/***********************************************************************
** 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