ruby-bullet 0.0.2-x86-mingw32

data/deps/include/bullet/vectormath/scalar/vectormath_aos.h

@@ -0,0 +1,1872 @@
+/*
+   Copyright (C) 2009 Sony Computer Entertainment Inc.
+   All rights reserved.
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+
+*/
+
+#ifndef _VECTORMATH_AOS_CPP_H
+#define _VECTORMATH_AOS_CPP_H
+
+#include <math.h>
+
+#ifdef _VECTORMATH_DEBUG
+#include <stdio.h>
+#endif
+
+namespace Vectormath {
+
+namespace Aos {
+
+//-----------------------------------------------------------------------------
+// Forward Declarations
+//
+
+class Vector3;
+class Vector4;
+class Point3;
+class Quat;
+class Matrix3;
+class Matrix4;
+class Transform3;
+
+// A 3-D vector in array-of-structures format
+//
+class Vector3
+{
+    float mX;
+    float mY;
+    float mZ;
+#ifndef __GNUC__
+    float d;
+#endif
+
+public:
+    // Default constructor; does no initialization
+    // 
+    inline Vector3( ) { };
+
+    // Copy a 3-D vector
+    // 
+    inline Vector3( const Vector3 & vec );
+
+    // Construct a 3-D vector from x, y, and z elements
+    // 
+    inline Vector3( float x, float y, float z );
+
+    // Copy elements from a 3-D point into a 3-D vector
+    // 
+    explicit inline Vector3( const Point3 & pnt );
+
+    // Set all elements of a 3-D vector to the same scalar value
+    // 
+    explicit inline Vector3( float scalar );
+
+    // Assign one 3-D vector to another
+    // 
+    inline Vector3 & operator =( const Vector3 & vec );
+
+    // Set the x element of a 3-D vector
+    // 
+    inline Vector3 & setX( float x );
+
+    // Set the y element of a 3-D vector
+    // 
+    inline Vector3 & setY( float y );
+
+    // Set the z element of a 3-D vector
+    // 
+    inline Vector3 & setZ( float z );
+
+    // Get the x element of a 3-D vector
+    // 
+    inline float getX( ) const;
+
+    // Get the y element of a 3-D vector
+    // 
+    inline float getY( ) const;
+
+    // Get the z element of a 3-D vector
+    // 
+    inline float getZ( ) const;
+
+    // Set an x, y, or z element of a 3-D vector by index
+    // 
+    inline Vector3 & setElem( int idx, float value );
+
+    // Get an x, y, or z element of a 3-D vector by index
+    // 
+    inline float getElem( int idx ) const;
+
+    // Subscripting operator to set or get an element
+    // 
+    inline float & operator []( int idx );
+
+    // Subscripting operator to get an element
+    // 
+    inline float operator []( int idx ) const;
+
+    // Add two 3-D vectors
+    // 
+    inline const Vector3 operator +( const Vector3 & vec ) const;
+
+    // Subtract a 3-D vector from another 3-D vector
+    // 
+    inline const Vector3 operator -( const Vector3 & vec ) const;
+
+    // Add a 3-D vector to a 3-D point
+    // 
+    inline const Point3 operator +( const Point3 & pnt ) const;
+
+    // Multiply a 3-D vector by a scalar
+    // 
+    inline const Vector3 operator *( float scalar ) const;
+
+    // Divide a 3-D vector by a scalar
+    // 
+    inline const Vector3 operator /( float scalar ) const;
+
+    // Perform compound assignment and addition with a 3-D vector
+    // 
+    inline Vector3 & operator +=( const Vector3 & vec );
+
+    // Perform compound assignment and subtraction by a 3-D vector
+    // 
+    inline Vector3 & operator -=( const Vector3 & vec );
+
+    // Perform compound assignment and multiplication by a scalar
+    // 
+    inline Vector3 & operator *=( float scalar );
+
+    // Perform compound assignment and division by a scalar
+    // 
+    inline Vector3 & operator /=( float scalar );
+
+    // Negate all elements of a 3-D vector
+    // 
+    inline const Vector3 operator -( ) const;
+
+    // Construct x axis
+    // 
+    static inline const Vector3 xAxis( );
+
+    // Construct y axis
+    // 
+    static inline const Vector3 yAxis( );
+
+    // Construct z axis
+    // 
+    static inline const Vector3 zAxis( );
+
+}
+#ifdef __GNUC__
+__attribute__ ((aligned(16)))
+#endif
+;
+
+// Multiply a 3-D vector by a scalar
+// 
+inline const Vector3 operator *( float scalar, const Vector3 & vec );
+
+// Multiply two 3-D vectors per element
+// 
+inline const Vector3 mulPerElem( const Vector3 & vec0, const Vector3 & vec1 );
+
+// Divide two 3-D vectors per element
+// NOTE: 
+// Floating-point behavior matches standard library function divf4.
+// 
+inline const Vector3 divPerElem( const Vector3 & vec0, const Vector3 & vec1 );
+
+// Compute the reciprocal of a 3-D vector per element
+// NOTE: 
+// Floating-point behavior matches standard library function recipf4.
+// 
+inline const Vector3 recipPerElem( const Vector3 & vec );
+
+// Compute the square root of a 3-D vector per element
+// NOTE: 
+// Floating-point behavior matches standard library function sqrtf4.
+// 
+inline const Vector3 sqrtPerElem( const Vector3 & vec );
+
+// Compute the reciprocal square root of a 3-D vector per element
+// NOTE: 
+// Floating-point behavior matches standard library function rsqrtf4.
+// 
+inline const Vector3 rsqrtPerElem( const Vector3 & vec );
+
+// Compute the absolute value of a 3-D vector per element
+// 
+inline const Vector3 absPerElem( const Vector3 & vec );
+
+// Copy sign from one 3-D vector to another, per element
+// 
+inline const Vector3 copySignPerElem( const Vector3 & vec0, const Vector3 & vec1 );
+
+// Maximum of two 3-D vectors per element
+// 
+inline const Vector3 maxPerElem( const Vector3 & vec0, const Vector3 & vec1 );
+
+// Minimum of two 3-D vectors per element
+// 
+inline const Vector3 minPerElem( const Vector3 & vec0, const Vector3 & vec1 );
+
+// Maximum element of a 3-D vector
+// 
+inline float maxElem( const Vector3 & vec );
+
+// Minimum element of a 3-D vector
+// 
+inline float minElem( const Vector3 & vec );
+
+// Compute the sum of all elements of a 3-D vector
+// 
+inline float sum( const Vector3 & vec );
+
+// Compute the dot product of two 3-D vectors
+// 
+inline float dot( const Vector3 & vec0, const Vector3 & vec1 );
+
+// Compute the square of the length of a 3-D vector
+// 
+inline float lengthSqr( const Vector3 & vec );
+
+// Compute the length of a 3-D vector
+// 
+inline float length( const Vector3 & vec );
+
+// Normalize a 3-D vector
+// NOTE: 
+// The result is unpredictable when all elements of vec are at or near zero.
+// 
+inline const Vector3 normalize( const Vector3 & vec );
+
+// Compute cross product of two 3-D vectors
+// 
+inline const Vector3 cross( const Vector3 & vec0, const Vector3 & vec1 );
+
+// Outer product of two 3-D vectors
+// 
+inline const Matrix3 outer( const Vector3 & vec0, const Vector3 & vec1 );
+
+// Pre-multiply a row vector by a 3x3 matrix
+// 
+inline const Vector3 rowMul( const Vector3 & vec, const Matrix3 & mat );
+
+// Cross-product matrix of a 3-D vector
+// 
+inline const Matrix3 crossMatrix( const Vector3 & vec );
+
+// Create cross-product matrix and multiply
+// NOTE: 
+// Faster than separately creating a cross-product matrix and multiplying.
