mat4.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 <cstdint>
#include "mat2.h"
#include "mat3.h"
#include "vec3.h"
#include "angle.h"

namespace uicore
{
    enum Handedness
    {
        handed_left,
        handed_right
    };

    enum ClipZRange
    {
        clip_negative_positive_w, // OpenGL, -wclip <= zclip <= wclip
        clip_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;

    template<typename Type>
    class Mat4
    {
    public:
        Mat4()
        {
            for (auto & elem : matrix)
                elem = 0;
        }

        Mat4(const Mat4<Type> &copy)
        {
            for (int i = 0; i < 16; i++)
                matrix[i] = copy.matrix[i];
        }

        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(Type angle, Type x, Type y, Type z, bool normalize = true);

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

        static Mat4<Type> rotate(Type angle_x, Type angle_y, Type 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) { memcpy(matrix, copy.matrix, sizeof(matrix)); return *this; }

        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;
}