mat4.h

/*
**  ClanLib SDK
**  Copyright (c) 1997-2020 The ClanLib Team
**
**  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.
**
**  Note: Some of the libraries ClanLib may link to may have additional
**  requirements or restrictions.
**
**  File Author(s):
**
**    Magnus Norddahl
**    Mark Page
**    Harry Storbacka
*/

#pragma once

#include "../System/cl_platform.h"
#include "mat2.h"
#include "mat3.h"
#include "vec3.h"
#include "angle.h"

namespace clan
{

        enum class Handedness
        {
                left,
                right
        };

        enum class ClipZRange
        {
                negative_positive_w, // OpenGL, -wclip <= zclip <= wclip
                zero_positive_w      // Direct3D, 0 <= zclip <= wclip
        };

        template<typename Type>
        class Mat2;

        template<typename Type>
        class Mat3;

        template<typename Type>
        class Mat4;

        template<typename Type>
        class Vec3;

        template<typename Type>
        class Quaternionx;

        class Angle;

        template<typename Type>
        class Mat4
        {
        public:
                Mat4()
                {
                        for (int i = 0; i < 16; i++)
                                matrix[i] = 0;
                }

                Mat4(const Mat4<Type> &copy) = default;

                explicit Mat4(const Mat2<Type> &copy);

                explicit Mat4(const Mat3<Type> &copy);

                explicit Mat4(const float *init_matrix)
                {
                        for (int i = 0; i < 16; i++)
                                matrix[i] = (Type)init_matrix[i];
                }

                explicit Mat4(const double *init_matrix)
                {
                        for (int i = 0; i < 16; i++)
                                matrix[i] = (Type)init_matrix[i];
                }

                explicit Mat4(const int64_t *init_matrix)
                {
                        for (int i = 0; i < 16; i++)
                                matrix[i] = (Type)init_matrix[i];
                }

                explicit Mat4(const int32_t *init_matrix)
                {
                        for (int i = 0; i < 16; i++)
                                matrix[i] = (Type)init_matrix[i];
                }

                explicit Mat4(const int16_t *init_matrix)
                {
                        for (int i = 0; i < 16; i++)
                                matrix[i] = (Type)init_matrix[i];
                }

                explicit Mat4(const int8_t *init_matrix)
                {
                        for (int i = 0; i < 16; i++)
                                matrix[i] = (Type)init_matrix[i];
                }

                static Mat4<Type> null();

                static Mat4<Type> identity();

                static Mat4<Type> frustum(Type left, Type right, Type bottom, Type top, Type z_near, Type z_far, Handedness handedness, ClipZRange clip_z);

                static Mat4<Type> perspective(
                        Type field_of_view_y_degrees,
                        Type aspect,
                        Type z_near,
                        Type z_far,
                        Handedness handedness,
                        ClipZRange clip_z);

                static Mat4<Type> ortho(Type left, Type right, Type bottom, Type top, Type z_near, Type z_far, Handedness handedness, ClipZRange clip_z);

                static Mat4<Type> ortho_2d(Type left, Type right, Type bottom, Type top, Handedness handedness, ClipZRange clip_z);

                static Mat4<Type> rotate(const Angle &angle, Type x, Type y, Type z, bool normalize = true);

                static Mat4<Type> rotate(const Angle &angle, Vec3<Type> rotation, bool normalize = true)
                {
                        return rotate(angle, rotation.x, rotation.y, rotation.z, normalize);
                }

                static Mat4<Type> rotate(const Angle &angle_x, const Angle &angle_y, const Angle &angle_z, EulerOrder order);

                static Mat4<Type> scale(Type x, Type y, Type z);

                static Mat4<Type> scale(const Vec3<Type> &xyz)
                {
                        return scale(xyz.x, xyz.y, xyz.z);
                }

                static Mat4<Type> translate(Type x, Type y, Type z);

                static Mat4<Type> translate(const Vec3<Type> &xyz)
                {
                        return translate(xyz.x, xyz.y, xyz.z);
                }

                static Mat4<Type> look_at(
                        Type eye_x, Type eye_y, Type eye_z,
                        Type center_x, Type center_y, Type center_z,
                        Type up_x, Type up_y, Type up_z);

                static Mat4<Type> look_at(
                        Vec3<Type> eye,
                        Vec3<Type> center,
                        Vec3<Type> up)
                {
                        return look_at(eye.x, eye.y, eye.z, center.x, center.y, center.z, up.x, up.y, up.z);
                }

                static Mat4<Type> multiply(const Mat4<Type> &matrix_1, const Mat4<Type> &matrix_2);

                static Mat4<Type> add(const Mat4<Type> &matrix_1, const Mat4<Type> &matrix_2);

                static Mat4<Type> subtract(const Mat4<Type> &matrix_1, const Mat4<Type> &matrix_2);

                static Mat4<Type> adjoint(const Mat4<Type> &matrix);

                static Mat4<Type> inverse(const Mat4<Type> &matrix);

                static Mat4<Type> transpose(const Mat4<Type> &matrix);

                static bool is_equal(const Mat4<Type> &first, const Mat4<Type> &second, Type epsilon)
                {
                        for (int i = 0; i < 16; i++)
                        {
                                Type diff = second.matrix[i] - first.matrix[i];
                                if (diff < -epsilon || diff > epsilon) return false;
                        }
                        return true;
                }

