libs/math/include/math/mat3.h - LeafOS-Project/android_frameworks_native - Gitiles

 /*
  * Copyright 2013 The Android Open Source Project
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
  * You may obtain a copy of the License at
  *
  *      http://www.apache.org/licenses/LICENSE-2.0
  *
  * Unless required by applicable law or agreed to in writing, software
  * distributed under the License is distributed on an "AS IS" BASIS,
  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  * See the License for the specific language governing permissions and
  * limitations under the License.
  */

 #pragma once

 #include <math/quat.h>
 #include <math/TMatHelpers.h>
 #include <math/vec3.h>
 #include <stdint.h>
 #include <sys/types.h>

 #define PURE __attribute__((pure))

 #if __cplusplus >= 201402L
 #define CONSTEXPR constexpr
 #else
 #define CONSTEXPR
 #endif

 namespace android {
 // -------------------------------------------------------------------------------------
 namespace details {

 template<typename T>
 class TQuaternion;

 /**
  * A 3x3 column-major matrix class.
  *
  * Conceptually a 3x3 matrix is a an array of 3 column vec3:
  *
  * mat3 m =
  *      \f$
  *      \left(
  *      \begin{array}{ccc}
  *      m[0] & m[1] & m[2] \\
  *      \end{array}
  *      \right)
  *      \f$
  *      =
  *      \f$
  *      \left(
  *      \begin{array}{ccc}
  *      m[0][0] & m[1][0] & m[2][0] \\
  *      m[0][1] & m[1][1] & m[2][1] \\
  *      m[0][2] & m[1][2] & m[2][2] \\
  *      \end{array}
  *      \right)
  *      \f$
  *      =
  *      \f$
  *      \left(
  *      \begin{array}{ccc}
  *      m(0,0) & m(0,1) & m(0,2) \\
  *      m(1,0) & m(1,1) & m(1,2) \\
  *      m(2,0) & m(2,1) & m(2,2) \\
  *      \end{array}
  *      \right)
  *      \f$
  *
  * m[n] is the \f$ n^{th} \f$ column of the matrix and is a vec3.
  *
  */
 template <typename T>
 class TMat33 :  public TVecUnaryOperators<TMat33, T>,
                 public TVecComparisonOperators<TMat33, T>,
                 public TVecAddOperators<TMat33, T>,
                 public TMatProductOperators<TMat33, T>,
                 public TMatSquareFunctions<TMat33, T>,
                 public TMatTransform<TMat33, T>,
                 public TMatHelpers<TMat33, T>,
                 public TMatDebug<TMat33, T> {
 public:
     enum no_init { NO_INIT };
     typedef T value_type;
     typedef T& reference;
     typedef T const& const_reference;
     typedef size_t size_type;
     typedef TVec3<T> col_type;
     typedef TVec3<T> row_type;

     static constexpr size_t COL_SIZE = col_type::SIZE;  // size of a column (i.e.: number of rows)
     static constexpr size_t ROW_SIZE = row_type::SIZE;  // size of a row (i.e.: number of columns)
     static constexpr size_t NUM_ROWS = COL_SIZE;
     static constexpr size_t NUM_COLS = ROW_SIZE;

 private:
     /*
      *  <--  N columns  -->
      *
      *  a[0][0] a[1][0] a[2][0] ... a[N][0]    ^
      *  a[0][1] a[1][1] a[2][1] ... a[N][1]    |
      *  a[0][2] a[1][2] a[2][2] ... a[N][2]  M rows
      *  ...                                    |
      *  a[0][M] a[1][M] a[2][M] ... a[N][M]    v
      *
      *  COL_SIZE = M
      *  ROW_SIZE = N
      *  m[0] = [ a[0][0] a[0][1] a[0][2] ... a[0][M] ]
      */

     col_type m_value[NUM_COLS];

 public:
     // array access
     inline constexpr col_type const& operator[](size_t column) const {
 #if __cplusplus >= 201402L
         // only possible in C++0x14 with constexpr
         assert(column < NUM_COLS);
 #endif
         return m_value[column];
     }

     inline col_type& operator[](size_t column) {
         assert(column < NUM_COLS);
         return m_value[column];
     }

