shz_xmtrx.hpp

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/*! \file
 *  \brief   C++ Active Matrix API
 *  \ingroup xmtrx
 *
 *  This file provides an API built around manipulating and performing
 *  calculations using the SH4's "current" 4x4 matrix, which is held within
 *  a secondary back-bank of 16 single-precision floating-point registers.
 *
 *  \todo
 *      - Fourier transforms
 *      - Arbitrarily-sized matrix routines
 *      - shz_rotate_quat()
 *
 *  \author    2025, 2026 Falco Girgis
 *  \copyright MIT License
 */
 
#ifndef SHZ_XMTRX_HPP
#define SHZ_XMTRX_HPP
 
#include <array>
 
#include "shz_xmtrx.h"
#include "shz_vector.hpp"
#include "shz_quat.hpp"
 
namespace shz {
 
/*! Static structure around the 4x4 XMTRX FP register back-bank.
 
    This structure provides the C++ bindings to the XMTRX API as a series
    of static member functions wrapping the C API.
 
    \sa xmtrx
*/
struct xmtrx {
 
    //! FP back-bank registers comprising XMTRX.
    enum reg {
        XF0  = SHZ_XMTRX_XF0,   //!< FP register XF0
        XF1  = SHZ_XMTRX_XF1,   //!< FP register XF1
        XF2  = SHZ_XMTRX_XF2,   //!< FP register XF2
        XF3  = SHZ_XMTRX_XF3,   //!< FP register XF3
        XF4  = SHZ_XMTRX_XF4,   //!< FP register XF4
        XF5  = SHZ_XMTRX_XF5,   //!< FP register XF5
        XF6  = SHZ_XMTRX_XF6,   //!< FP register XF6
        XF7  = SHZ_XMTRX_XF7,   //!< FP register XF7
        XF8  = SHZ_XMTRX_XF8,   //!< FP register XF8
        XF9  = SHZ_XMTRX_XF9,   //!< FP register XF9
        XF10 = SHZ_XMTRX_XF10,  //!< FP register XF10
        XF11 = SHZ_XMTRX_XF11,  //!< FP register XF11
        XF12 = SHZ_XMTRX_XF12,  //!< FP register XF12
        XF13 = SHZ_XMTRX_XF13,  //!< FP register XF13
        XF14 = SHZ_XMTRX_XF14,  //!< FP register XF14
        XF15 = SHZ_XMTRX_XF15   //!< FP register XF15
    };
 
    //! Non-POSIX style reg_t alias.
    using reg_t = reg;
 
/*! \name  Accessors
    \brief Setting and retrieving individual XMTRX register values.
    @{
*/
 
    //! C++ wrapper around shz_xmtrx_read().
    SHZ_FORCE_INLINE static float read(reg xf) noexcept {
        return shz_xmtrx_read(static_cast<shz_xmtrx_reg>(xf));
    }
 
    //! C++ wrapper around shz_xmtrx_write().
    SHZ_FORCE_INLINE static void write(reg xf, float value) noexcept {
        shz_xmtrx_write(static_cast<shz_xmtrx_reg>(xf), value);
    }
 
    //! C++ wrapper around shz_xmtrx_read_row().
    SHZ_FORCE_INLINE static vec4 read_row(unsigned int index) noexcept {
        return shz_xmtrx_read_row(index);
    }
 
    //! C++ wrapper around shz_xmtrx_read_col().
    SHZ_FORCE_INLINE static vec4 read_col(unsigned int index) noexcept {
        return shz_xmtrx_read_col(index);
    }
 
    //! C++ wrapper around shz_xmtrx_write_row().
    SHZ_FORCE_INLINE static void write_row(unsigned int index, vec4 vector) noexcept {
        shz_xmtrx_write_row(index, vector);
    }
 
    //! C++ wrapper around shz_xmtrx_write_col().
    SHZ_FORCE_INLINE static void write_col(unsigned int index, vec4 vector) noexcept {
        shz_xmtrx_write_col(index, vector);
    }
 
    //! C++ wrapper around shz_xmtrx_swap_rows().
    SHZ_FORCE_INLINE static void swap_rows(unsigned int index1, unsigned int index2) noexcept {
        shz_xmtrx_swap_rows(index1, index2);
    }
 