+// 
+inline const Matrix3 crossMatrixMul( const Vector3 & vec, const Matrix3 & mat );
+
+// Linear interpolation between two 3-D vectors
+// NOTE: 
+// Does not clamp t between 0 and 1.
+// 
+inline const Vector3 lerp( float t, const Vector3 & vec0, const Vector3 & vec1 );
+
+// Spherical linear interpolation between two 3-D vectors
+// NOTE: 
+// The result is unpredictable if the vectors point in opposite directions.
+// Does not clamp t between 0 and 1.
+// 
+inline const Vector3 slerp( float t, const Vector3 & unitVec0, const Vector3 & unitVec1 );
+
+// Conditionally select between two 3-D vectors
+// 
+inline const Vector3 select( const Vector3 & vec0, const Vector3 & vec1, bool select1 );
+
+// Load x, y, and z elements from the first three words of a float array.
+// 
+// 
+inline void loadXYZ( Vector3 & vec, const float * fptr );
+
+// Store x, y, and z elements of a 3-D vector in the first three words of a float array.
+// Memory area of previous 16 bytes and next 32 bytes from fptr might be accessed
+// 
+inline void storeXYZ( const Vector3 & vec, float * fptr );
+
+// Load three-half-floats as a 3-D vector
+// NOTE: 
+// This transformation does not support either denormalized numbers or NaNs.
+// 
+inline void loadHalfFloats( Vector3 & vec, const unsigned short * hfptr );
+
+// Store a 3-D vector as half-floats. Memory area of previous 16 bytes and next 32 bytes from <code><i>hfptr</i></code> might be accessed.
+// NOTE: 
+// This transformation does not support either denormalized numbers or NaNs. Memory area of previous 16 bytes and next 32 bytes from hfptr might be accessed.
+// 
+inline void storeHalfFloats( const Vector3 & vec, unsigned short * hfptr );
+
+#ifdef _VECTORMATH_DEBUG
+
+// Print a 3-D vector
+// NOTE: 
+// Function is only defined when _VECTORMATH_DEBUG is defined.
+// 
+inline void print( const Vector3 & vec );
+
+// Print a 3-D vector and an associated string identifier
+// NOTE: 
+// Function is only defined when _VECTORMATH_DEBUG is defined.
+// 
+inline void print( const Vector3 & vec, const char * name );
+
+#endif
+
+// A 4-D vector in array-of-structures format
+//
+class Vector4
+{
+    float mX;
+    float mY;
+    float mZ;
+    float mW;
+
+public:
+    // Default constructor; does no initialization
+    // 
+    inline Vector4( ) { };
+
+    // Copy a 4-D vector
+    // 
+    inline Vector4( const Vector4 & vec );
+
+    // Construct a 4-D vector from x, y, z, and w elements
+    // 
+    inline Vector4( float x, float y, float z, float w );
+
+    // Construct a 4-D vector from a 3-D vector and a scalar
+    // 
+    inline Vector4( const Vector3 & xyz, float w );
+
+    // Copy x, y, and z from a 3-D vector into a 4-D vector, and set w to 0
+    // 
+    explicit inline Vector4( const Vector3 & vec );
+
+    // Copy x, y, and z from a 3-D point into a 4-D vector, and set w to 1
+    // 
+    explicit inline Vector4( const Point3 & pnt );
+
+    // Copy elements from a quaternion into a 4-D vector
+    // 
+    explicit inline Vector4( const Quat & quat );
+
+    // Set all elements of a 4-D vector to the same scalar value
+    // 
+    explicit inline Vector4( float scalar );
+
+    // Assign one 4-D vector to another
+    // 
+    inline Vector4 & operator =( const Vector4 & vec );
+
+    // Set the x, y, and z elements of a 4-D vector
+    // NOTE: 
+    // This function does not change the w element.
+    // 
+    inline Vector4 & setXYZ( const Vector3 & vec );
+
+    // Get the x, y, and z elements of a 4-D vector
+    // 
+    inline const Vector3 getXYZ( ) const;
+
+    // Set the x element of a 4-D vector
+    // 
+    inline Vector4 & setX( float x );
+
+    // Set the y element of a 4-D vector
+    // 
+    inline Vector4 & setY( float y );
+
+    // Set the z element of a 4-D vector
+    // 
+    inline Vector4 & setZ( float z );
+
+    // Set the w element of a 4-D vector
+    // 
+    inline Vector4 & setW( float w );
+
+    // Get the x element of a 4-D vector
+    // 
+    inline float getX( ) const;
+
+    // Get the y element of a 4-D vector
+    // 
+    inline float getY( ) const;
+
+    // Get the z element of a 4-D vector
+    // 
+    inline float getZ( ) const;
+
+    // Get the w element of a 4-D vector
+    // 
+    inline float getW( ) const;
+
+    // Set an x, y, z, or w element of a 4-D vector by index
+    // 
+    inline Vector4 & setElem( int idx, float value );
+
+    // Get an x, y, z, or w element of a 4-D vector by index
+    // 
+    inline float getElem( int idx ) const;
+
+    // Subscripting operator to set or get an element
+    // 
+    inline float & operator []( int idx );
+
+    // Subscripting operator to get an element
+    // 
+    inline float operator []( int idx ) const;
+
+    // Add two 4-D vectors
+    // 
+    inline const Vector4 operator +( const Vector4 & vec ) const;
+
+    // Subtract a 4-D vector from another 4-D vector
+    // 
+    inline const Vector4 operator -( const Vector4 & vec ) const;
+
+    // Multiply a 4-D vector by a scalar
+    // 
+    inline const Vector4 operator *( float scalar ) const;
+
+    // Divide a 4-D vector by a scalar
+    // 
+    inline const Vector4 operator /( float scalar ) const;
+
+    // Perform compound assignment and addition with a 4-D vector
+    // 
+    inline Vector4 & operator +=( const Vector4 & vec );
+
+    // Perform compound assignment and subtraction by a 4-D vector
+    // 
+    inline Vector4 & operator -=( const Vector4 & vec );
+
+    // Perform compound assignment and multiplication by a scalar
+    // 
+    inline Vector4 & operator *=( float scalar );
+
+    // Perform compound assignment and division by a scalar
+    // 
+    inline Vector4 & operator /=( float scalar );
+
+    // Negate all elements of a 4-D vector
+    // 
+    inline const Vector4 operator -( ) const;
+
+    // Construct x axis
+    // 
+    static inline const Vector4 xAxis( );
+
+    // Construct y axis
+    // 
+    static inline const Vector4 yAxis( );
+
+    // Construct z axis
+    // 
+    static inline const Vector4 zAxis( );
+
+    // Construct w axis
+    // 
+    static inline const Vector4 wAxis( );
+
+}
+#ifdef __GNUC__
+__attribute__ ((aligned(16)))
+#endif
+;
+
+// Multiply a 4-D vector by a scalar
+// 
+inline const Vector4 operator *( float scalar, const Vector4 & vec );
+
+// Multiply two 4-D vectors per element
+// 
+inline const Vector4 mulPerElem( const Vector4 & vec0, const Vector4 & vec1 );
+
+// Divide two 4-D vectors per element
+// NOTE: 
+// Floating-point behavior matches standard library function divf4.
+// 
+inline const Vector4 divPerElem( const Vector4 & vec0, const Vector4 & vec1 );
+
+// Compute the reciprocal of a 4-D vector per element
+// NOTE: 
+// Floating-point behavior matches standard library function recipf4.