     // -----------------------------------------------------------------------
     // we want the compiler generated versions for these...
     TMat33(const TMat33&) = default;
     ~TMat33() = default;
     TMat33& operator = (const TMat33&) = default;

     /**
      *  constructors
      */

     /**
      * leaves object uninitialized. use with caution.
      */
     explicit constexpr TMat33(no_init)
             : m_value{ col_type(col_type::NO_INIT),
                        col_type(col_type::NO_INIT),
                        col_type(col_type::NO_INIT) } {}


     /**
      * initialize to identity.
      *
      *      \f$
      *      \left(
      *      \begin{array}{ccc}
      *      1 & 0 & 0 \\
      *      0 & 1 & 0 \\
      *      0 & 0 & 1 \\
      *      \end{array}
      *      \right)
      *      \f$
      */
     CONSTEXPR TMat33();

     /**
      * initialize to Identity*scalar.
      *
      *      \f$
      *      \left(
      *      \begin{array}{ccc}
      *      v & 0 & 0 \\
      *      0 & v & 0 \\
      *      0 & 0 & v \\
      *      \end{array}
      *      \right)
      *      \f$
      */
     template<typename U>
     explicit CONSTEXPR TMat33(U v);

     /**
      * sets the diagonal to a vector.
      *
      *      \f$
      *      \left(
      *      \begin{array}{ccc}
      *      v[0] & 0 & 0 \\
      *      0 & v[1] & 0 \\
      *      0 & 0 & v[2] \\
      *      \end{array}
      *      \right)
      *      \f$
      */
     template <typename U>
     explicit CONSTEXPR TMat33(const TVec3<U>& v);

     /**
      * construct from another matrix of the same size
      */
     template <typename U>
     explicit CONSTEXPR TMat33(const TMat33<U>& rhs);

     /**
      * construct from 3 column vectors.
      *
      *      \f$
      *      \left(
      *      \begin{array}{ccc}
      *      v0 & v1 & v2 \\
      *      \end{array}
      *      \right)
      *      \f$
      */
     template <typename A, typename B, typename C>
     CONSTEXPR TMat33(const TVec3<A>& v0, const TVec3<B>& v1, const TVec3<C>& v2);

     /** construct from 9 elements in column-major form.
      *
      *      \f$
      *      \left(
      *      \begin{array}{ccc}
      *      m[0][0] & m[1][0] & m[2][0] \\
      *      m[0][1] & m[1][1] & m[2][1] \\
      *      m[0][2] & m[1][2] & m[2][2] \\
      *      \end{array}
      *      \right)
      *      \f$
      */
     template <
         typename A, typename B, typename C,
         typename D, typename E, typename F,
         typename G, typename H, typename I>
     CONSTEXPR TMat33(
            A m00, B m01, C m02,
            D m10, E m11, F m12,
            G m20, H m21, I m22);

     /**
      * construct from a quaternion
      */
     template <typename U>
     explicit CONSTEXPR TMat33(const TQuaternion<U>& q);

     /**
      * construct from a C array in column major form.
      */
     template <typename U>
     explicit CONSTEXPR TMat33(U const* rawArray);

     /**
      * orthogonalize only works on matrices of size 3x3
      */
     friend inline
     CONSTEXPR TMat33 orthogonalize(const TMat33& m) {
         TMat33 ret(TMat33::NO_INIT);
         ret[0] = normalize(m[0]);
         ret[2] = normalize(cross(ret[0], m[1]));
         ret[1] = normalize(cross(ret[2], ret[0]));
         return ret;
     }
 };

 // ----------------------------------------------------------------------------------------
 // Constructors
 // ----------------------------------------------------------------------------------------

 // Since the matrix code could become pretty big quickly, we don't inline most
 // operations.