    //! C++ wrapper around shz_xmtrx_swap_cols().
    SHZ_FORCE_INLINE static void swap_cols(unsigned int index1, unsigned int index2) noexcept {
        shz_xmtrx_swap_cols(index1, index2);
    }
 
//! @}
 
/*! \name  Loading
    \brief Routines for loading XMTRX contents from memory.
    @{
*/
 
    //! C++ wrapper around shz_xmtrx_load_4x4().
    SHZ_FORCE_INLINE static void load(const shz_mat4x4_t& mat4) noexcept {
        shz_xmtrx_load_4x4(&mat4);
    }
 
    //! C++ wrapper around shz_xmtrx_load_unaligned_4x4().
    SHZ_FORCE_INLINE static void load(const float cArray[16]) noexcept {
        shz_xmtrx_load_unaligned_4x4(cArray);
    }
 
    //! C++ wrapper around shz_xmtrx_load_unaligned_4x4().
    SHZ_FORCE_INLINE static void load(std::array<float, 16> array) noexcept {
        load(array.data());
    }
 
    //! C++ wrapper around shz_xmtrx_load_transpose_4x4().
    SHZ_FORCE_INLINE static void load_transpose(const shz_mat4x4_t& mat4) noexcept {
        shz_xmtrx_load_transpose_4x4(&mat4);
    }
 
    //! C++ wrapper around shz_xmtrx_load_transpose_unaligned_4x4().
    SHZ_FORCE_INLINE static void load_transpose(const float cArray[16]) noexcept {
        shz_xmtrx_load_transpose_unaligned_4x4(cArray);
    }
 
    //! C++ wrapper around shz_xmtrx_load_transpose_unaligned_4x4().
    SHZ_FORCE_INLINE static void load_transpose(std::array<float, 16> array) noexcept {
        load_transpose(array.data());
    }
 
    //! C++ wrapper around shz_xmtrx_load_wxyz_4x4().
    SHZ_FORCE_INLINE static void load_wxyz(const shz_mat4x4_t& mat4) noexcept {
        shz_xmtrx_load_wxyz_4x4(&mat4);
    }
 
    //! C++ wrapper around shz_xmtrx_load_cols_4x4().
    SHZ_FORCE_INLINE static void load_cols(const shz_vec4_t& c1,
                                           const shz_vec4_t& c2,
                                           const shz_vec4_t& c3,
                                           const shz_vec4_t& c4) noexcept {
        shz_xmtrx_load_cols_4x4(&c1, &c2, &c3, &c4);
    }
 
    //! C++ wrapper around shz_xmtrx_load_rows_4x4().
    SHZ_FORCE_INLINE static void load_rows(const shz_vec4_t& r1,
                                           const shz_vec4_t& r2,
                                           const shz_vec4_t& r3,
                                           const shz_vec4_t& r4) noexcept {
        shz_xmtrx_load_rows_4x4(&r1, &r2, &r3, &r4);
    }
 
    //! C++ wrapper around shz_xmtrx_load_3x4().
    SHZ_FORCE_INLINE static void load(const shz_mat3x4_t& mat) noexcept {
        shz_xmtrx_load_3x4(&mat);
    }
 
//! @}
 
/*! \name  Storing
    \brief Routines for saving XMTRX contents to memory.
    @{
*/
 
    //! C++ wrapper around shz_xmtrx_store_4x4().
    SHZ_FORCE_INLINE static void store(shz_mat4x4_t* mat) noexcept {
        shz_xmtrx_store_4x4(mat);
    }
 
    //! C++ wrapper around shz_xmtrx_store_unaligned_4x4().
    SHZ_FORCE_INLINE static void store(float cArray[16]) noexcept {
        shz_xmtrx_store_unaligned_4x4(cArray);
    }
 
    //! C++ wrapper around shz_xmtrx_store_unaligned_4x4().
    SHZ_FORCE_INLINE static void store(std::array<float, 16>* array) noexcept {
        shz_xmtrx_store_unaligned_4x4(array->data());
    }
 
    //! C++ wrapper around shz_xmtrx_store_transpose_4x4().
    SHZ_FORCE_INLINE static void store_transpose(shz_mat4x4_t* mat) noexcept {
        shz_xmtrx_store_transpose_4x4(mat);
    }
 
