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basic-geometry/matrixes.h

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+#ifndef _GEOMETRY_MATRIX_TYPES_H_
+#define _GEOMETRY_MATRIX_TYPES_H_
+
+// ================== Matrix2x2 ================= //
+
+typedef struct {
+    float r1c1, r1c2;
+    float r2c1, r2c2;
+} BgFP32Matrix2x2;
+
+typedef struct {
+    double r1c1, r1c2;
+    double r2c1, r2c2;
+} BgFP64Matrix2x2;
+
+// ================== Matrix2x3 ================= //
+
+typedef struct {
+    float r1c1, r1c2;
+    float r2c1, r2c2;
+    float r3c1, r3c2;
+} BgFP32Matrix2x3;
+
+typedef struct {
+    double r1c1, r1c2;
+    double r2c1, r2c2;
+    double r3c1, r3c2;
+} BgFP64Matrix2x3;
+
+// ================== Matrix3x2 ================= //
+
+typedef struct {
+    float r1c1, r1c2, r1c3;
+    float r2c1, r2c2, r2c3;
+} BgFP32Matrix3x2;
+
+typedef struct {
+    double r1c1, r1c2, r1c3;
+    double r2c1, r2c2, r2c3;
+} BgFP64Matrix3x2;
+
+// ================== Matrix3x3 ================= //
+
+typedef struct {
+    float r1c1, r1c2, r1c3;
+    float r2c1, r2c2, r2c3;
+    float r3c1, r3c2, r3c3;
+} BgFP32Matrix3x3;
+
+typedef struct {
+    double r1c1, r1c2, r1c3;
+    double r2c1, r2c2, r2c3;
+    double r3c1, r3c2, r3c3;
+} BgFP64Matrix3x3;
+
+// ========== Matrix Product 2x2 at 2x2 ========= //
+
+static inline void bg_fp32_matrix_product_2x2_at_2x2(const BgFP32Matrix2x2* matrix1, const BgFP32Matrix2x2* matrix2, BgFP32Matrix2x2* result)
+{
+    const float r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1;
+    const float r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2;
+
+    const float r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1;
+    const float r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2;
+
+    result->r1c1 = r1c1;
+    result->r1c2 = r1c2;
+
+    result->r2c1 = r2c1;
+    result->r2c2 = r2c2;
+}
+
+static inline void bg_fp64_matrix_product_2x2_at_2x2(const BgFP64Matrix2x2* matrix1, const BgFP64Matrix2x2* matrix2, BgFP64Matrix2x2* result)
+{
+    const double r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1;
+    const double r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2;
+
+    const double r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1;
+    const double r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2;
+
+    result->r1c1 = r1c1;
+    result->r1c2 = r1c2;
+
+    result->r2c1 = r2c1;
+    result->r2c2 = r2c2;
+}
+
+// ========== Matrix Product 2x2 at 3x2 ========= //
+
+void bg_fp32_matrix_product_2x2_at_3x2(const BgFP32Matrix2x2* matrix1, const BgFP32Matrix3x2* matrix2, BgFP32Matrix3x2* result);
+
+void bg_fp64_matrix_product_2x2_at_3x2(const BgFP64Matrix2x2* matrix1, const BgFP64Matrix3x2* matrix2, BgFP64Matrix3x2* result);
+
+// ========== Matrix Product 2x3 at 2x2 ========= //
+
+void bg_fp32_matrix_product_2x3_at_2x2(const BgFP32Matrix2x3* matrix1, const BgFP32Matrix2x2* matrix2, BgFP32Matrix2x3* result);
+
+void bg_fp64_matrix_product_2x3_at_2x2(const BgFP64Matrix2x3* matrix1, const BgFP64Matrix2x2* matrix2, BgFP64Matrix2x3* result);
+
+// ========== Matrix Product 2x3 at 3x2 ========= //
+
+void bg_fp32_matrix_product_2x3_at_3x2(const BgFP32Matrix2x3* matrix1, const BgFP32Matrix3x2* matrix2, BgFP32Matrix3x3* result);
+
+void bg_fp64_matrix_product_2x3_at_3x2(const BgFP64Matrix2x3* matrix1, const BgFP64Matrix3x2* matrix2, BgFP64Matrix3x3* result);
+
+// ========== Matrix Product 3x2 at 2x3 ========= //
+
+void bg_fp32_matrix_product_3x2_at_2x3(const BgFP32Matrix3x2* matrix1, const BgFP32Matrix2x3* matrix2, BgFP32Matrix2x2* result);
+
+void bg_fp64_matrix_product_3x2_at_2x3(const BgFP64Matrix3x2* matrix1, const BgFP64Matrix2x3* matrix2, BgFP64Matrix2x2* result);
+
+// ========== Matrix Product 3x2 at 3x3 ========= //
+
+void bg_fp32_matrix_product_3x2_at_3x3(const BgFP32Matrix3x2* matrix1, const BgFP32Matrix3x3* matrix2, BgFP32Matrix3x2* result);
+
+void bg_fp64_matrix_product_3x2_at_3x3(const BgFP64Matrix3x2* matrix1, const BgFP64Matrix3x3* matrix2, BgFP64Matrix3x2* result);
+
+// ========== Matrix Product 3x3 at 2x3 ========= //
+
+void bg_fp32_matrix_product_3x3_at_2x3(const BgFP32Matrix3x3* matrix1, const BgFP32Matrix2x3* matrix2, BgFP32Matrix2x3* result);
+
+void bg_fp64_matrix_product_3x3_at_2x3(const BgFP64Matrix3x3* matrix1, const BgFP64Matrix2x3* matrix2, BgFP64Matrix2x3* result);
+
+// ========== Matrix Product 3x3 at 3x3 ========= //
+
+void bg_fp32_matrix_product_3x3_at_3x3(const BgFP32Matrix3x3* matrix1, const BgFP32Matrix3x3* matrix2, BgFP32Matrix3x3* result);
+
+void bg_fp64_matrix_product_3x3_at_3x3(const BgFP64Matrix3x3* matrix1, const BgFP64Matrix3x3* matrix2, BgFP64Matrix3x3* result);
+
+#endif // _GEOMETRY_MATRIX_TYPES_H_