 template <typename T>
 CONSTEXPR TMat33<T>::TMat33() {
     m_value[0] = col_type(1, 0, 0);
     m_value[1] = col_type(0, 1, 0);
     m_value[2] = col_type(0, 0, 1);
 }

 template <typename T>
 template <typename U>
 CONSTEXPR TMat33<T>::TMat33(U v) {
     m_value[0] = col_type(v, 0, 0);
     m_value[1] = col_type(0, v, 0);
     m_value[2] = col_type(0, 0, v);
 }

 template<typename T>
 template<typename U>
 CONSTEXPR TMat33<T>::TMat33(const TVec3<U>& v) {
     m_value[0] = col_type(v.x, 0, 0);
     m_value[1] = col_type(0, v.y, 0);
     m_value[2] = col_type(0, 0, v.z);
 }

 // construct from 9 scalars. Note that the arrangement
 // of values in the constructor is the transpose of the matrix
 // notation.
 template<typename T>
 template <
     typename A, typename B, typename C,
     typename D, typename E, typename F,
     typename G, typename H, typename I>
 CONSTEXPR TMat33<T>::TMat33(
         A m00, B m01, C m02,
         D m10, E m11, F m12,
         G m20, H m21, I m22) {
     m_value[0] = col_type(m00, m01, m02);
     m_value[1] = col_type(m10, m11, m12);
     m_value[2] = col_type(m20, m21, m22);
 }

 template <typename T>
 template <typename U>
 CONSTEXPR TMat33<T>::TMat33(const TMat33<U>& rhs) {
     for (size_t col = 0; col < NUM_COLS; ++col) {
         m_value[col] = col_type(rhs[col]);
     }
 }

 // Construct from 3 column vectors.
 template <typename T>
 template <typename A, typename B, typename C>
 CONSTEXPR TMat33<T>::TMat33(const TVec3<A>& v0, const TVec3<B>& v1, const TVec3<C>& v2) {
     m_value[0] = v0;
     m_value[1] = v1;
     m_value[2] = v2;
 }

 // Construct from raw array, in column-major form.
 template <typename T>
 template <typename U>
 CONSTEXPR TMat33<T>::TMat33(U const* rawArray) {
     for (size_t col = 0; col < NUM_COLS; ++col) {
         for (size_t row = 0; row < NUM_ROWS; ++row) {
             m_value[col][row] = *rawArray++;
         }
     }
 }

 template <typename T>
 template <typename U>
 CONSTEXPR TMat33<T>::TMat33(const TQuaternion<U>& q) {
     const U n = q.x*q.x + q.y*q.y + q.z*q.z + q.w*q.w;
     const U s = n > 0 ? 2/n : 0;
     const U x = s*q.x;
     const U y = s*q.y;
     const U z = s*q.z;
     const U xx = x*q.x;
     const U xy = x*q.y;
     const U xz = x*q.z;
     const U xw = x*q.w;
     const U yy = y*q.y;
     const U yz = y*q.z;
     const U yw = y*q.w;
     const U zz = z*q.z;
     const U zw = z*q.w;
     m_value[0] = col_type(1-yy-zz,    xy+zw,    xz-yw);  // NOLINT
     m_value[1] = col_type(  xy-zw,  1-xx-zz,    yz+xw);  // NOLINT
     m_value[2] = col_type(  xz+yw,    yz-xw,  1-xx-yy);  // NOLINT
 }

 // ----------------------------------------------------------------------------------------
 // Arithmetic operators outside of class
 // ----------------------------------------------------------------------------------------

 /* We use non-friend functions here to prevent the compiler from using
  * implicit conversions, for instance of a scalar to a vector. The result would
  * not be what the caller expects.
  *
  * Also note that the order of the arguments in the inner loop is important since
  * it determines the output type (only relevant when T != U).
  */

 // matrix * column-vector, result is a vector of the same type than the input vector
 template <typename T, typename U>
 CONSTEXPR typename TMat33<U>::col_type PURE operator *(const TMat33<T>& lhs, const TVec3<U>& rhs) {
     // Result is initialized to zero.
     typename TMat33<U>::col_type result;
     for (size_t col = 0; col < TMat33<T>::NUM_COLS; ++col) {
         result += lhs[col] * rhs[col];
     }
     return result;
 }