    //! C++ wrapper around shz_xmtrx_store_transpose_unaligned_4x4().
    SHZ_FORCE_INLINE static void store_transpose(float cArray[16]) noexcept {
        shz_xmtrx_store_transpose_unaligned_4x4(cArray);
    }
 
    //! C++ wrapper around shz_xmtrx_store_transpose_unaligned_4x4().
    SHZ_FORCE_INLINE static void store_transpose(std::array<float, 16>* array) noexcept {
        store_transpose(array->data());
    }
 
    //! C++ wrapper around shz_xmtrx_store_3x4().
    SHZ_FORCE_INLINE static void store(shz_mat3x4_t* mat) noexcept {
        shz_xmtrx_store_3x4(mat);
    }
 
//! @}
 
/*! \name  Initialization
    \brief Routines used to initialize the entirety of XMTRX.
    @{
*/
 
    //! C++ wrapper around shz_xmtrx_init_identity().
    SHZ_FORCE_INLINE static void init_identity() noexcept {
        shz_xmtrx_init_identity();
    }
 
    //! C++ wrapper around shz_xmtrx_init_identity_safe().
    SHZ_FORCE_INLINE static void init_identity_safe() noexcept {
        shz_xmtrx_init_identity_safe();
    }
 
    //! C++ wrapper around shz_xmtrx_init_zero().
    SHZ_FORCE_INLINE static void init_zero() noexcept {
        shz_xmtrx_init_zero();
    }
 
    //! C++ wrapper around shz_xmtrx_init_one().
    SHZ_FORCE_INLINE static void init_one() noexcept {
        shz_xmtrx_init_one();
    }
 
    //! C++ wrapper around shz_xmtrx_init_fill().
    SHZ_FORCE_INLINE static void init_fill(float value) noexcept {
        shz_xmtrx_init_fill(value);
    }
 
    //! C++ wrapper around shz_xmtrx_init_translation().
    SHZ_FORCE_INLINE static void init_translation(float x, float y, float z) noexcept {
        shz_xmtrx_init_translation(x, y, z);
    }
 
    //! C++ wrapper around shz_xmtrx_init_scale().
    SHZ_FORCE_INLINE static void init_scale(float x, float y, float z) noexcept {
        shz_xmtrx_init_scale(x, y, z);
    }
 
    //! C++ wrapper around shz_xmtrx_init_rotation_x().
    SHZ_FORCE_INLINE static void init_rotation_x(float x) noexcept {
        shz_xmtrx_init_rotation_x(x);
    }
 
    //! C++ wrapper around shz_xmtrx_init_rotation_y().
    SHZ_FORCE_INLINE static void init_rotation_y(float y) noexcept {
        shz_xmtrx_init_rotation_y(y);
    }
 
    //! C++ wrapper around shz_xmtrx_init_rotation_z().
    SHZ_FORCE_INLINE static void init_rotation_z(float z) noexcept {
        shz_xmtrx_init_rotation_z(z);
    }
 
    //! C++ wrapper around shz_xmtrx_init_rotation_xyz().
    SHZ_FORCE_INLINE static void init_rotation_xyz(float x, float y, float z) noexcept {
        shz_xmtrx_init_rotation_xyz(x, y, z);
    }
 
    //! C++ wrapper around shz_xmtrx_init_rotation_zyx().
    SHZ_FORCE_INLINE static void init_rotation_zyx(float z, float y, float x) noexcept {
        shz_xmtrx_init_rotation_zyx(z, y, x);
    }
 
    //! C++ wrapper around shz_xmtrx_init_rotation_zxy().
    SHZ_FORCE_INLINE static void init_rotation_zxy(float z, float x, float y) noexcept {
        shz_xmtrx_init_rotation_zxy(z, x, y);
    }
 
    //! C++ wrapper around shz_xmtrx_init_rotation_yxz().
    SHZ_FORCE_INLINE static void init_rotation_yxz(float y, float x, float z) noexcept {
        shz_xmtrx_init_rotation_yxz(y, x, z);
    }
 
    //! C++ wrapper around shz_xmtrx_init_rotation().
    SHZ_FORCE_INLINE static void init_rotation(float angle, float x, float y, float z) noexcept {
        shz_xmtrx_init_rotation(angle, x, y, z);
    }
 
