void shz_mat4x4_inverse_block_triangular	(	const shz_mat4x4_t *	mtx,
		shz_mat4x4_t *	out )

noexcept

Computes the inverse of a 4x4 matrix in block-triangular form.

This is a special-case faster optimization for 4x4 matrices which take the form:

A = [ M   b ]
    [ 0   w ]

Where A is 4x4, M is 3x3, b is 3x1, and the bottom row is (0, 0, 0, w) with w != 0. For this block-triangular form, det(A) = det(M) * w. Then

inv(A) = [ inv(M)        -inv(M) * b / w ]
         [   0                 1/w       ]

Note: A regular 3D transform matrix is already in this form.; shz_mat4x4_inverse() will dynamically check whether to use this optimization.

◆ shz_mat4x4_equal()

bool shz_mat4x4_equal	(	const shz_mat4x4_t *SHZ_RESTRICT	mat1,
		const shz_mat4x4_t *	mat2 )

noexcept

Returns true if the two matrices are equal, based on either absolute or relative tolerance.

◆ shz_mat4x4_is_block_triangular()

bool shz_mat4x4_is_block_triangular ( const shz_mat4x4_t * mat )

noexcept

Returns true if the given matrix is in block-triangular form: having a bottom row in the form of <0.0f, 0.0f, 0.0f, w>.

◆ shz_mat4x4_copy()

void shz_mat4x4_copy	(	shz_mat4x4_t *	dst,
		const shz_mat4x4_t *	src )

noexcept

Copies the given src 4x4 matrix into the given dst 4x4 matrix.

◆ shz_mat4x4_copy_unaligned()

void shz_mat4x4_copy_unaligned	(	shz_mat4x4_t *	dst,
		const float	src[16] )

noexcept

Copies the given unaligned src 4x4 matrix into the given dst 4x4 matrix.

Warning: This routine clobbers XMTRX.

◆ shz_mat4x4_swap()

void shz_mat4x4_swap	(	shz_mat4x4_t *	matA,
		shz_mat4x4_t *	matB )

noexcept

Swaps the contents of the two given matrices, matA and matB.

Warning: This routine clobbers XMTRX.

◆ shz_mat4x4_blend()

void shz_mat4x4_blend	(	shz_mat4x4_t *	dst,
		const shz_mat4x4_t *	joint_matrix,
		float	weights )

noexcept

Adds and accumulates a scaled 4x4 matrix into the given matrix.

Each component of joint_matrix will be multiplied by weight, with the result being added to the existing value of that component in dst.

This is useful for accumulating weighted joint matrices onto an initially zeroed-out matrix.

Warning: This routine clobbers XMTRX.

See also: shz_mat4x4_init_zero()

Data Structures

Typedefs

Functions

Detailed Description

Typedef Documentation

◆ shz_mat4x4

Function Documentation

◆ shz_mat4x4_init_identity()

◆ shz_mat4x4_init_identity_safe()

◆ shz_mat4x4_init_zero()

◆ shz_mat4x4_init_one()

◆ shz_mat4x4_init_fill()

◆ shz_mat4x4_init_translation()

◆ shz_mat4x4_init_scale()

◆ shz_mat4x4_init_rotation_x()

◆ shz_mat4x4_init_rotation_y()

◆ shz_mat4x4_init_rotation_z()

◆ shz_mat4x4_init_rotation_xyz()

◆ shz_mat4x4_init_rotation_zyx()

◆ shz_mat4x4_init_rotation_zxy()

◆ shz_mat4x4_init_rotation_yxz()

◆ shz_mat4x4_init_rotation()

◆ shz_mat4x4_init_rotation_dir()

◆ shz_mat4x4_init_rotation_quat()

◆ shz_mat4x4_init_diagonal()

◆ shz_mat4x4_init_upper_triangular()

◆ shz_mat4x4_init_lower_triangular()

◆ shz_mat4x4_init_symmetric_skew()

◆ shz_mat4x4_init_outer_product()

◆ shz_mat4x4_init_permutation_wxyz()

◆ shz_mat4x4_init_permutation_yzwx()

◆ shz_mat4x4_init_screen()

◆ shz_mat4x4_init_lookat()

◆ shz_mat4x4_init_ortho()

◆ shz_mat4x4_init_frustum()

◆ shz_mat4x4_init_perspective()

◆ shz_mat4x4_decompose()

◆ shz_mat4x4_row()

◆ shz_mat4x4_col()

◆ shz_mat4x4_get_translation()

◆ shz_mat4x4_get_scale()

◆ shz_mat4x4_determinant()

◆ shz_mat4x4_trace()

◆ shz_mat4x4_3x3()

◆ shz_mat4x4_3x3_inverse_unscaled()

◆ shz_mat4x4_3x3_inverse()

◆ shz_mat4x4_3x3_determinant()

◆ shz_mat4x4_set_row()

◆ shz_mat4x4_set_col()

◆ shz_mat4x4_swap_rows()

◆ shz_mat4x4_swap_cols()

◆ shz_mat4x4_set_translation()

◆ shz_mat4x4_set_scale()

◆ shz_mat4x4_set_rotation_quat()

◆ shz_mat4x4_set_diagonal()

◆ shz_mat4x4_apply()

◆ shz_mat4x4_apply_unaligned()

◆ shz_mat4x4_apply_transpose()

◆ shz_mat4x4_apply_transpose_unaligned()

◆ shz_mat4x4_apply_translation()

◆ shz_mat4x4_apply_scale()

◆ shz_mat4x4_apply_rotation_x()

◆ shz_mat4x4_apply_rotation_y()

◆ shz_mat4x4_apply_rotation_z()

◆ shz_mat4x4_apply_rotation_xyz()

◆ shz_mat4x4_apply_rotation_zyx()

◆ shz_mat4x4_apply_rotation_zxy()

◆ shz_mat4x4_apply_rotation_yxz()

◆ shz_mat4x4_apply_rotation()

◆ shz_mat4x4_apply_rotation_quat()

◆ shz_mat4x4_apply_lookat()

◆ shz_mat4x4_apply_ortho()

◆ shz_mat4x4_apply_frustum()

◆ shz_mat4x4_apply_perspective()

◆ shz_mat4x4_apply_screen()

◆ shz_mat4x4_apply_symmetric_skew()

◆ shz_mat4x4_apply_permutation_wxyz()

◆ shz_mat4x4_apply_permutation_yzwx()

◆ shz_mat4x4_apply_self()

◆ shz_mat4x4_translate()