 // row-vector * matrix, result is a vector of the same type than the input vector
 template <typename T, typename U>
 CONSTEXPR typename TMat33<U>::row_type PURE operator *(const TVec3<U>& lhs, const TMat33<T>& rhs) {
     typename TMat33<U>::row_type result(TMat33<U>::row_type::NO_INIT);
     for (size_t col = 0; col < TMat33<T>::NUM_COLS; ++col) {
         result[col] = dot(lhs, rhs[col]);
     }
     return result;
 }

 // matrix * scalar, result is a matrix of the same type than the input matrix
 template<typename T, typename U>
 constexpr typename std::enable_if<std::is_arithmetic<U>::value, TMat33<T>>::type PURE
 operator*(TMat33<T> lhs, U rhs) {
     return lhs *= rhs;
 }

 // scalar * matrix, result is a matrix of the same type than the input matrix
 template<typename T, typename U>
 constexpr typename std::enable_if<std::is_arithmetic<U>::value, TMat33<T>>::type PURE
 operator*(U lhs, const TMat33<T>& rhs) {
     return rhs * lhs;
 }

 //------------------------------------------------------------------------------
 template <typename T>
 CONSTEXPR TMat33<T> orthogonalize(const TMat33<T>& m) {
     TMat33<T> ret(TMat33<T>::NO_INIT);
     ret[0] = normalize(m[0]);
     ret[2] = normalize(cross(ret[0], m[1]));
     ret[1] = normalize(cross(ret[2], ret[0]));
     return ret;
 }

 // ----------------------------------------------------------------------------------------

 /* FIXME: this should go into TMatSquareFunctions<> but for some reason
  * BASE<T>::col_type is not accessible from there (???)
  */
 template<typename T>
 CONSTEXPR typename TMat33<T>::col_type PURE diag(const TMat33<T>& m) {
     return matrix::diag(m);
 }

 }  // namespace details

 // ----------------------------------------------------------------------------------------

 typedef details::TMat33<double> mat3d;
 typedef details::TMat33<float> mat3;
 typedef details::TMat33<float> mat3f;

 // ----------------------------------------------------------------------------------------
 }  // namespace android

 #undef PURE
 #undef CONSTEXPR
	/*
	* Copyright 2013 The Android Open Source Project
	*
	* Licensed under the Apache License, Version 2.0 (the "License");
	* you may not use this file except in compliance with the License.
	* You may obtain a copy of the License at
	*
	* http://www.apache.org/licenses/LICENSE-2.0
	*
	* Unless required by applicable law or agreed to in writing, software
	* distributed under the License is distributed on an "AS IS" BASIS,
	* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
	* See the License for the specific language governing permissions and
	* limitations under the License.
	*/

	#pragma once

	#include <math/quat.h>
	#include <math/TMatHelpers.h>
	#include <math/vec3.h>
	#include <stdint.h>
	#include <sys/types.h>

	#define PURE __attribute__((pure))

	#if __cplusplus >= 201402L
	#define CONSTEXPR constexpr
	#else
	#define CONSTEXPR
	#endif

	namespace android {
	// -------------------------------------------------------------------------------------
	namespace details {

	template<typename T>
	class TQuaternion;

	/**
	* A 3x3 column-major matrix class.
	*
	* Conceptually a 3x3 matrix is a an array of 3 column vec3:
	*
	* mat3 m =
	* \f$
	* \left(
	* \begin{array}{ccc}
	* m[0] & m[1] & m[2] \\
	* \end{array}
	* \right)
	* \f$
	* =
	* \f$
	* \left(
	* \begin{array}{ccc}
	* m[0][0] & m[1][0] & m[2][0] \\
	* m[0][1] & m[1][1] & m[2][1] \\
	* m[0][2] & m[1][2] & m[2][2] \\
	* \end{array}
	* \right)
	* \f$
	* =
	* \f$
	* \left(
	* \begin{array}{ccc}
	* m(0,0) & m(0,1) & m(0,2) \\
	* m(1,0) & m(1,1) & m(1,2) \\
	* m(2,0) & m(2,1) & m(2,2) \\
	* \end{array}
	* \right)
	* \f$
	*
	* m[n] is the \f$ n^{th} \f$ column of the matrix and is a vec3.
	*
	*/
	template <typename T>
	class TMat33 : public TVecUnaryOperators<TMat33, T>,
	public TVecComparisonOperators<TMat33, T>,
	public TVecAddOperators<TMat33, T>,
	public TMatProductOperators<TMat33, T>,
	public TMatSquareFunctions<TMat33, T>,
	public TMatTransform<TMat33, T>,
	public TMatHelpers<TMat33, T>,
	public TMatDebug<TMat33, T> {
	public:
	enum no_init { NO_INIT };
	typedef T value_type;
	typedef T& reference;
	typedef T const& const_reference;
	typedef size_t size_type;
	typedef TVec3<T> col_type;
	typedef TVec3<T> row_type;