    //! C++ wrapper around shz_xmtrx_init_diagonal().
    SHZ_FORCE_INLINE static void init_diagonal(float x, float y, float z, float w) noexcept {
        shz_xmtrx_init_diagonal(x, y, z, w);
    }
 
    //! C++ wrapper around shz_xmtrx_init_upper_triangular().
    SHZ_FORCE_INLINE static void init_upper_triangular(float col1, vec2 col2, vec3 col3, vec4 col4) noexcept {
        shz_xmtrx_init_upper_triangular(col1, col2, col3, col4);
    }
 
    //! C++ wrapper around shz_xmtrx_init_lower_diagonal().
    SHZ_FORCE_INLINE static void init_lower_triangular(vec4 col1, vec3 col2, vec2 col3, float col4) noexcept {
        shz_xmtrx_init_lower_triangular(col1, col2, col3, col4);
    }
 
    //! C++ wrapper around shz_xmtrx_init_symmetric_skew().
    SHZ_FORCE_INLINE static void init_symmetric_skew(float x, float y, float z) noexcept {
        shz_xmtrx_init_symmetric_skew(x, y, z);
    }
 
    //! C++ wrapper around shz_xmtrx_init_outer_product().
    SHZ_FORCE_INLINE static void init_outer_product(shz_vec4_t a, shz_vec4_t b) noexcept {
        shz_xmtrx_init_outer_product(a, b);
    }
 
    //! C++ wrapper around shz_xmtrx_init_screen().
    SHZ_FORCE_INLINE static void init_screen(float width, float height) noexcept {
        shz_xmtrx_init_screen(width, height);
    }
 
    //! C++ wrapper around shz_xmtrx_init_lookat().
    SHZ_FORCE_INLINE static void init_lookat(vec3 eye, vec3 center, vec3 up) noexcept {
        shz_xmtrx_init_lookat(eye, center, up);
    }
 
    //! C++ wrapper around shz_xmtrx_init_ortho().
    SHZ_FORCE_INLINE static void init_ortho(float left, float right, float bottom, float top, float near, float far) noexcept {
        shz_xmtrx_init_ortho(left, right, bottom, top, near, far);
    }
 
    //! C++ wrapper around shz_xmtrx_init_frustum().
    SHZ_FORCE_INLINE static void init_frustum(float left, float right, float bottom, float top, float near, float far) noexcept {
        shz_xmtrx_init_frustum(left, right, bottom, top, near, far);
    }
 
    //! C++ wrapper around shz_xmtrx_init_perspective().
    SHZ_FORCE_INLINE static void init_perspective(float fov, float aspect, float near_z) noexcept {
        shz_xmtrx_init_perspective(fov, aspect, near_z);
    }
 
    //! C++ wrapper around shz_xmtrx_init_rotation_quat().
    SHZ_FORCE_INLINE static void init_rotation_quat(quat q) noexcept {
        shz_xmtrx_init_rotation_quat(q);
    }
 
    //! C++ wrapper around shz_xmtrx_init_permutation_wxyz().
    SHZ_FORCE_INLINE static void init_permutation_wxyz() noexcept {
        shz_xmtrx_init_permutation_wxyz();
    }
 
    //! C++ wrapper around shz_xmtrx_init_permutation_yzwx().
    SHZ_FORCE_INLINE static void init_permutation_yzwx() noexcept {
        shz_xmtrx_init_permutation_yzwx();
    }
 
//! @}
 
/*! \name  Apply Operation
    \brief Updates only relevant values of XMTRX based on the given transform.
    @{
*/
 
    //! C++ wrapper around shz_xmtrx_apply_4x4().
    SHZ_FORCE_INLINE static void apply(const shz_mat4x4_t& mat4) noexcept {
        shz_xmtrx_apply_4x4(&mat4);
    }
 
    //! C++ wrapper around shz_xmtrx_apply_unaligned_4x4().
    SHZ_FORCE_INLINE static void apply(const float cArray[16]) noexcept {
        shz_xmtrx_apply_unaligned_4x4(cArray);
    }
 
