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2026-07-27 14:50:01 +08:00
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+/***********************************************************************
+** Copyright (C) 2019 LP-Research
+** All rights reserved.
+** Contact: LP-Research (info@lp-research.com)
+***********************************************************************/
+
+#ifndef LP_MATRIX
+#define LP_MATRIX
+
+#include <math.h>
+
+#ifdef __IAR_SYSTEMS_ICC__
+#include <stdint.h>
+
+typedef union _float2int {
+    uint32_t u32_val;
+    float float_val;
+} float2int;
+#endif
+
+typedef struct _LpMatrix3x3f {
+    float data[3][3];
+} LpMatrix3x3f;
+
+typedef struct _LpMatrix3x4f {
+    float data[3][4];
+} LpMatrix3x4f;
+
+typedef struct _LpMatrix4x3f {
+    float data[4][3];
+} LpMatrix4x3f;
+
+typedef struct _LpMatrix4x4f {
+    float data[4][4];
+} LpMatrix4x4f;
+
+typedef struct _LpVector3f {
+    float data[3];
+} LpVector3f;
+
+typedef struct _LpVector4f {
+    float data[4];
+} LpVector4f;
+
+#ifdef __IAR_SYSTEMS_ICC__
+typedef struct _LpVector3i {
+    int16_t data[3];
+} LpVector3i;
+
+typedef struct _LpVector4i {
+    int16_t data[4];
+} LpVector4i;
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+    void createIdentity3x3(LpMatrix3x3f* dest);
+    void createIdentity4x4(LpMatrix4x4f* dest);
+    void matZero3x3(LpMatrix3x3f* dest);
+    void matZero4x4(LpMatrix4x4f* dest);
+    void matZero3x4(LpMatrix3x4f* dest);
+    void matZero4x3(LpMatrix4x3f* dest);
+    void vectZero3x1(LpVector3f* dest);
+    void vectZero4x1(LpVector4f* dest);
+
+#ifdef __WIN32
+    void print4x4(LpMatrix4x4f m)
+#endif
+
+#ifdef __cplusplus
+}
+#endif 
+
+#endif