mat3.h

/*
**  UICore
**  Copyright (c) 1997-2015 The UICore 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 UICore may link to may have additional
**  requirements or restrictions.
**
**  File Author(s):
**
**    Magnus Norddahl
**    Mark Page
**    Harry Storbacka
*/

#pragma once

#include "mat2.h"
#include "mat4.h"
#include "vec3.h"
#include "angle.h"
#include <cstdint>
#include <string.h>

namespace uicore
{
    template<typename Type>
    class Mat2;

    template<typename Type>
    class Mat3;

    template<typename Type>
    class Mat4;

    template<typename Type>
    class Mat3
    {
    public:
        Mat3()
        {
            for (auto & elem : matrix)
                elem = 0;
        }

        Mat3(const Mat3<Type> &copy)
        {
            for (int i = 0; i < 9; i++)
                matrix[i] = copy.matrix[i];
        }

        explicit Mat3(const Mat2<Type> &copy);

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

        explicit Mat3(const float *init_matrix)
        {
            for (int i = 0; i < 9; i++)
                matrix[i] = (Type)init_matrix[i];
        }

        explicit Mat3(Type m00, Type m01, Type m02, Type m10, Type m11, Type m12, Type m20, Type m21, Type m22)
        {
            matrix[0 * 3 + 0] = m00; matrix[0 * 3 + 1] = m01; matrix[0 * 3 + 2] = m02;
            matrix[1 * 3 + 0] = m10; matrix[1 * 3 + 1] = m11; matrix[1 * 3 + 2] = m12;
            matrix[2 * 3 + 0] = m20; matrix[2 * 3 + 1] = m21; matrix[2 * 3 + 2] = m22;
        }

        explicit Mat3(const double *init_matrix)
        {
            for (int i = 0; i < 9; i++)
                matrix[i] = (Type)init_matrix[i];
        }

        explicit Mat3(const int64_t *init_matrix)
        {
            for (int i = 0; i < 9; i++)
                matrix[i] = (Type)init_matrix[i];
        }

        explicit Mat3(const int32_t *init_matrix)
        {
            for (int i = 0; i < 9; i++)
                matrix[i] = (Type)init_matrix[i];
        }

        explicit Mat3(const int16_t *init_matrix)
        {
            for (int i = 0; i < 9; i++)
                matrix[i] = (Type)init_matrix[i];
        }

        explicit Mat3(const int8_t *init_matrix)
        {
            for (int i = 0; i < 9; i++)
                matrix[i] = (Type)init_matrix[i];
        }

        static Mat3<Type> null();

        static Mat3<Type> identity();

        static Mat3<Type> rotate(Type angle, Type x, Type y, Type z, bool normalize = true);

        static Mat3<Type> rotate(float angle, Vec3<Type> rotation, bool normalize = true)
        {
            return rotate(angle, rotation.x, rotation.y, rotation.z, normalize);
        }

        static Mat3<Type> rotate(Type angle_x, Type angle_y, Type angle_z, EulerOrder order);

        static Mat3<Type> rotate(Type angle);

        static Mat3<Type> scale(Type x, Type y);

        static Mat3<Type> scale(const Vec3<Type> &xy)
        {
            return scale(xy.x, xy.y);
        }

        static Mat3<Type> translate(Type x, Type y);

        static Mat3<Type> translate(const Vec2<Type> &xy)
        {
            return translate(xy.x, xy.y);
        }

        static Mat3<Type> multiply(const Mat3<Type> &matrix_1, const Mat3<Type> &matrix_2);

        static Mat3<Type> add(const Mat3<Type> &matrix_1, const Mat3<Type> &matrix_2);

        static Mat3<Type> subtract(const Mat3<Type> &matrix_1, const Mat3<Type> &matrix_2);

        static Mat3<Type> adjoint(const Mat3<Type> &matrix);

        static Mat3<Type> inverse(const Mat3<Type> &matrix);

        static Mat3<Type> transpose(const Mat3<Type> &matrix);

        static bool is_equal(const Mat3<Type> &first, const Mat3<Type> &second, Type epsilon)
        {
            for (int i = 0; i < 9; i++)
            {
                Type diff = second.matrix[i] - first.matrix[i];
                if (diff < -epsilon || diff > epsilon) return false;
            }
            return true;
        }

        Type matrix[9];

        double det() const;

        Mat3<Type> &adjoint();

        Mat3<Type> &inverse();

        Mat3<Type> &transpose();

        bool is_equal(const Mat3<Type> &other, Type epsilon) const { return Mat3<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]; }

        Mat3<Type> &operator =(const Mat3<Type> &copy) { memcpy(matrix, copy.matrix, sizeof(matrix)); return *this; }

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

        Mat3<Type> &operator =(const Mat2<Type> &copy);

        Mat3<Type> operator *(const Mat3<Type> &mult) const;

        Mat3<Type> operator +(const Mat3<Type> &add_matrix) const;

        Mat3<Type> operator -(const Mat3<Type> &sub_matrix) const;

        Vec2<Type> operator *(const Vec2<Type> &mult) const;

        bool operator==(const Mat3<Type> &other) const
        {
            for (int i = 0; i < 9; i++)
                if (matrix[i] != other.matrix[i]) return false;
            return true;
        }

        bool operator!=(const Mat3<Type> &other) { return !((*this) == other); }
    };

    template<typename Type>
    inline Mat3<Type> Mat3<Type>::multiply(const Mat3<Type> &matrix_1, const Mat3<Type> &matrix_2) { return matrix_1 * matrix_2; }

    template<typename Type>
    inline Mat3<Type> Mat3<Type>::add(const Mat3<Type> &matrix_1, const Mat3<Type> &matrix_2) { return matrix_1 + matrix_2; }

    template<typename Type>
    inline Mat3<Type> Mat3<Type>::subtract(const Mat3<Type> &matrix_1, const Mat3<Type> &matrix_2) { return matrix_1 - matrix_2; }

    template<typename Type>
    inline Mat3<Type> Mat3<Type>::adjoint(const Mat3<Type> &matrix) { Mat3<Type> dest(matrix); dest.adjoint(); return dest; }

    template<typename Type>
    inline Mat3<Type> Mat3<Type>::inverse(const Mat3<Type> &matrix) { Mat3<Type> dest(matrix); dest.inverse(); return dest; }

    template<typename Type>
    inline Mat3<Type> Mat3<Type>::transpose(const Mat3<Type> &matrix) { Mat3<Type> dest(matrix); dest.transpose(); return dest; }

    template<typename Type>
    inline Mat3<Type> Mat3<Type>::null() { Mat3<Type> m; memset(m.matrix, 0, sizeof(m.matrix)); return m; }

    template<typename Type>
    inline Mat3<Type> Mat3<Type>::identity() { Mat3<Type> m = null(); m.matrix[0] = 1; m.matrix[4] = 1; m.matrix[8] = 1; return m; }

    typedef Mat3<int> Mat3i;
    typedef Mat3<float> Mat3f;
    typedef Mat3<double> Mat3d;
}