    //! C++ wrapper around shz_xmtrx_apply_unaligned_4x4().
    SHZ_FORCE_INLINE static void apply(const std::array<float, 16> array) noexcept {
        shz_xmtrx_apply_unaligned_4x4(array.data());
    }
 
    //! C++ wrapper around shz_xmtrx_apply_transpose_4x4().
    SHZ_FORCE_INLINE static void apply_transpose(const shz_mat4x4_t& mat4) noexcept {
        shz_xmtrx_apply_transpose_4x4(&mat4);
    }
 
    //! C++ wrapper around shz_xmtrx_apply_transpose_unaligned_4x4().
    SHZ_FORCE_INLINE static void apply_transpose(const float cArray[16]) noexcept {
        shz_xmtrx_apply_transpose_unaligned_4x4(cArray);
    }
 
    //! C++ wrapper around shz_xmtrx_apply_transpose_unaligned_4x4().
    SHZ_FORCE_INLINE static void apply_transpose(const std::array<float, 16> array) noexcept {
        shz_xmtrx_apply_transpose_unaligned_4x4(array.data());
    }
 
    //! C++ wrapper around shz_xmtrx_apply_reverse_4x4().
    SHZ_FORCE_INLINE static void apply_reverse(const shz_mat4x4_t& mat4) noexcept {
        shz_xmtrx_apply_reverse_4x4(&mat4);
    }
 
    //! C++ wrapper around shz_xmtrx_apply_reverse_unaligned_4x4().
    SHZ_FORCE_INLINE static void apply_reverse(const float cArray[16]) noexcept {
        shz_xmtrx_apply_reverse_unaligned_4x4(cArray);
    }
 
    //! C++ wrapper around shz_xmtrx_apply_reverse_unaligned_4x4().
    SHZ_FORCE_INLINE static void apply_reverse(const std::array<float, 16> array) noexcept {
        shz_xmtrx_apply_reverse_unaligned_4x4(array.data());
    }
 
    //! C++ wrapper around shz_xmtrx_apply_reverse_transpose_4x4().
    SHZ_FORCE_INLINE static void apply_reverse_transpose(const shz_mat4x4_t& mat4) noexcept {
        shz_xmtrx_apply_reverse_transpose_4x4(&mat4);
    }
 
    //! C++ wrapper around shz_xmtrx_apply_reverse_transpose_unaligned_4x4().
    SHZ_FORCE_INLINE static void apply_reverse_transpose(const float cArray[16]) noexcept {
        shz_xmtrx_apply_reverse_transpose_unaligned_4x4(cArray);
    }
 
    //! C++ wrapper around shz_xmtrx_apply_reverse_transpose_unaligned_4x4().
    SHZ_FORCE_INLINE static void apply_reverse_transpose(const std::array<float, 16> array) noexcept {
        shz_xmtrx_apply_reverse_transpose_unaligned_4x4(array.data());
    }
 
    //! C++ wrapper around shz_xmtrx_apply_3x4().
    SHZ_FORCE_INLINE static void apply(const shz_mat3x4_t& mat) noexcept {
        shz_xmtrx_apply_3x4(&mat);
    }
 
    //! C++ wrapper around shz_xmtrx_apply_translation().
    SHZ_FORCE_INLINE static void apply_translation(float x, float y, float z) noexcept {
        shz_xmtrx_apply_translation(x, y, z);
    }
 
    //! C++ wrapper around shz_xmtrx_apply_scale().
    SHZ_FORCE_INLINE static void apply_scale(float x, float y, float z) noexcept {
        shz_xmtrx_apply_scale(x, y, z);
    }
 
    //! C++ wrapper around shz_xmtrx_apply_rotation_x().
    SHZ_FORCE_INLINE static void apply_rotation_x(float x) noexcept {
        shz_xmtrx_apply_rotation_x(x);
    }
 
    //! C++ wrapper around shz_xmtrx_apply_rotation_y().
    SHZ_FORCE_INLINE static void apply_rotation_y(float y) noexcept {
        shz_xmtrx_apply_rotation_y(y);
    }
 
    //! C++ wrapper around shz_xmtrx_apply_rotation_z().
    SHZ_FORCE_INLINE static void apply_rotation_z(float z) noexcept {
        shz_xmtrx_apply_rotation_z(z);
    }
 
