Matrix.h

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/* Copyright (c) 2014-2017, ARM Limited and Contributors
 *
 * SPDX-License-Identifier: MIT
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 * Permission is hereby granted, free of charge,
 * to any person obtaining a copy of this software and associated documentation files (the "Software"),
 * to deal in the Software without restriction, including without limitation the rights to
 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software,
 * and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
 * INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
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#ifndef MATRIX_H
#define MATRIX_H

#include <cmath>
#include <cstring>
#include <cstdio>
#include <cstdlib>

#ifndef M_PI

#define M_PI 3.14159265358979323846f
#endif /* M_PI */

namespace MaliSDK
{
    inline float degreesToRadians(float degrees)
    {
        return M_PI * degrees / 180.0f;
    }

    class Vec3f
    {
    public:
        float x, y, z;

        void normalize(void)
        {
            float length = sqrt(x * x + y * y + z * z);

            x /= length;
            y /= length;
            z /= length;
        }

        static Vec3f cross(const Vec3f& vector1, const Vec3f& vector2)
            {
                    /* Floating point vector to be returned. */
                    Vec3f crossProduct;

                    crossProduct.x = (vector1.y * vector2.z) - (vector1.z * vector2.y);
                    crossProduct.y = (vector1.z * vector2.x) - (vector1.x * vector2.z);
                    crossProduct.z = (vector1.x * vector2.y) - (vector1.y * vector2.x);

                    return crossProduct;
            }
    };


   class Vec4f
   {
   public:
       float x, y, z, w;

       void normalize(void)
       {
           float length = sqrt(x * x + y * y + z * z + w * w);

           x /= length;
           y /= length;
           z /= length;
           w /= length;
       }
   };

    class Matrix
    {
    private:
        float elements[16];

        static Matrix multiply(Matrix *left, Matrix *right);

        static const float identityArray[];
    public:
        float* getAsArray(void);

        Matrix(void);

        float& operator[] (unsigned element);

        Matrix operator* (Matrix right);

        Matrix& operator=(const Matrix &another);

        Matrix(const float* array);

        static Matrix identityMatrix;

        static Matrix matrixPerspective(float FOV, float ratio, float zNear, float zFar);

                static Matrix matrixCameraLookAt(Vec3f eye, Vec3f center, Vec3f up);
    };
}
#endif  /* MATRIX_H */