                Type matrix[16];

                Vec3<Type> get_translate() const { return Vec3<Type>(matrix[12], matrix[13], matrix[14]); }

                Vec3<Type> get_euler(EulerOrder order) const;

                Vec3<Type> get_transformed_point(const Vec3<Type> &vector) const;

                Mat4<Type> &scale_self(Type x, Type y, Type z);

                Mat4<Type> &scale_self(const Vec3<Type> &scale) { return scale_self(scale.x, scale.y, scale.z); }

                Mat4<Type> &translate_self(Type x, Type y, Type z);

                Mat4<Type> &translate_self(const Vec3<Type> &translation) { return translate_self(translation.x, translation.y, translation.z); }

                Mat4<Type> &set_translate(Type x, Type y, Type z) { matrix[3 * 4 + 0] = x; matrix[3 * 4 + 1] = y; matrix[3 * 4 + 2] = z; return *this; }

                Mat4<Type> &set_translate(const Vec3<Type> &translation) { matrix[3 * 4 + 0] = translation.x; matrix[3 * 4 + 1] = translation.y; matrix[3 * 4 + 2] = translation.z; return *this; }

                double det() const;

                Mat4<Type> &adjoint();

                Mat4<Type> &inverse();

                Mat4<Type> &transpose();

                void decompose(Vec3<Type> &out_position, Quaternionx<Type> &out_orientation, Vec3<Type> &out_scale) const;

                bool is_equal(const Mat4<Type> &other, Type epsilon) const { return Mat4<Type>::is_equal(*this, other, epsilon); }

                operator Type const*() const { return matrix; }

                operator Type *() { return matrix; }

                Type &operator[](int i) { return matrix[i]; }

                const Type &operator[](int i) const { return matrix[i]; }

                Type &operator[](unsigned int i) { return matrix[i]; }

                const Type &operator[](unsigned int i) const { return matrix[i]; }

                Mat4<Type> &operator =(const Mat4<Type> &copy) = default;

                Mat4<Type> &operator =(const Mat3<Type> &copy);

                Mat4<Type> &operator =(const Mat2<Type> &copy);

                Mat4<Type> operator *(const Mat4<Type> &mult) const;

                Mat4<Type> operator +(const Mat4<Type> &add_matrix) const;

                Mat4<Type> operator -(const Mat4<Type> &sub_matrix) const;

                bool operator==(const Mat4<Type> &other) const
                {
                        for (int i = 0; i < 16; i++)
                                if (matrix[i] != other.matrix[i]) return false;
                        return true;
                }

                bool operator!=(const Mat4<Type> &other) { return !((*this) == other); }
        };

        template<typename Type>
        inline Mat4<Type> Mat4<Type>::null() { Mat4<Type> m; memset(m.matrix, 0, sizeof(m.matrix));     return m; }

        template<typename Type>
        inline Mat4<Type> Mat4<Type>::identity() { Mat4<Type> m = null(); m.matrix[0] = 1; m.matrix[5] = 1; m.matrix[10] = 1; m.matrix[15] = 1; return m; }

        template<typename Type>
        inline Mat4<Type> Mat4<Type>::multiply(const Mat4<Type> &matrix_1, const Mat4<Type> &matrix_2) { return matrix_1 * matrix_2; }

        template<typename Type>
        inline Mat4<Type> Mat4<Type>::add(const Mat4<Type> &matrix_1, const Mat4<Type> &matrix_2) { return matrix_1 + matrix_2; }

        template<typename Type>
        inline Mat4<Type> Mat4<Type>::subtract(const Mat4<Type> &matrix_1, const Mat4<Type> &matrix_2) { return matrix_1 - matrix_2; }

        template<typename Type>
        inline Mat4<Type> Mat4<Type>::adjoint(const Mat4<Type> &matrix) { Mat4<Type> dest(matrix); dest.adjoint(); return dest; }

        template<typename Type>
        inline Mat4<Type> Mat4<Type>::inverse(const Mat4<Type> &matrix) { Mat4<Type> dest(matrix); dest.inverse(); return dest; }

        template<typename Type>
        inline Mat4<Type> Mat4<Type>::transpose(const Mat4<Type> &matrix) { Mat4<Type> dest(matrix); dest.transpose(); return dest; }

        typedef Mat4<int> Mat4i;
        typedef Mat4<float> Mat4f;
        typedef Mat4<double> Mat4d;

}