    //! C++ wrapper around shz_xmtrx_init_rotation_xyz().
    SHZ_FORCE_INLINE static void apply_rotation_xyz(float x, float y, float z) noexcept {
        shz_xmtrx_apply_rotation_xyz(x, y, z);
    }
 
    //! C++ wrapper around shz_xmtrx_apply_rotation_zyx().
    SHZ_FORCE_INLINE static void apply_rotation_zyx(float z, float y, float x) noexcept {
        shz_xmtrx_apply_rotation_zyx(z, y, x);
    }
 
    //! C++ wrapper around shz_xmtrx_apply_rotation_zxy().
    SHZ_FORCE_INLINE static void apply_rotation_zxy(float z, float x, float y) noexcept {
        shz_xmtrx_apply_rotation_zxy(z, x, y);
    }
 
    //! C++ wrapper around shz_xmtrx_apply_rotation_yxz().
    SHZ_FORCE_INLINE static void apply_rotation_yxz(float y, float x, float z) noexcept {
        shz_xmtrx_apply_rotation_yxz(y, x, z);
    }
 
        // C++ wrapper around shz_xmtrx_apply_rotation().
    SHZ_FORCE_INLINE static void apply_rotation(float angle, float x, float y, float z) noexcept {
        shz_xmtrx_apply_rotation(angle, x, y, z);
    }
 
    //! C++ wrapper around shz_xmtrx_apply_rotation_quat().
    SHZ_FORCE_INLINE static void apply_rotation_quat(shz_quat_t quat) noexcept {
        shz_xmtrx_apply_rotation_quat(quat);
    }
 
    //! C++ wrapper around shz_xmtrx_apply_lookat().
    SHZ_FORCE_INLINE static void apply_lookat(vec3 eye, vec3 center, vec3 up) noexcept {
        shz_xmtrx_apply_lookat(eye, center, up);
    }
 
    //! C++ wrapper around shz_xmtrx_apply_ortho().
    SHZ_FORCE_INLINE static void apply_ortho(float left, float right, float bottom, float top, float near, float far) noexcept {
        shz_xmtrx_apply_ortho(left, right, bottom, top, near, far);
    }
 
    //! C++ wrapper around shz_xmtrx_apply_frustum().
    SHZ_FORCE_INLINE static void apply_frustum(float left, float right, float bottom, float top, float near, float far) noexcept {
        shz_xmtrx_apply_frustum(left, right, bottom, top, near, far);
    }
 
    //! C++ wrapper around shz_xmtrx_apply_perspective().
    SHZ_FORCE_INLINE static void apply_perspective(float fov, float aspect, float near_z) noexcept {
        shz_xmtrx_apply_perspective(fov, aspect, near_z);
    }
 
    //! C++ wrapper around shz_xmtrx_apply_symmetric_skew().
    SHZ_FORCE_INLINE static void apply_symmetric_skew(float x, float y, float z) noexcept {
        shz_xmtrx_apply_symmetric_skew(x, y, z);
    }
 
    //! C++ wrapper around shz_xmtrx_apply_screen().
    SHZ_FORCE_INLINE static void apply_screen(float width, float height) noexcept {
        shz_xmtrx_apply_screen(width, height);
    }
 
    //! C++ wrapper around shz_xmtrx_apply_permutation_wxyz().
    SHZ_FORCE_INLINE static void apply_permutation_wxyz() noexcept {
        shz_xmtrx_apply_permutation_wxyz();
    }
 
    //! C++ wrapper around shz_xmtrx_apply_permutation_yzwx().
    SHZ_FORCE_INLINE static void apply_permutation_yzwx() noexcept {
        shz_xmtrx_apply_permutation_yzwx();
    }
 
    //! C++ wrapper around shz_xmtrx_apply_self().
    SHZ_FORCE_INLINE static void apply_self() noexcept {
        shz_xmtrx_apply_self();
    }
 
//! @}
 
/*! \name  OpenGL Operations
    \brief OpenGL-style matrix transformation operations.
    @{
*/
 
    //! C++ wrapper around shz_xmtrx_translate().
    SHZ_FORCE_INLINE static void translate(float x, float y, float z) noexcept {
        shz_xmtrx_translate(x, y, z);
    }
 
