separate square from rectangular matrices

include/bounce/common/math/mat.h

@@ -19,9 +19,12 @@
 #ifndef B3_MAT_H
 #define B3_MAT_H
 
-#include <bounce/common/math/math.h>
 #include <bounce/common/math/mat22.h>
 #include <bounce/common/math/mat33.h>
+#include <bounce/common/math/mat44.h>
+
+// This header contain implementations for some small rectangular 
+// matrices.
 
 struct b3Mat23
 {
@@ -109,29 +112,6 @@ struct b3Mat34
 	b3Vec3 x, y, z, w;
 };
 
-struct b3Vec4
-{
-	b3Vec4() { }
-
-	b3Vec4(float32 _x, float32 _y, float32 _z, float32 _w)
-	{
-		x = _x;
-		y = _y;
-		z = _z;
-		w = _w;
-	}
-
-	void SetZero()
-	{
-		x = 0.0f;
-		y = 0.0f;
-		z = 0.0f;
-		w = 0.0f;
-	}
-
-	float32 x, y, z, w;
-};
-
 struct b3Mat43
 {
 	b3Mat43() { }
@@ -153,63 +133,6 @@ struct b3Mat43
 	b3Vec4 x, y, z;
 };
 
-struct b3Mat44
-{
-	b3Mat44() { }
-
-	b3Mat44(const b3Vec4& _x, const b3Vec4& _y, const b3Vec4& _z, const b3Vec4& _w)
-	{
-		x = _x;
-		y = _y;
-		z = _z;
-		w = _w;
-	}
-
-	void SetZero()
-	{
-		x.SetZero();
-		y.SetZero();
-		z.SetZero();
-		w.SetZero();
-	}
-
-	b3Vec4 x, y, z, w;
-};
-
-inline b3Vec4 operator+(const b3Vec4& a, const b3Vec4& b)
-{
-	return b3Vec4(a.x + b.x, a.y + b.y, a.z + b.z, a.w + b.w);
-}
-
-inline b3Vec4 operator-(const b3Vec4& a, const b3Vec4& b)
-{
-	return b3Vec4(a.x - b.x, a.y - b.y, a.z - b.z, a.w - b.w);
-}
-
-// 1x1 * 1x4 = 1x1
-inline b3Vec4 operator*(float32 s, const b3Vec4& v)
-{
-	return b3Vec4(s * v.x, s * v.y, s * v.z, s * v.w);
-}
-
-// a * 4x4 = 4x4
-inline b3Mat44 operator*(float32 s, const b3Mat44& A)
-{
-	return b3Mat44(s * A.x, s * A.y, s * A.z, s * A.w);
-}
-
-// 4x4 * 4x1 = 4x1
-inline b3Vec4 operator*(const b3Mat44& A, const b3Vec4& v)
-{
-	return v.x * A.x + v.y * A.y + v.z * A.z + v.w * A.w;
-}
-
-// 4x4 * 4x4 = 4x4
-inline b3Mat44 operator*(const b3Mat44& A, const b3Mat44& B)
-{
-	return b3Mat44(A * B.x, A * B.y, A * B.z, A * B.w);
-}
-
 // a * 3x4 = 3x4
 inline b3Mat34 operator*(float32 s, const b3Mat34& A)
 {
@@ -228,24 +151,6 @@ inline b3Vec3 operator*(const b3Mat34& A, const b3Vec4& v)
 	return v.x * A.x + v.y * A.y + v.z * A.z + v.w * A.w;
 }
 
-// 1x4 * 4x1 = 1x1
-inline float32 operator*(const b3Vec4& A, const b3Vec4& B)
-{
-	return A.x * B.x + A.y * B.y + A.z * B.z + A.w * B.w;
-}
-
-// 3x1 * 1x1 = 3x1
-inline b3Vec3 operator*(const b3Vec3& v, float32 s)
-{
-	return s * v;
-}
-
-// 2x1 * 1x1 = 2x1
-inline b3Vec2 operator*(const b3Vec2& v, float32 s)
-{
-	return s * v;
-}
-
 // 1x3 * 3x1 = 1x1
 inline float32 operator*(const b3Vec3& A, const b3Vec3& B)
 {