+// 
+inline const Vector4 recipPerElem( const Vector4 & vec );
+
+// Compute the square root of a 4-D vector per element
+// NOTE: 
+// Floating-point behavior matches standard library function sqrtf4.
+// 
+inline const Vector4 sqrtPerElem( const Vector4 & vec );
+
+// Compute the reciprocal square root of a 4-D vector per element
+// NOTE: 
+// Floating-point behavior matches standard library function rsqrtf4.
+// 
+inline const Vector4 rsqrtPerElem( const Vector4 & vec );
+
+// Compute the absolute value of a 4-D vector per element
+// 
+inline const Vector4 absPerElem( const Vector4 & vec );
+
+// Copy sign from one 4-D vector to another, per element
+// 
+inline const Vector4 copySignPerElem( const Vector4 & vec0, const Vector4 & vec1 );
+
+// Maximum of two 4-D vectors per element
+// 
+inline const Vector4 maxPerElem( const Vector4 & vec0, const Vector4 & vec1 );
+
+// Minimum of two 4-D vectors per element
+// 
+inline const Vector4 minPerElem( const Vector4 & vec0, const Vector4 & vec1 );
+
+// Maximum element of a 4-D vector
+// 
+inline float maxElem( const Vector4 & vec );
+
+// Minimum element of a 4-D vector
+// 
+inline float minElem( const Vector4 & vec );
+
+// Compute the sum of all elements of a 4-D vector
+// 
+inline float sum( const Vector4 & vec );
+
+// Compute the dot product of two 4-D vectors
+// 
+inline float dot( const Vector4 & vec0, const Vector4 & vec1 );
+
+// Compute the square of the length of a 4-D vector
+// 
+inline float lengthSqr( const Vector4 & vec );
+
+// Compute the length of a 4-D vector
+// 
+inline float length( const Vector4 & vec );
+
+// Normalize a 4-D vector
+// NOTE: 
+// The result is unpredictable when all elements of vec are at or near zero.
+// 
+inline const Vector4 normalize( const Vector4 & vec );
+
+// Outer product of two 4-D vectors
+// 
+inline const Matrix4 outer( const Vector4 & vec0, const Vector4 & vec1 );
+
+// Linear interpolation between two 4-D vectors
+// NOTE: 
+// Does not clamp t between 0 and 1.
+// 
+inline const Vector4 lerp( float t, const Vector4 & vec0, const Vector4 & vec1 );
+
+// Spherical linear interpolation between two 4-D vectors
+// NOTE: 
+// The result is unpredictable if the vectors point in opposite directions.
+// Does not clamp t between 0 and 1.
+// 
+inline const Vector4 slerp( float t, const Vector4 & unitVec0, const Vector4 & unitVec1 );
+
+// Conditionally select between two 4-D vectors
+// 
+inline const Vector4 select( const Vector4 & vec0, const Vector4 & vec1, bool select1 );
+
+// Load x, y, z, and w elements from the first four words of a float array.
+// 
+// 
+inline void loadXYZW( Vector4 & vec, const float * fptr );
+
+// Store x, y, z, and w elements of a 4-D vector in the first four words of a float array.
+// Memory area of previous 16 bytes and next 32 bytes from fptr might be accessed
+// 
+inline void storeXYZW( const Vector4 & vec, float * fptr );
+
+// Load four-half-floats as a 4-D vector
+// NOTE: 
+// This transformation does not support either denormalized numbers or NaNs.
+// 
+inline void loadHalfFloats( Vector4 & vec, const unsigned short * hfptr );
+
+// Store a 4-D vector as half-floats. Memory area of previous 16 bytes and next 32 bytes from <code><i>hfptr</i></code> might be accessed.
+// NOTE: 
+// This transformation does not support either denormalized numbers or NaNs. Memory area of previous 16 bytes and next 32 bytes from hfptr might be accessed.
+// 
+inline void storeHalfFloats( const Vector4 & vec, unsigned short * hfptr );
+
+#ifdef _VECTORMATH_DEBUG
+
+// Print a 4-D vector
+// NOTE: 
+// Function is only defined when _VECTORMATH_DEBUG is defined.
+// 
+inline void print( const Vector4 & vec );
+
+// Print a 4-D vector and an associated string identifier
+// NOTE: 
+// Function is only defined when _VECTORMATH_DEBUG is defined.
+// 
+inline void print( const Vector4 & vec, const char * name );
+
+#endif
+
+// A 3-D point in array-of-structures format
+//
+class Point3
+{
+    float mX;
+    float mY;
+    float mZ;
+#ifndef __GNUC__
+    float d;
+#endif
+
+public:
+    // Default constructor; does no initialization
+    // 
+    inline Point3( ) { };
+
+    // Copy a 3-D point
+    // 
+    inline Point3( const Point3 & pnt );
+
+    // Construct a 3-D point from x, y, and z elements
+    // 
+    inline Point3( float x, float y, float z );
+
+    // Copy elements from a 3-D vector into a 3-D point
+    // 
+    explicit inline Point3( const Vector3 & vec );
+
+    // Set all elements of a 3-D point to the same scalar value
+    // 
+    explicit inline Point3( float scalar );
+
+    // Assign one 3-D point to another
+    // 
+    inline Point3 & operator =( const Point3 & pnt );
+
+    // Set the x element of a 3-D point
+    // 
+    inline Point3 & setX( float x );
+
+    // Set the y element of a 3-D point
+    // 
+    inline Point3 & setY( float y );
+
+    // Set the z element of a 3-D point
+    // 
+    inline Point3 & setZ( float z );
+
+    // Get the x element of a 3-D point
+    // 
+    inline float getX( ) const;
+
+    // Get the y element of a 3-D point
+    // 
+    inline float getY( ) const;
+
+    // Get the z element of a 3-D point
+    // 
+    inline float getZ( ) const;
+
+    // Set an x, y, or z element of a 3-D point by index
+    // 
+    inline Point3 & setElem( int idx, float value );
+
+    // Get an x, y, or z element of a 3-D point by index
+    // 
+    inline float getElem( int idx ) const;
+
+    // Subscripting operator to set or get an element
+    // 
+    inline float & operator []( int idx );
+
+    // Subscripting operator to get an element
+    // 
+    inline float operator []( int idx ) const;
+
+    // Subtract a 3-D point from another 3-D point
+    // 
+    inline const Vector3 operator -( const Point3 & pnt ) const;
+
+    // Add a 3-D point to a 3-D vector
+    // 
+    inline const Point3 operator +( const Vector3 & vec ) const;
+
+    // Subtract a 3-D vector from a 3-D point
+    // 
+    inline const Point3 operator -( const Vector3 & vec ) const;
+
+    // Perform compound assignment and addition with a 3-D vector
+    // 
+    inline Point3 & operator +=( const Vector3 & vec );
+
+    // Perform compound assignment and subtraction by a 3-D vector
+    // 
+    inline Point3 & operator -=( const Vector3 & vec );
+
+}
+#ifdef __GNUC__
+__attribute__ ((aligned(16)))
+#endif
+;
+
+// Multiply two 3-D points per element
+// 
+inline const Point3 mulPerElem( const Point3 & pnt0, const Point3 & pnt1 );
+
+// Divide two 3-D points per element
+// NOTE: 
+// Floating-point behavior matches standard library function divf4.
+// 
+inline const Point3 divPerElem( const Point3 & pnt0, const Point3 & pnt1 );
+
+// Compute the reciprocal of a 3-D point per element
+// NOTE: 
+// Floating-point behavior matches standard library function recipf4.
+// 
+inline const Point3 recipPerElem( const Point3 & pnt );
+
+// Compute the square root of a 3-D point per element
+// NOTE: 
+// Floating-point behavior matches standard library function sqrtf4.