    //! C++ wrapper around shz_xmtrx_scale().
    SHZ_FORCE_INLINE static void scale(float x, float y, float z) noexcept {
        shz_xmtrx_scale(x, y, z);
    }
 
    //! C++ wrapper around shz_xmtrx_rotate_x().
    SHZ_FORCE_INLINE static void rotate_x(float radians) noexcept {
        shz_xmtrx_rotate_x(radians);
    }
 
    //! C++ wrapper around shz_xmtrx_rotate_x().
    SHZ_FORCE_INLINE static void rotate_y(float radians) noexcept {
        shz_xmtrx_rotate_y(radians);
    }
 
    //! C++ wrapper around shz_xmtrx_rotate_x().
    SHZ_FORCE_INLINE static void rotate_z(float radians) noexcept {
        shz_xmtrx_rotate_z(radians);
    }
 
    //! C++ wrapper around shz_xmtrx_rotate_xyz().
    SHZ_FORCE_INLINE static void rotate_xyz(float x, float y, float z) noexcept {
        shz_xmtrx_rotate_xyz(x, y, z);
    }
 
    //! C++ wrapper around shz_xmtrx_rotate_zyx().
    SHZ_FORCE_INLINE static void rotate_zyx(float z, float y, float x) noexcept {
        shz_xmtrx_rotate_zyx(z, y, x);
    }
 
    //! C++ wrapper around shz_xmtrx_rotate_zxy().
    SHZ_FORCE_INLINE static void rotate_zxy(float z, float x, float y) noexcept {
        shz_xmtrx_rotate_zxy(z, x, y);
    }
 
    //! C++ wrapper around shz_xmtrx_rotate_yxz().
    SHZ_FORCE_INLINE static void rotate_yxz(float y, float x, float z) noexcept {
        shz_xmtrx_rotate_yxz(y, x, z);
    }
 
    //! C++ wrapper around shz_xmtrx_rotate().
    SHZ_FORCE_INLINE static void rotate(float radians, float x, float y, float z) noexcept {
        shz_xmtrx_rotate(radians, x, y, z);
    }
 
//! @}
 
/*! \name  Compound Operations
    \brief Multiple operations combined into one pipelined transaction.
    @{
*/
 
    //! C++ wrapper around shz_xmtrx_load_apply_4x4().
    SHZ_FORCE_INLINE static void load_apply(const shz_mat4x4_t& mat1, const shz_mat4x4_t& mat2) noexcept {
        shz_xmtrx_load_apply_4x4(&mat1, &mat2);
    }
 
    //! C++ wrapper around shz_xmtrx_load_apply_unaligned_4x4().
    SHZ_FORCE_INLINE static void load_apply(const float matrix1[16], const float matrix2[16]) noexcept {
        shz_xmtrx_load_apply_unaligned_4x4(matrix1, matrix2);
    }
 
    //! C++ wrapper around shz_xmtrx_load_apply_store_4x4().
    SHZ_FORCE_INLINE static void load_apply_store(shz_mat4x4_t* dst, const shz_mat4x4_t& mat1, const shz_mat4x4_t& mat2) noexcept {
        shz_xmtrx_load_apply_store_4x4(dst, &mat1, &mat2);
    }
 
    //! C++ wrapper around shz_xmtrx_load_apply_store_unaligned_4x4().
    SHZ_FORCE_INLINE static void load_apply_store(float out[16], const float matrix1[16], const float matrix2[16]) noexcept {
        shz_xmtrx_load_apply_store_unaligned_4x4(out, matrix1, matrix2);
    }
 
    //! C++ wrapper around shz_xmtrx_load_apply_store_3x4().
    SHZ_FORCE_INLINE static void load_apply_store(shz_mat3x4_t* dst, const shz_mat3x4_t& mat1, const shz_mat3x4_t& mat2) noexcept {
        shz_xmtrx_load_apply_store_3x4(dst, &mat1, &mat2);
    }
 
    //! C++ wrapper around shz_xmtrx_load_apply_store_3x3().
    SHZ_FORCE_INLINE static void load_apply_store(shz_mat3x3_t* dst, const shz_mat3x3_t& mat1, const shz_mat3x3_t& mat2) noexcept {
        shz_xmtrx_load_apply_store_3x3(dst, &mat1, &mat2);
    }
 
