1 files changed, 74 insertions, 0 deletions
diff --git a/opentrack/simple-mat.hpp b/opentrack/simple-mat.hpp
new file mode 100644
index 00000000..5fa3acf9
--- /dev/null
+++ b/opentrack/simple-mat.hpp
@@ -0,0 +1,74 @@
+#pragma once
+
+template<typename num, int h, int w>
+struct Mat
+{
+    num data[h][w];
+
+    template<int p>
+    Mat<num, w, p> operator*(const Mat<num, w, p>& other) const
+    {
+        Mat<num, w, p> ret;
+        for (int j = 0; j < w; j++)
+            for (int i = 0; i < p; i++)
+            {
+                num sum = num(0);
+
+                for (int k = 0; k < h; k++)
+                    sum += data[j][k]*other.data[k][i];
+
+                ret.data[j][i] = sum;
+            }
+
+        return ret;
+    }
+
+    num operator()(int j, int i) const { return data[j][i]; }
+    num& operator()(int j, int i) { return data[j][i]; }
+
+    Mat()
+    {
+        for (int j = 0; j < h; j++)
+            for (int i = 0; i < w; i++)
+                data[j][i] = 0;
+    }
+
+    Mat(const num* mem)
+    {
+        for (int j = 0; j < h; j++)
+            for (int i = 0; i < w; i++)
+                data[j][i] = mem[i*h+j];
+    }
+
+    // XXX add more operators as needed, third-party dependencies mostly
+    // not needed merely for matrix algebra -sh 20141030
+
+    static Mat<num, h, h> eye()
+    {
+        Mat<num, h, h> ret;
+        for (int j = 0; j < h; j++)
+            for (int i = 0; i < w; i++)
+                ret.data[j][i] = 0;
+
+        for (int i = 0; i < h; i++)
+            ret.data[i][i] = 1;
+
+        return ret;
+    }
+
+    Mat<num, w, h> t()
+    {
+        Mat<num, w, h> ret;
+
+        for (int j = 0; j < h; j++)
+            for (int i = 0; i < w; i++)
+                ret.data[i][j] = data[j][i];
+        
+        return ret;
+    }
+};
+
+template<int h, int w> using dmat = Mat<double, h, w>;
+
+using rmat = dmat<3, 3>;
+