+// 
+inline const Point3 sqrtPerElem( const Point3 & pnt );
+
+// Compute the reciprocal square root of a 3-D point per element
+// NOTE: 
+// Floating-point behavior matches standard library function rsqrtf4.
+// 
+inline const Point3 rsqrtPerElem( const Point3 & pnt );
+
+// Compute the absolute value of a 3-D point per element
+// 
+inline const Point3 absPerElem( const Point3 & pnt );
+
+// Copy sign from one 3-D point to another, per element
+// 
+inline const Point3 copySignPerElem( const Point3 & pnt0, const Point3 & pnt1 );
+
+// Maximum of two 3-D points per element
+// 
+inline const Point3 maxPerElem( const Point3 & pnt0, const Point3 & pnt1 );
+
+// Minimum of two 3-D points per element
+// 
+inline const Point3 minPerElem( const Point3 & pnt0, const Point3 & pnt1 );
+
+// Maximum element of a 3-D point
+// 
+inline float maxElem( const Point3 & pnt );
+
+// Minimum element of a 3-D point
+// 
+inline float minElem( const Point3 & pnt );
+
+// Compute the sum of all elements of a 3-D point
+// 
+inline float sum( const Point3 & pnt );
+
+// Apply uniform scale to a 3-D point
+// 
+inline const Point3 scale( const Point3 & pnt, float scaleVal );
+
+// Apply non-uniform scale to a 3-D point
+// 
+inline const Point3 scale( const Point3 & pnt, const Vector3 & scaleVec );
+
+// Scalar projection of a 3-D point on a unit-length 3-D vector
+// 
+inline float projection( const Point3 & pnt, const Vector3 & unitVec );
+
+// Compute the square of the distance of a 3-D point from the coordinate-system origin
+// 
+inline float distSqrFromOrigin( const Point3 & pnt );
+
+// Compute the distance of a 3-D point from the coordinate-system origin
+// 
+inline float distFromOrigin( const Point3 & pnt );
+
+// Compute the square of the distance between two 3-D points
+// 
+inline float distSqr( const Point3 & pnt0, const Point3 & pnt1 );
+
+// Compute the distance between two 3-D points
+// 
+inline float dist( const Point3 & pnt0, const Point3 & pnt1 );
+
+// Linear interpolation between two 3-D points
+// NOTE: 
+// Does not clamp t between 0 and 1.
+// 
+inline const Point3 lerp( float t, const Point3 & pnt0, const Point3 & pnt1 );
+
+// Conditionally select between two 3-D points
+// 
+inline const Point3 select( const Point3 & pnt0, const Point3 & pnt1, bool select1 );
+
+// Load x, y, and z elements from the first three words of a float array.
+// 
+// 
+inline void loadXYZ( Point3 & pnt, const float * fptr );
+
+// Store x, y, and z elements of a 3-D point in the first three words of a float array.
+// Memory area of previous 16 bytes and next 32 bytes from fptr might be accessed
+// 
+inline void storeXYZ( const Point3 & pnt, float * fptr );
+
+// Load three-half-floats as a 3-D point
+// NOTE: 
+// This transformation does not support either denormalized numbers or NaNs.
+// 
+inline void loadHalfFloats( Point3 & pnt, const unsigned short * hfptr );
+
+// Store a 3-D point as half-floats. Memory area of previous 16 bytes and next 32 bytes from <code><i>hfptr</i></code> might be accessed.
+// NOTE: 
+// This transformation does not support either denormalized numbers or NaNs. Memory area of previous 16 bytes and next 32 bytes from hfptr might be accessed.
+// 
+inline void storeHalfFloats( const Point3 & pnt, unsigned short * hfptr );
+
+#ifdef _VECTORMATH_DEBUG
+
+// Print a 3-D point
+// NOTE: 
+// Function is only defined when _VECTORMATH_DEBUG is defined.
+// 
+inline void print( const Point3 & pnt );
+
+// Print a 3-D point and an associated string identifier
+// NOTE: 
+// Function is only defined when _VECTORMATH_DEBUG is defined.
+// 
+inline void print( const Point3 & pnt, const char * name );
+
+#endif
+
+// A quaternion in array-of-structures format
+//
+class Quat
+{
+    float mX;
+    float mY;
+    float mZ;
+    float mW;
+
+public:
+    // Default constructor; does no initialization
+    // 
+    inline Quat( ) { };
+
+    // Copy a quaternion
+    // 
+    inline Quat( const Quat & quat );
+
+    // Construct a quaternion from x, y, z, and w elements
+    // 
+    inline Quat( float x, float y, float z, float w );
+
+    // Construct a quaternion from a 3-D vector and a scalar
+    // 
+    inline Quat( const Vector3 & xyz, float w );
+
+    // Copy elements from a 4-D vector into a quaternion
+    // 
+    explicit inline Quat( const Vector4 & vec );
+
+    // Convert a rotation matrix to a unit-length quaternion
+    // 
+    explicit inline Quat( const Matrix3 & rotMat );
+
+    // Set all elements of a quaternion to the same scalar value
+    // 
+    explicit inline Quat( float scalar );
+
+    // Assign one quaternion to another
+    // 
+    inline Quat & operator =( const Quat & quat );
+
+    // Set the x, y, and z elements of a quaternion
+    // NOTE: 
+    // This function does not change the w element.
+    // 
+    inline Quat & setXYZ( const Vector3 & vec );
+
+    // Get the x, y, and z elements of a quaternion
+    // 
+    inline const Vector3 getXYZ( ) const;
+
+    // Set the x element of a quaternion
+    // 
+    inline Quat & setX( float x );
+
+    // Set the y element of a quaternion
+    // 
+    inline Quat & setY( float y );
+
+    // Set the z element of a quaternion
+    // 
+    inline Quat & setZ( float z );
+
+    // Set the w element of a quaternion
+    // 
+    inline Quat & setW( float w );
+
+    // Get the x element of a quaternion
+    // 
+    inline float getX( ) const;
+
+    // Get the y element of a quaternion
+    // 
+    inline float getY( ) const;
+
+    // Get the z element of a quaternion
+    // 
+    inline float getZ( ) const;
+
+    // Get the w element of a quaternion
+    // 
+    inline float getW( ) const;
+
+    // Set an x, y, z, or w element of a quaternion by index
+    // 
+    inline Quat & setElem( int idx, float value );
+
+    // Get an x, y, z, or w element of a quaternion by index
+    // 
+    inline float getElem( int idx ) const;
+
+    // Subscripting operator to set or get an element
+    // 
+    inline float & operator []( int idx );
+
+    // Subscripting operator to get an element
+    // 
+    inline float operator []( int idx ) const;
+
+    // Add two quaternions
+    // 
+    inline const Quat operator +( const Quat & quat ) const;
+
+    // Subtract a quaternion from another quaternion
+    // 
+    inline const Quat operator -( const Quat & quat ) const;
+
+    // Multiply two quaternions
+    // 
+    inline const Quat operator *( const Quat & quat ) const;
+
+    // Multiply a quaternion by a scalar
+    // 
+    inline const Quat operator *( float scalar ) const;
+
+    // Divide a quaternion by a scalar
+    // 
+    inline const Quat operator /( float scalar ) const;
+
+    // Perform compound assignment and addition with a quaternion
+    // 
+    inline Quat & operator +=( const Quat & quat );
+
+    // Perform compound assignment and subtraction by a quaternion
+    // 
+    inline Quat & operator -=( const Quat & quat );
+
+    // Perform compound assignment and multiplication by a quaternion
+    // 
+    inline Quat & operator *=( const Quat & quat );
+
+    // Perform compound assignment and multiplication by a scalar
+    // 
+    inline Quat & operator *=( float scalar );
+
+    // Perform compound assignment and division by a scalar
+    // 
+    inline Quat & operator /=( float scalar );
+
+    // Negate all elements of a quaternion
+    // 
+    inline const Quat operator -( ) const;
+
+    // Construct an identity quaternion
+    // 
+    static inline const Quat identity( );
+
+    // Construct a quaternion to rotate between two unit-length 3-D vectors
+    // NOTE: 
+    // The result is unpredictable if unitVec0 and unitVec1 point in opposite directions.