//! @}
 
/*! \name  Transformations
    \brief Transforming vectors and points against XMTRX.
    @{
*/
 
    //! C++ wrapper around shz_xmtrx_transform_vec4().
    SHZ_FORCE_INLINE static vec4 transform(shz_vec4_t in) noexcept {
        return shz_xmtrx_transform_vec4(in);
    }
 
    //! C++ wrapper around shz_xmtrx_transform_vec3().
    SHZ_FORCE_INLINE static vec3 transform(shz_vec3_t in) noexcept {
        return shz_xmtrx_transform_vec3(in);
    }
 
    //! C++ wrapper around shz_xmtrx_transform_vec2().
    SHZ_FORCE_INLINE static vec2 transform(shz_vec2_t in) noexcept {
        return shz_xmtrx_transform_vec2(in);
    }
 
    //! C++ wrapper around shz_xmtrx_transform_point3().
    SHZ_FORCE_INLINE static vec3 transform_point(shz_vec3_t pt) noexcept {
        return shz_xmtrx_transform_point3(pt);
    }
 
    //! C++ wrapper around shz_xmtrx_transform_point2().
    SHZ_FORCE_INLINE static vec2 transform_point(shz_vec2_t pt) noexcept {
        return shz_xmtrx_transform_point2(pt);
    }
 
//! @}
 
/*! \name  Setters
    \brief Sets the values of related XMTRX components.
    @{
*/
 
    //! C++ wrapper around shz_xmtrx_set_translation().
    SHZ_FORCE_INLINE static void set_translation(float x, float y, float z) noexcept {
        shz_xmtrx_set_translation(x, y, z);
    }
 
//! @}
 
/*! \name  Miscellaneous
    \brief Random operations and conversions on XMTRX.
    @{
*/
 
    //! C++ wrapper around shz_xmtrx_add_4x4().
    SHZ_FORCE_INLINE static void add(const shz_mat4x4_t& mat) noexcept {
        shz_xmtrx_add_4x4(&mat);
    }
 
    //! C++ wrapper around shz_xmtrx_sub_4x4().
    SHZ_FORCE_INLINE static void sub(const shz_mat4x4_t& mat) noexcept {
        shz_xmtrx_sub_4x4(&mat);
    }
 
    //! C++ wrapper around shz_xmtrx_add_diagonal().
    SHZ_FORCE_INLINE static void add_diagonal(float x, float y, float z, float w) noexcept {
        shz_xmtrx_add_diagonal(x, y, z, w);
    }
 
    //! C++ wrapper around shz_xmtrx_add_symmetric_skew().
    SHZ_FORCE_INLINE static void add_symmetric_skew(float x, float y, float z) noexcept {
        shz_xmtrx_add_symmetric_skew(x, y, z);
    }
 
    //! C++ wrapper around shz_xmtrx_transpose().
    SHZ_FORCE_INLINE static void transpose() noexcept {
        shz_xmtrx_transpose();
    }
 
    //! C++ wrapper around shz_xmtrx_negate().
    SHZ_FORCE_INLINE static void negate() noexcept {
        shz_xmtrx_negate();
    }
 
    //! C++ wrapper around shz_xmtrx_abs().
    SHZ_FORCE_INLINE static void abs() noexcept {
        shz_xmtrx_abs();
    }
 
    //! C++ wrapper around shz_xmtrx_init_fft_weights().
    SHZ_FORCE_INLINE static void init_fft_weights(float radians) noexcept {
        shz_xmtrx_init_fft_weights(radians);
    }
 
    //! C++ wrapper around shz_xmtrx_to_quat().
    SHZ_FORCE_INLINE static quat to_quat() noexcept {
        return shz_xmtrx_to_quat();
    }
 
    //! C++ wrapper around shz_xmtrx_determinant().
    SHZ_FORCE_INLINE static float determinant() noexcept {
        return shz_xmtrx_determinant();
    }
 
    //! C++ wrapper around shz_xmtrx_invert().
    SHZ_FORCE_INLINE static void invert() noexcept {
        shz_xmtrx_invert();
    }
 
//! @}
 
};
}
 
#endif