	static constexpr size_t COL_SIZE = col_type::SIZE; // size of a column (i.e.: number of rows)
	static constexpr size_t ROW_SIZE = row_type::SIZE; // size of a row (i.e.: number of columns)
	static constexpr size_t NUM_ROWS = COL_SIZE;
	static constexpr size_t NUM_COLS = ROW_SIZE;

	private:
	/*
	* <-- N columns -->
	*
	* a[0][0] a[1][0] a[2][0] ... a[N][0] ^
	* a[0][1] a[1][1] a[2][1] ... a[N][1] \|
	* a[0][2] a[1][2] a[2][2] ... a[N][2] M rows
	* ... \|
	* a[0][M] a[1][M] a[2][M] ... a[N][M] v
	*
	* COL_SIZE = M
	* ROW_SIZE = N
	* m[0] = [ a[0][0] a[0][1] a[0][2] ... a[0][M] ]
	*/

	col_type m_value[NUM_COLS];

	public:
	// array access
	inline constexpr col_type const& operator[](size_t column) const {
	#if __cplusplus >= 201402L
	// only possible in C++0x14 with constexpr
	assert(column < NUM_COLS);
	#endif
	return m_value[column];
	}

	inline col_type& operator[](size_t column) {
	assert(column < NUM_COLS);
	return m_value[column];
	}

	// -----------------------------------------------------------------------
	// we want the compiler generated versions for these...
	TMat33(const TMat33&) = default;
	~TMat33() = default;
	TMat33& operator = (const TMat33&) = default;

	/**
	* constructors
	*/

	/**
	* leaves object uninitialized. use with caution.
	*/
	explicit constexpr TMat33(no_init)
	: m_value{ col_type(col_type::NO_INIT),
	col_type(col_type::NO_INIT),
	col_type(col_type::NO_INIT) } {}


	/**
	* initialize to identity.
	*
	* \f$
	* \left(
	* \begin{array}{ccc}
	* 1 & 0 & 0 \\
	* 0 & 1 & 0 \\
	* 0 & 0 & 1 \\
	* \end{array}
	* \right)
	* \f$
	*/
	CONSTEXPR TMat33();

	/**
	* initialize to Identity*scalar.
	*
	* \f$
	* \left(
	* \begin{array}{ccc}
	* v & 0 & 0 \\
	* 0 & v & 0 \\
	* 0 & 0 & v \\
	* \end{array}
	* \right)
	* \f$
	*/
	template<typename U>
	explicit CONSTEXPR TMat33(U v);

	/**
	* sets the diagonal to a vector.
	*
	* \f$
	* \left(
	* \begin{array}{ccc}
	* v[0] & 0 & 0 \\
	* 0 & v[1] & 0 \\
	* 0 & 0 & v[2] \\
	* \end{array}
	* \right)
	* \f$
	*/
	template <typename U>
	explicit CONSTEXPR TMat33(const TVec3<U>& v);

	/**
	* construct from another matrix of the same size
	*/
	template <typename U>
	explicit CONSTEXPR TMat33(const TMat33<U>& rhs);

	/**
	* construct from 3 column vectors.
	*
	* \f$
	* \left(
	* \begin{array}{ccc}
	* v0 & v1 & v2 \\
	* \end{array}
	* \right)
	* \f$
	*/
	template <typename A, typename B, typename C>
	CONSTEXPR TMat33(const TVec3<A>& v0, const TVec3<B>& v1, const TVec3<C>& v2);