+    // 
+    static inline const Quat rotation( const Vector3 & unitVec0, const Vector3 & unitVec1 );
+
+    // Construct a quaternion to rotate around a unit-length 3-D vector
+    // 
+    static inline const Quat rotation( float radians, const Vector3 & unitVec );
+
+    // Construct a quaternion to rotate around the x axis
+    // 
+    static inline const Quat rotationX( float radians );
+
+    // Construct a quaternion to rotate around the y axis
+    // 
+    static inline const Quat rotationY( float radians );
+
+    // Construct a quaternion to rotate around the z axis
+    // 
+    static inline const Quat rotationZ( float radians );
+
+}
+#ifdef __GNUC__
+__attribute__ ((aligned(16)))
+#endif
+;
+
+// Multiply a quaternion by a scalar
+// 
+inline const Quat operator *( float scalar, const Quat & quat );
+
+// Compute the conjugate of a quaternion
+// 
+inline const Quat conj( const Quat & quat );
+
+// Use a unit-length quaternion to rotate a 3-D vector
+// 
+inline const Vector3 rotate( const Quat & unitQuat, const Vector3 & vec );
+
+// Compute the dot product of two quaternions
+// 
+inline float dot( const Quat & quat0, const Quat & quat1 );
+
+// Compute the norm of a quaternion
+// 
+inline float norm( const Quat & quat );
+
+// Compute the length of a quaternion
+// 
+inline float length( const Quat & quat );
+
+// Normalize a quaternion
+// NOTE: 
+// The result is unpredictable when all elements of quat are at or near zero.
+// 
+inline const Quat normalize( const Quat & quat );
+
+// Linear interpolation between two quaternions
+// NOTE: 
+// Does not clamp t between 0 and 1.
+// 
+inline const Quat lerp( float t, const Quat & quat0, const Quat & quat1 );
+
+// Spherical linear interpolation between two quaternions
+// NOTE: 
+// Interpolates along the shortest path between orientations.
+// Does not clamp t between 0 and 1.
+// 
+inline const Quat slerp( float t, const Quat & unitQuat0, const Quat & unitQuat1 );
+
+// Spherical quadrangle interpolation
+// 
+inline const Quat squad( float t, const Quat & unitQuat0, const Quat & unitQuat1, const Quat & unitQuat2, const Quat & unitQuat3 );
+
+// Conditionally select between two quaternions
+// 
+inline const Quat select( const Quat & quat0, const Quat & quat1, bool select1 );
+
+// Load x, y, z, and w elements from the first four words of a float array.
+// 
+// 
+inline void loadXYZW( Quat & quat, const float * fptr );
+
+// Store x, y, z, and w elements of a quaternion in the first four words of a float array.
+// Memory area of previous 16 bytes and next 32 bytes from fptr might be accessed
+// 
+inline void storeXYZW( const Quat & quat, float * fptr );
+
+#ifdef _VECTORMATH_DEBUG
+
+// Print a quaternion
+// NOTE: 
+// Function is only defined when _VECTORMATH_DEBUG is defined.
+// 
+inline void print( const Quat & quat );
+
+// Print a quaternion and an associated string identifier
+// NOTE: 
+// Function is only defined when _VECTORMATH_DEBUG is defined.
+// 
+inline void print( const Quat & quat, const char * name );
+
+#endif
+
+// A 3x3 matrix in array-of-structures format
+//
+class Matrix3
+{
+    Vector3 mCol0;
+    Vector3 mCol1;
+    Vector3 mCol2;
+
+public:
+    // Default constructor; does no initialization
+    // 
+    inline Matrix3( ) { };
+
+    // Copy a 3x3 matrix
+    // 
+    inline Matrix3( const Matrix3 & mat );
+
+    // Construct a 3x3 matrix containing the specified columns
+    // 
+    inline Matrix3( const Vector3 & col0, const Vector3 & col1, const Vector3 & col2 );
+
+    // Construct a 3x3 rotation matrix from a unit-length quaternion
+    // 
+    explicit inline Matrix3( const Quat & unitQuat );
+
+    // Set all elements of a 3x3 matrix to the same scalar value
+    // 
+    explicit inline Matrix3( float scalar );
+
+    // Assign one 3x3 matrix to another
+    // 
+    inline Matrix3 & operator =( const Matrix3 & mat );
+
+    // Set column 0 of a 3x3 matrix
+    // 
+    inline Matrix3 & setCol0( const Vector3 & col0 );
+
+    // Set column 1 of a 3x3 matrix
+    // 
+    inline Matrix3 & setCol1( const Vector3 & col1 );
+
+    // Set column 2 of a 3x3 matrix
+    // 
+    inline Matrix3 & setCol2( const Vector3 & col2 );
+
+    // Get column 0 of a 3x3 matrix
+    // 
+    inline const Vector3 getCol0( ) const;
+
+    // Get column 1 of a 3x3 matrix
+    // 
+    inline const Vector3 getCol1( ) const;
+
+    // Get column 2 of a 3x3 matrix
+    // 
+    inline const Vector3 getCol2( ) const;
+
+    // Set the column of a 3x3 matrix referred to by the specified index
+    // 
+    inline Matrix3 & setCol( int col, const Vector3 & vec );
+
+    // Set the row of a 3x3 matrix referred to by the specified index
+    // 
+    inline Matrix3 & setRow( int row, const Vector3 & vec );
+
+    // Get the column of a 3x3 matrix referred to by the specified index
+    // 
+    inline const Vector3 getCol( int col ) const;
+
+    // Get the row of a 3x3 matrix referred to by the specified index
+    // 
+    inline const Vector3 getRow( int row ) const;
+
+    // Subscripting operator to set or get a column
+    // 
+    inline Vector3 & operator []( int col );
+
+    // Subscripting operator to get a column
+    // 
+    inline const Vector3 operator []( int col ) const;
+
+    // Set the element of a 3x3 matrix referred to by column and row indices
+    // 
+    inline Matrix3 & setElem( int col, int row, float val );
+
+    // Get the element of a 3x3 matrix referred to by column and row indices
+    // 
+    inline float getElem( int col, int row ) const;
+
+    // Add two 3x3 matrices
+    // 
+    inline const Matrix3 operator +( const Matrix3 & mat ) const;
+
+    // Subtract a 3x3 matrix from another 3x3 matrix
+    // 
+    inline const Matrix3 operator -( const Matrix3 & mat ) const;
+
+    // Negate all elements of a 3x3 matrix
+    // 
+    inline const Matrix3 operator -( ) const;
+
+    // Multiply a 3x3 matrix by a scalar
+    // 
+    inline const Matrix3 operator *( float scalar ) const;
+
+    // Multiply a 3x3 matrix by a 3-D vector
+    // 
+    inline const Vector3 operator *( const Vector3 & vec ) const;
+
+    // Multiply two 3x3 matrices
+    // 
+    inline const Matrix3 operator *( const Matrix3 & mat ) const;
+
+    // Perform compound assignment and addition with a 3x3 matrix
+    // 
+    inline Matrix3 & operator +=( const Matrix3 & mat );
+
+    // Perform compound assignment and subtraction by a 3x3 matrix
+    // 
+    inline Matrix3 & operator -=( const Matrix3 & mat );
+
+    // Perform compound assignment and multiplication by a scalar
+    // 
+    inline Matrix3 & operator *=( float scalar );
+
+    // Perform compound assignment and multiplication by a 3x3 matrix
+    // 
+    inline Matrix3 & operator *=( const Matrix3 & mat );
+
+    // Construct an identity 3x3 matrix
+    // 
+    static inline const Matrix3 identity( );
+
+    // Construct a 3x3 matrix to rotate around the x axis
+    // 
+    static inline const Matrix3 rotationX( float radians );
+
+    // Construct a 3x3 matrix to rotate around the y axis
+    // 
+    static inline const Matrix3 rotationY( float radians );
+
+    // Construct a 3x3 matrix to rotate around the z axis
+    // 
+    static inline const Matrix3 rotationZ( float radians );
+
+    // Construct a 3x3 matrix to rotate around the x, y, and z axes
+    // 
+    static inline const Matrix3 rotationZYX( const Vector3 & radiansXYZ );
+
+    // Construct a 3x3 matrix to rotate around a unit-length 3-D vector
+    // 
+    static inline const Matrix3 rotation( float radians, const Vector3 & unitVec );
+
+    // Construct a rotation matrix from a unit-length quaternion
+    // 
+    static inline const Matrix3 rotation( const Quat & unitQuat );
+
+    // Construct a 3x3 matrix to perform scaling
+    // 
+    static inline const Matrix3 scale( const Vector3 & scaleVec );
+
+};
+// Multiply a 3x3 matrix by a scalar
+// 
+inline const Matrix3 operator *( float scalar, const Matrix3 & mat );
+
+// Append (post-multiply) a scale transformation to a 3x3 matrix
+// NOTE: 
+// Faster than creating and multiplying a scale transformation matrix.