include/bounce/common/math/mat44.h

@@ -0,0 +1,66 @@
+/*
+* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef B3_MAT_44_H
+#define B3_MAT_44_H
+
+#include <bounce/common/math/vec4.h>
+
+// A 4-by-4 matrix stored in column-major order.
+struct b3Mat44
+{
+	b3Mat44() { }
+
+	b3Mat44(const b3Vec4& _x, const b3Vec4& _y, const b3Vec4& _z, const b3Vec4& _w)
+	{
+		x = _x;
+		y = _y;
+		z = _z;
+		w = _w;
+	}
+
+	void SetZero()
+	{
+		x.SetZero();
+		y.SetZero();
+		z.SetZero();
+		w.SetZero();
+	}
+
+	b3Vec4 x, y, z, w;
+};
+
+// 
+inline b3Mat44 operator*(float32 s, const b3Mat44& A)
+{
+	return b3Mat44(s * A.x, s * A.y, s * A.z, s * A.w);
+}
+
+// 
+inline b3Vec4 operator*(const b3Mat44& A, const b3Vec4& v)
+{
+	return v.x * A.x + v.y * A.y + v.z * A.z + v.w * A.w;
+}
+
+// 
+inline b3Mat44 operator*(const b3Mat44& A, const b3Mat44& B)
+{
+	return b3Mat44(A * B.x, A * B.y, A * B.z, A * B.w);
+}
+
+#endif

include/bounce/common/math/vec2.h

@@ -115,6 +115,12 @@ inline b3Vec2 operator*(float32 s, const b3Vec2& v)
 	return b3Vec2(s * v.x, s * v.y);
 }
 
+// Multiply a vector by a scalar.
+inline b3Vec2 operator*(const b3Vec2& v, float32 s)
+{
+	return s * v;
+}
+
 // Compute the dot product of two vectors.
 inline float32 b3Dot(const b3Vec2& a, const b3Vec2& b)
 {

include/bounce/common/math/vec3.h

@@ -130,6 +130,12 @@ inline b3Vec3 operator*(float32 s, const b3Vec3& v)
 	return b3Vec3(s * v.x, s * v.y, s * v.z);
 }
 
+// Compute a scalar-vector product.
+inline b3Vec3 operator*(const b3Vec3& v, float32 s)
+{
+	return s * v;
+}
+
 // Inverse multiply a scalar-vector.
 inline b3Vec3 operator/(const b3Vec3& v, float32 s)
 {

include/bounce/common/math/vec4.h

@@ -0,0 +1,75 @@
+/*
+* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef B3_VEC_4_H
+#define B3_VEC_4_H
+
+#include <bounce/common/math/math.h>
+
+// A 4D column vector.
+struct b3Vec4
+{
+	//
+	b3Vec4() { }
+
+	//
+	b3Vec4(float32 _x, float32 _y, float32 _z, float32 _w)
+	{
+		x = _x;
+		y = _y;
+		z = _z;
+		w = _w;
+	}
+
+	//
+	void SetZero()
+	{
+		x = 0.0f;
+		y = 0.0f;
+		z = 0.0f;
+		w = 0.0f;
+	}
+	
+	float32 x, y, z, w;
+};
+
+//
+inline b3Vec4 operator+(const b3Vec4& a, const b3Vec4& b)
+{
+	return b3Vec4(a.x + b.x, a.y + b.y, a.z + b.z, a.w + b.w);
+}
+
+//
+inline b3Vec4 operator-(const b3Vec4& a, const b3Vec4& b)
+{
+	return b3Vec4(a.x - b.x, a.y - b.y, a.z - b.z, a.w - b.w);
+}
+
+//
+inline b3Vec4 operator*(float32 s, const b3Vec4& v)
+{
+	return b3Vec4(s * v.x, s * v.y, s * v.z, s * v.w);
+}
+
+//  
+inline float32 operator*(const b3Vec4& A, const b3Vec4& B)
+{
+	return A.x * B.x + A.y * B.y + A.z * B.z + A.w * B.w;
+}
+
+#endif

src/bounce/common/math/mat.cpp

@@ -18,6 +18,15 @@
 
 #include <bounce/common/math/mat22.h>
 #include <bounce/common/math/mat33.h>
+#include <bounce/common/math/mat44.h>
+
+b3Mat22 b3Mat22_zero = b3Mat22(
+	b3Vec2(0.0f, 0.0f),
+	b3Vec2(0.0f, 0.0f));
+
+b3Mat22 b3Mat22_identity = b3Mat22(
+	b3Vec2(1.0f, 0.0f),
+	b3Vec2(0.0f, 1.0f));
 
 b3Mat33 b3Mat33_zero = b3Mat33(
 	b3Vec3(0.0f, 0.0f, 0.0f),