vmath

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News

• 15. July 2018 - fixed Matrix4<T>::createFrustum (thanks to Julian.Zhu)
• 3. November 2016 - matrix multiplication made reentrant (thanks to Julian.Zhu)
• 26. October 2014 - added Aabb3<T> class for axes-aligned bounding-box (inspired by vmath modification by Allen King)
• 20. November 2011 - added Matrix4<T>::createLookAt() method, thanks to Edward Woolhouse
• 10. July 2011 - multiple fixes around quaternions, matrix operator() accessor thanks to Davide Bacchet, added some static Matrix4<T> creators
• 24. April 2011 - fixed inverse of Matrix4<T>, added inverse and determinant for Matrix3<T> thanks to Rober Green
• 9. November 2009 - length() and lengthSq() marked as constant methods — thanks to Kyle McDonald
• 22. January 2008 - Fixed finding of ivnersion matrix (4x4 only)
• 7. November 2007 - Fixed quaternion multiplication, added unary operators for negation and quaternion conjugation
• 6. August 2007 - Finally I fixed quaternion to matrix conversion, thanks to Charles
• 27. November 2006 - Added conversion constructors and operator='s, see Features
• 17. September 2006 - as LGPL license seems to be pruposed only for dynamicly linked libraries, I decided to change vmath license to BSD license (new, modified - it means compatible with GNU/GPL)
• 12. September 2006 - small fixes, vmath clearly declared to be licensed under GNU/LGPL license
• 23. June 2006 - fixed Quaternuin<T> rotMatrix() and transform() methods
• 21. June 2006 - fixed multiplaction of Matrix3<T> by Vector2<T>
• 5. February 2006 - fixed operator!= bugs

Intro

vmath is set of C++ classes for Vector and Matrix algebra used in computer graphics. The library consits of these classes:

• Vector2 - two dimensional vector for 2D vertices and texture coordinates
• Vector3 - three dimensional vector for 3D vertices, normals and texture coordinates and also for color
• Vector4 - four dimensional vector for 3D vertices, normals, texture coordinates and color with alpha channell.
• Matrix3 - matrix 3x3 for rotation (used in ODE)
• Matrix4 - matrix 4x4 for general geometrix transformations
• Quaternion - quaternion re 3x im, for rotation
• Aabb3 - axes-aligned bounding box

Note that this library is set of C++ class that has all(!) method inlined. (for performance reasons)

Features

• basic aritemetic operations - using operators
• basic linear algebra operations - such as transpose, dot product, etc.
• aliasis for vertex coordinates - it means:
  Vector3f v;
  // use vertex coordinates
  v.x = 1; v.y = 2; v.z = -1;
  // use texture coordinates
  v.s = 0; v.t = 1; v.u = 0.5;
  // use color coordinates
  v.r = 1; v.g = 0.5; v.b = 0;
  
• conversion constructor and assign operators - so you can assign a value of Vector3<T1> type to a variable of Vector3<T2> type for any convertable T1, T2 type pairs. In other words, you can do this:
  Vector3f f3; Vector3d d3 = f3;
  ...
  f3 = d3;
  

Status

• Classes Vector2<T>, Vector3<T>, Vector4<T> are supposed to be stable. I have been using these libraries for two or three years.
• Classes Matrix3<T>, Matrix4<T> were tested for barely all operations and seems to be everything OK.
• Class Quaternion<T> was tested for barely all operations and seems to be good.

Tricks

You can pass vector or matrix class directly as argument appropriate OpenGL function,

Todo

• add Quternion class for rotation [ DONE ]
• solve finding inversion matrix for Matrix4 [ DONE ]
• add inversion of matrix for Matirx3 [ DONE ]
• Proper testing [ DONE ]