+// 
+inline const Matrix3 appendScale( const Matrix3 & mat, const Vector3 & scaleVec );
+
+// Prepend (pre-multiply) a scale transformation to a 3x3 matrix
+// NOTE: 
+// Faster than creating and multiplying a scale transformation matrix.
+// 
+inline const Matrix3 prependScale( const Vector3 & scaleVec, const Matrix3 & mat );
+
+// Multiply two 3x3 matrices per element
+// 
+inline const Matrix3 mulPerElem( const Matrix3 & mat0, const Matrix3 & mat1 );
+
+// Compute the absolute value of a 3x3 matrix per element
+// 
+inline const Matrix3 absPerElem( const Matrix3 & mat );
+
+// Transpose of a 3x3 matrix
+// 
+inline const Matrix3 transpose( const Matrix3 & mat );
+
+// Compute the inverse of a 3x3 matrix
+// NOTE: 
+// Result is unpredictable when the determinant of mat is equal to or near 0.
+// 
+inline const Matrix3 inverse( const Matrix3 & mat );
+
+// Determinant of a 3x3 matrix
+// 
+inline float determinant( const Matrix3 & mat );
+
+// Conditionally select between two 3x3 matrices
+// 
+inline const Matrix3 select( const Matrix3 & mat0, const Matrix3 & mat1, bool select1 );
+
+#ifdef _VECTORMATH_DEBUG
+
+// Print a 3x3 matrix
+// NOTE: 
+// Function is only defined when _VECTORMATH_DEBUG is defined.
+// 
+inline void print( const Matrix3 & mat );
+
+// Print a 3x3 matrix and an associated string identifier
+// NOTE: 
+// Function is only defined when _VECTORMATH_DEBUG is defined.
+// 
+inline void print( const Matrix3 & mat, const char * name );
+
+#endif
+
+// A 4x4 matrix in array-of-structures format
+//
+class Matrix4
+{
+    Vector4 mCol0;
+    Vector4 mCol1;
+    Vector4 mCol2;
+    Vector4 mCol3;
+
+public:
+    // Default constructor; does no initialization
+    // 
+    inline Matrix4( ) { };
+
+    // Copy a 4x4 matrix
+    // 
+    inline Matrix4( const Matrix4 & mat );
+
+    // Construct a 4x4 matrix containing the specified columns
+    // 
+    inline Matrix4( const Vector4 & col0, const Vector4 & col1, const Vector4 & col2, const Vector4 & col3 );
+
+    // Construct a 4x4 matrix from a 3x4 transformation matrix
+    // 
+    explicit inline Matrix4( const Transform3 & mat );
+
+    // Construct a 4x4 matrix from a 3x3 matrix and a 3-D vector
+    // 
+    inline Matrix4( const Matrix3 & mat, const Vector3 & translateVec );
+
+    // Construct a 4x4 matrix from a unit-length quaternion and a 3-D vector
+    // 
+    inline Matrix4( const Quat & unitQuat, const Vector3 & translateVec );
+
+    // Set all elements of a 4x4 matrix to the same scalar value
+    // 
+    explicit inline Matrix4( float scalar );
+
+    // Assign one 4x4 matrix to another
+    // 
+    inline Matrix4 & operator =( const Matrix4 & mat );
+
+    // Set the upper-left 3x3 submatrix
+    // NOTE: 
+    // This function does not change the bottom row elements.
+    // 
+    inline Matrix4 & setUpper3x3( const Matrix3 & mat3 );
+
+    // Get the upper-left 3x3 submatrix of a 4x4 matrix
+    // 
+    inline const Matrix3 getUpper3x3( ) const;
+
+    // Set translation component
+    // NOTE: 
+    // This function does not change the bottom row elements.