	/** construct from 9 elements in column-major form.
	*
	* \f$
	* \left(
	* \begin{array}{ccc}
	* m[0][0] & m[1][0] & m[2][0] \\
	* m[0][1] & m[1][1] & m[2][1] \\
	* m[0][2] & m[1][2] & m[2][2] \\
	* \end{array}
	* \right)
	* \f$
	*/
	template <
	typename A, typename B, typename C,
	typename D, typename E, typename F,
	typename G, typename H, typename I>
	CONSTEXPR TMat33(
	A m00, B m01, C m02,
	D m10, E m11, F m12,
	G m20, H m21, I m22);

	/**
	* construct from a quaternion
	*/
	template <typename U>
	explicit CONSTEXPR TMat33(const TQuaternion<U>& q);

	/**
	* construct from a C array in column major form.
	*/
	template <typename U>
	explicit CONSTEXPR TMat33(U const* rawArray);

	/**
	* orthogonalize only works on matrices of size 3x3
	*/
	friend inline
	CONSTEXPR TMat33 orthogonalize(const TMat33& m) {
	TMat33 ret(TMat33::NO_INIT);
	ret[0] = normalize(m[0]);
	ret[2] = normalize(cross(ret[0], m[1]));
	ret[1] = normalize(cross(ret[2], ret[0]));
	return ret;
	}
	};

	// ----------------------------------------------------------------------------------------
	// Constructors
	// ----------------------------------------------------------------------------------------

	// Since the matrix code could become pretty big quickly, we don't inline most
	// operations.

	template <typename T>
	CONSTEXPR TMat33<T>::TMat33() {
	m_value[0] = col_type(1, 0, 0);
	m_value[1] = col_type(0, 1, 0);
	m_value[2] = col_type(0, 0, 1);
	}

	template <typename T>
	template <typename U>
	CONSTEXPR TMat33<T>::TMat33(U v) {
	m_value[0] = col_type(v, 0, 0);
	m_value[1] = col_type(0, v, 0);
	m_value[2] = col_type(0, 0, v);
	}

	template<typename T>
	template<typename U>
	CONSTEXPR TMat33<T>::TMat33(const TVec3<U>& v) {
	m_value[0] = col_type(v.x, 0, 0);
	m_value[1] = col_type(0, v.y, 0);
	m_value[2] = col_type(0, 0, v.z);
	}

	// construct from 9 scalars. Note that the arrangement
	// of values in the constructor is the transpose of the matrix
	// notation.
	template<typename T>
	template <
	typename A, typename B, typename C,
	typename D, typename E, typename F,
	typename G, typename H, typename I>
	CONSTEXPR TMat33<T>::TMat33(
	A m00, B m01, C m02,
	D m10, E m11, F m12,
	G m20, H m21, I m22) {
	m_value[0] = col_type(m00, m01, m02);
	m_value[1] = col_type(m10, m11, m12);
	m_value[2] = col_type(m20, m21, m22);
	}

	template <typename T>
	template <typename U>
	CONSTEXPR TMat33<T>::TMat33(const TMat33<U>& rhs) {
	for (size_t col = 0; col < NUM_COLS; ++col) {
	m_value[col] = col_type(rhs[col]);
	}
	}

	// Construct from 3 column vectors.
	template <typename T>
	template <typename A, typename B, typename C>
	CONSTEXPR TMat33<T>::TMat33(const TVec3<A>& v0, const TVec3<B>& v1, const TVec3<C>& v2) {
	m_value[0] = v0;
	m_value[1] = v1;
	m_value[2] = v2;
	}