+    // 
+    inline Matrix4 & setTranslation( const Vector3 & translateVec );
+
+    // Get the translation component of a 4x4 matrix
+    // 
+    inline const Vector3 getTranslation( ) const;
+
+    // Set column 0 of a 4x4 matrix
+    // 
+    inline Matrix4 & setCol0( const Vector4 & col0 );
+
+    // Set column 1 of a 4x4 matrix
+    // 
+    inline Matrix4 & setCol1( const Vector4 & col1 );
+
+    // Set column 2 of a 4x4 matrix
+    // 
+    inline Matrix4 & setCol2( const Vector4 & col2 );
+
+    // Set column 3 of a 4x4 matrix
+    // 
+    inline Matrix4 & setCol3( const Vector4 & col3 );
+
+    // Get column 0 of a 4x4 matrix
+    // 
+    inline const Vector4 getCol0( ) const;
+
+    // Get column 1 of a 4x4 matrix
+    // 
+    inline const Vector4 getCol1( ) const;
+
+    // Get column 2 of a 4x4 matrix
+    // 
+    inline const Vector4 getCol2( ) const;
+
+    // Get column 3 of a 4x4 matrix
+    // 
+    inline const Vector4 getCol3( ) const;
+
+    // Set the column of a 4x4 matrix referred to by the specified index
+    // 
+    inline Matrix4 & setCol( int col, const Vector4 & vec );
+
+    // Set the row of a 4x4 matrix referred to by the specified index
+    // 
+    inline Matrix4 & setRow( int row, const Vector4 & vec );
+
+    // Get the column of a 4x4 matrix referred to by the specified index
+    // 
+    inline const Vector4 getCol( int col ) const;
+
+    // Get the row of a 4x4 matrix referred to by the specified index
+    // 
+    inline const Vector4 getRow( int row ) const;
+
+    // Subscripting operator to set or get a column
+    // 
+    inline Vector4 & operator []( int col );
+
+    // Subscripting operator to get a column
+    // 
+    inline const Vector4 operator []( int col ) const;
+
+    // Set the element of a 4x4 matrix referred to by column and row indices
+    // 
+    inline Matrix4 & setElem( int col, int row, float val );
+
+    // Get the element of a 4x4 matrix referred to by column and row indices
+    // 
+    inline float getElem( int col, int row ) const;
+
+    // Add two 4x4 matrices
+    // 
+    inline const Matrix4 operator +( const Matrix4 & mat ) const;
+
+    // Subtract a 4x4 matrix from another 4x4 matrix
+    // 
+    inline const Matrix4 operator -( const Matrix4 & mat ) const;
+
+    // Negate all elements of a 4x4 matrix
+    // 
+    inline const Matrix4 operator -( ) const;
+
+    // Multiply a 4x4 matrix by a scalar
+    // 
+    inline const Matrix4 operator *( float scalar ) const;
+
+    // Multiply a 4x4 matrix by a 4-D vector
+    // 
+    inline const Vector4 operator *( const Vector4 & vec ) const;
+
+    // Multiply a 4x4 matrix by a 3-D vector
+    // 
+    inline const Vector4 operator *( const Vector3 & vec ) const;
+
+    // Multiply a 4x4 matrix by a 3-D point
+    // 
+    inline const Vector4 operator *( const Point3 & pnt ) const;
+
+    // Multiply two 4x4 matrices
+    // 
+    inline const Matrix4 operator *( const Matrix4 & mat ) const;
+
+    // Multiply a 4x4 matrix by a 3x4 transformation matrix
+    // 
+    inline const Matrix4 operator *( const Transform3 & tfrm ) const;
+
+    // Perform compound assignment and addition with a 4x4 matrix
+    // 
+    inline Matrix4 & operator +=( const Matrix4 & mat );
+
+    // Perform compound assignment and subtraction by a 4x4 matrix
+    // 
+    inline Matrix4 & operator -=( const Matrix4 & mat );
+
+    // Perform compound assignment and multiplication by a scalar
+    // 
+    inline Matrix4 & operator *=( float scalar );
+
+    // Perform compound assignment and multiplication by a 4x4 matrix
+    // 
+    inline Matrix4 & operator *=( const Matrix4 & mat );
+
+    // Perform compound assignment and multiplication by a 3x4 transformation matrix
+    // 
+    inline Matrix4 & operator *=( const Transform3 & tfrm );
+
+    // Construct an identity 4x4 matrix
+    // 
+    static inline const Matrix4 identity( );
+
+    // Construct a 4x4 matrix to rotate around the x axis
+    // 
+    static inline const Matrix4 rotationX( float radians );
+
+    // Construct a 4x4 matrix to rotate around the y axis
+    // 
+    static inline const Matrix4 rotationY( float radians );
+
+    // Construct a 4x4 matrix to rotate around the z axis
+    // 
+    static inline const Matrix4 rotationZ( float radians );
+
+    // Construct a 4x4 matrix to rotate around the x, y, and z axes
+    // 
+    static inline const Matrix4 rotationZYX( const Vector3 & radiansXYZ );
+
+    // Construct a 4x4 matrix to rotate around a unit-length 3-D vector
+    // 
+    static inline const Matrix4 rotation( float radians, const Vector3 & unitVec );
+
+    // Construct a rotation matrix from a unit-length quaternion
+    // 
+    static inline const Matrix4 rotation( const Quat & unitQuat );
+
+    // Construct a 4x4 matrix to perform scaling
+    // 
+    static inline const Matrix4 scale( const Vector3 & scaleVec );
+
+    // Construct a 4x4 matrix to perform translation
+    // 
+    static inline const Matrix4 translation( const Vector3 & translateVec );
+
+    // Construct viewing matrix based on eye position, position looked at, and up direction
+    // 
+    static inline const Matrix4 lookAt( const Point3 & eyePos, const Point3 & lookAtPos, const Vector3 & upVec );
+
+    // Construct a perspective projection matrix
+    // 
+    static inline const Matrix4 perspective( float fovyRadians, float aspect, float zNear, float zFar );
+
+    // Construct a perspective projection matrix based on frustum
+    // 
+    static inline const Matrix4 frustum( float left, float right, float bottom, float top, float zNear, float zFar );
+
+    // Construct an orthographic projection matrix
+    // 
+    static inline const Matrix4 orthographic( float left, float right, float bottom, float top, float zNear, float zFar );
+
+};
+// Multiply a 4x4 matrix by a scalar
+// 
+inline const Matrix4 operator *( float scalar, const Matrix4 & mat );
+
+// Append (post-multiply) a scale transformation to a 4x4 matrix
+// NOTE: 
+// Faster than creating and multiplying a scale transformation matrix.
+// 
+inline const Matrix4 appendScale( const Matrix4 & mat, const Vector3 & scaleVec );
+
+// Prepend (pre-multiply) a scale transformation to a 4x4 matrix
+// NOTE: 
+// Faster than creating and multiplying a scale transformation matrix.
+// 
+inline const Matrix4 prependScale( const Vector3 & scaleVec, const Matrix4 & mat );
+
+// Multiply two 4x4 matrices per element
+// 
+inline const Matrix4 mulPerElem( const Matrix4 & mat0, const Matrix4 & mat1 );
+
+// Compute the absolute value of a 4x4 matrix per element
+// 
+inline const Matrix4 absPerElem( const Matrix4 & mat );
+
+// Transpose of a 4x4 matrix
+// 
+inline const Matrix4 transpose( const Matrix4 & mat );
+
+// Compute the inverse of a 4x4 matrix
+// NOTE: 
+// Result is unpredictable when the determinant of mat is equal to or near 0.
+// 
+inline const Matrix4 inverse( const Matrix4 & mat );
+
+// Compute the inverse of a 4x4 matrix, which is expected to be an affine matrix
+// NOTE: 
+// This can be used to achieve better performance than a general inverse when the specified 4x4 matrix meets the given restrictions.  The result is unpredictable when the determinant of mat is equal to or near 0.
+// 
+inline const Matrix4 affineInverse( const Matrix4 & mat );
+
+// Compute the inverse of a 4x4 matrix, which is expected to be an affine matrix with an orthogonal upper-left 3x3 submatrix
+// NOTE: 
+// This can be used to achieve better performance than a general inverse when the specified 4x4 matrix meets the given restrictions.
+// 
+inline const Matrix4 orthoInverse( const Matrix4 & mat );
+
+// Determinant of a 4x4 matrix
+// 
+inline float determinant( const Matrix4 & mat );
+
+// Conditionally select between two 4x4 matrices
+// 
+inline const Matrix4 select( const Matrix4 & mat0, const Matrix4 & mat1, bool select1 );
+
+#ifdef _VECTORMATH_DEBUG
+
+// Print a 4x4 matrix
+// NOTE: 
+// Function is only defined when _VECTORMATH_DEBUG is defined.
+// 
+inline void print( const Matrix4 & mat );
+
+// Print a 4x4 matrix and an associated string identifier
+// NOTE: 
+// Function is only defined when _VECTORMATH_DEBUG is defined.
+// 
+inline void print( const Matrix4 & mat, const char * name );
+
+#endif
+
+// A 3x4 transformation matrix in array-of-structures format
+//
+class Transform3
+{
+    Vector3 mCol0;
+    Vector3 mCol1;
+    Vector3 mCol2;
+    Vector3 mCol3;
+
+public:
+    // Default constructor; does no initialization
+    // 
+    inline Transform3( ) { };
+
+    // Copy a 3x4 transformation matrix
+    // 
+    inline Transform3( const Transform3 & tfrm );
+
+    // Construct a 3x4 transformation matrix containing the specified columns
+    // 
+    inline Transform3( const Vector3 & col0, const Vector3 & col1, const Vector3 & col2, const Vector3 & col3 );
+
+    // Construct a 3x4 transformation matrix from a 3x3 matrix and a 3-D vector
+    // 
+    inline Transform3( const Matrix3 & tfrm, const Vector3 & translateVec );
+
+    // Construct a 3x4 transformation matrix from a unit-length quaternion and a 3-D vector
+    // 
+    inline Transform3( const Quat & unitQuat, const Vector3 & translateVec );
+
+    // Set all elements of a 3x4 transformation matrix to the same scalar value
+    // 
+    explicit inline Transform3( float scalar );
+
+    // Assign one 3x4 transformation matrix to another
+    // 
+    inline Transform3 & operator =( const Transform3 & tfrm );
+
+    // Set the upper-left 3x3 submatrix
+    // 
+    inline Transform3 & setUpper3x3( const Matrix3 & mat3 );
+
+    // Get the upper-left 3x3 submatrix of a 3x4 transformation matrix
+    // 
+    inline const Matrix3 getUpper3x3( ) const;
+
+    // Set translation component
+    // 
+    inline Transform3 & setTranslation( const Vector3 & translateVec );
+
+    // Get the translation component of a 3x4 transformation matrix
+    // 
+    inline const Vector3 getTranslation( ) const;
+
+    // Set column 0 of a 3x4 transformation matrix
+    // 
+    inline Transform3 & setCol0( const Vector3 & col0 );
+
+    // Set column 1 of a 3x4 transformation matrix
+    // 
+    inline Transform3 & setCol1( const Vector3 & col1 );
+
+    // Set column 2 of a 3x4 transformation matrix
+    // 
+    inline Transform3 & setCol2( const Vector3 & col2 );
+
+    // Set column 3 of a 3x4 transformation matrix
+    // 
+    inline Transform3 & setCol3( const Vector3 & col3 );
+
+    // Get column 0 of a 3x4 transformation matrix
+    // 
+    inline const Vector3 getCol0( ) const;
+
+    // Get column 1 of a 3x4 transformation matrix
+    // 
+    inline const Vector3 getCol1( ) const;
+
+    // Get column 2 of a 3x4 transformation matrix
+    // 
+    inline const Vector3 getCol2( ) const;
+
+    // Get column 3 of a 3x4 transformation matrix
+    // 
+    inline const Vector3 getCol3( ) const;
+
+    // Set the column of a 3x4 transformation matrix referred to by the specified index
+    // 
+    inline Transform3 & setCol( int col, const Vector3 & vec );
+
+    // Set the row of a 3x4 transformation matrix referred to by the specified index
+    // 
+    inline Transform3 & setRow( int row, const Vector4 & vec );
+
+    // Get the column of a 3x4 transformation matrix referred to by the specified index
+    // 
+    inline const Vector3 getCol( int col ) const;
+
+    // Get the row of a 3x4 transformation matrix referred to by the specified index
+    // 
+    inline const Vector4 getRow( int row ) const;
+
+    // Subscripting operator to set or get a column
+    // 
+    inline Vector3 & operator []( int col );
+
+    // Subscripting operator to get a column
+    // 
+    inline const Vector3 operator []( int col ) const;
+
+    // Set the element of a 3x4 transformation matrix referred to by column and row indices
+    // 
+    inline Transform3 & setElem( int col, int row, float val );
+
+    // Get the element of a 3x4 transformation matrix referred to by column and row indices
+    // 
+    inline float getElem( int col, int row ) const;
+
+    // Multiply a 3x4 transformation matrix by a 3-D vector
+    // 
+    inline const Vector3 operator *( const Vector3 & vec ) const;
+
+    // Multiply a 3x4 transformation matrix by a 3-D point
+    // 
+    inline const Point3 operator *( const Point3 & pnt ) const;
+
+    // Multiply two 3x4 transformation matrices
+    // 
+    inline const Transform3 operator *( const Transform3 & tfrm ) const;
+
+    // Perform compound assignment and multiplication by a 3x4 transformation matrix
+    // 
+    inline Transform3 & operator *=( const Transform3 & tfrm );
+
+    // Construct an identity 3x4 transformation matrix
+    // 
+    static inline const Transform3 identity( );
+
+    // Construct a 3x4 transformation matrix to rotate around the x axis
+    // 
+    static inline const Transform3 rotationX( float radians );
+
+    // Construct a 3x4 transformation matrix to rotate around the y axis
+    // 
+    static inline const Transform3 rotationY( float radians );
+
+    // Construct a 3x4 transformation matrix to rotate around the z axis
+    // 
+    static inline const Transform3 rotationZ( float radians );
+
+    // Construct a 3x4 transformation matrix to rotate around the x, y, and z axes
+    // 
+    static inline const Transform3 rotationZYX( const Vector3 & radiansXYZ );
+
+    // Construct a 3x4 transformation matrix to rotate around a unit-length 3-D vector
+    // 
+    static inline const Transform3 rotation( float radians, const Vector3 & unitVec );
+
+    // Construct a rotation matrix from a unit-length quaternion
+    // 
+    static inline const Transform3 rotation( const Quat & unitQuat );
+
+    // Construct a 3x4 transformation matrix to perform scaling
+    // 
+    static inline const Transform3 scale( const Vector3 & scaleVec );
+
+    // Construct a 3x4 transformation matrix to perform translation
+    // 
+    static inline const Transform3 translation( const Vector3 & translateVec );
+
+};
+// Append (post-multiply) a scale transformation to a 3x4 transformation matrix
+// NOTE: 
+// Faster than creating and multiplying a scale transformation matrix.
+// 
+inline const Transform3 appendScale( const Transform3 & tfrm, const Vector3 & scaleVec );
+
+// Prepend (pre-multiply) a scale transformation to a 3x4 transformation matrix
+// NOTE: 
+// Faster than creating and multiplying a scale transformation matrix.
+// 
+inline const Transform3 prependScale( const Vector3 & scaleVec, const Transform3 & tfrm );
+
+// Multiply two 3x4 transformation matrices per element
+// 
+inline const Transform3 mulPerElem( const Transform3 & tfrm0, const Transform3 & tfrm1 );
+
+// Compute the absolute value of a 3x4 transformation matrix per element
+// 
+inline const Transform3 absPerElem( const Transform3 & tfrm );
+
+// Inverse of a 3x4 transformation matrix
+// NOTE: 
+// Result is unpredictable when the determinant of the left 3x3 submatrix is equal to or near 0.
+// 
+inline const Transform3 inverse( const Transform3 & tfrm );
+
+// Compute the inverse of a 3x4 transformation matrix, expected to have an orthogonal upper-left 3x3 submatrix
+// NOTE: 
+// This can be used to achieve better performance than a general inverse when the specified 3x4 transformation matrix meets the given restrictions.
+// 
+inline const Transform3 orthoInverse( const Transform3 & tfrm );
+
+// Conditionally select between two 3x4 transformation matrices
+// 
+inline const Transform3 select( const Transform3 & tfrm0, const Transform3 & tfrm1, bool select1 );
+
+#ifdef _VECTORMATH_DEBUG
+
+// Print a 3x4 transformation matrix
+// NOTE: 
+// Function is only defined when _VECTORMATH_DEBUG is defined.
+// 
+inline void print( const Transform3 & tfrm );
+
+// Print a 3x4 transformation matrix and an associated string identifier
+// NOTE: 
+// Function is only defined when _VECTORMATH_DEBUG is defined.
+// 
+inline void print( const Transform3 & tfrm, const char * name );
+
+#endif
+
+} // namespace Aos
+} // namespace Vectormath
+
+#include "vec_aos.h"
+#include "quat_aos.h"
+#include "mat_aos.h"
+
+#endif