	// Construct from raw array, in column-major form.
	template <typename T>
	template <typename U>
	CONSTEXPR TMat33<T>::TMat33(U const* rawArray) {
	for (size_t col = 0; col < NUM_COLS; ++col) {
	for (size_t row = 0; row < NUM_ROWS; ++row) {
	m_value[col][row] = *rawArray++;
	}
	}
	}

	template <typename T>
	template <typename U>
	CONSTEXPR TMat33<T>::TMat33(const TQuaternion<U>& q) {
	const U n = q.xq.x + q.yq.y + q.zq.z + q.wq.w;
	const U s = n > 0 ? 2/n : 0;
	const U x = s*q.x;
	const U y = s*q.y;
	const U z = s*q.z;
	const U xx = x*q.x;
	const U xy = x*q.y;
	const U xz = x*q.z;
	const U xw = x*q.w;
	const U yy = y*q.y;
	const U yz = y*q.z;
	const U yw = y*q.w;
	const U zz = z*q.z;
	const U zw = z*q.w;
	m_value[0] = col_type(1-yy-zz, xy+zw, xz-yw); // NOLINT
	m_value[1] = col_type( xy-zw, 1-xx-zz, yz+xw); // NOLINT
	m_value[2] = col_type( xz+yw, yz-xw, 1-xx-yy); // NOLINT
	}

	// ----------------------------------------------------------------------------------------
	// Arithmetic operators outside of class
	// ----------------------------------------------------------------------------------------

	/* We use non-friend functions here to prevent the compiler from using
	* implicit conversions, for instance of a scalar to a vector. The result would
	* not be what the caller expects.
	*
	* Also note that the order of the arguments in the inner loop is important since
	* it determines the output type (only relevant when T != U).
	*/

	// matrix * column-vector, result is a vector of the same type than the input vector
	template <typename T, typename U>
	CONSTEXPR typename TMat33<U>::col_type PURE operator *(const TMat33<T>& lhs, const TVec3<U>& rhs) {
	// Result is initialized to zero.
	typename TMat33<U>::col_type result;
	for (size_t col = 0; col < TMat33<T>::NUM_COLS; ++col) {
	result += lhs[col] * rhs[col];
	}
	return result;
	}

	// row-vector * matrix, result is a vector of the same type than the input vector
	template <typename T, typename U>
	CONSTEXPR typename TMat33<U>::row_type PURE operator *(const TVec3<U>& lhs, const TMat33<T>& rhs) {
	typename TMat33<U>::row_type result(TMat33<U>::row_type::NO_INIT);
	for (size_t col = 0; col < TMat33<T>::NUM_COLS; ++col) {
	result[col] = dot(lhs, rhs[col]);
	}
	return result;
	}

	// matrix * scalar, result is a matrix of the same type than the input matrix
	template<typename T, typename U>
	constexpr typename std::enable_if<std::is_arithmetic<U>::value, TMat33<T>>::type PURE
	operator*(TMat33<T> lhs, U rhs) {
	return lhs *= rhs;
	}

	// scalar * matrix, result is a matrix of the same type than the input matrix
	template<typename T, typename U>
	constexpr typename std::enable_if<std::is_arithmetic<U>::value, TMat33<T>>::type PURE
	operator*(U lhs, const TMat33<T>& rhs) {
	return rhs * lhs;
	}

	//------------------------------------------------------------------------------
	template <typename T>
	CONSTEXPR TMat33<T> orthogonalize(const TMat33<T>& m) {
	TMat33<T> ret(TMat33<T>::NO_INIT);
	ret[0] = normalize(m[0]);
	ret[2] = normalize(cross(ret[0], m[1]));
	ret[1] = normalize(cross(ret[2], ret[0]));
	return ret;
	}

	// ----------------------------------------------------------------------------------------

	/* FIXME: this should go into TMatSquareFunctions<> but for some reason
	* BASE<T>::col_type is not accessible from there (???)
	*/
	template<typename T>
	CONSTEXPR typename TMat33<T>::col_type PURE diag(const TMat33<T>& m) {
	return matrix::diag(m);
	}

	} // namespace details

	// ----------------------------------------------------------------------------------------

	typedef details::TMat33<double> mat3d;
	typedef details::TMat33<float> mat3;
	typedef details::TMat33<float> mat3f;

	// ----------------------------------------------------------------------------------------
	} // namespace android

	#undef PURE
	#undef CONSTEXPR