beefytech.Beef/BeefySysLib/util/Matrix4.h

#pragma once

#include "Vector.h"

NS_BF_BEGIN;

class Matrix4
{
public:
	union 
	{
		float mMat[4][4];
		float mMatFlat[16];
		struct  
		{
			float m00;
			float m01;
			float m02;
			float m03;
			float m10;
			float m11;
			float m12;
			float m13;
			float m20;
			float m21;
			float m22;
			float m23;
			float m30;
			float m31;
			float m32;
			float m33;
		};
	};

public:
	static Matrix4 sIdentity;

public:
	inline Matrix4()
	{
	}	

	inline Matrix4(
		float m00, float m01, float m02, float m03,
		float m10, float m11, float m12, float m13,
		float m20, float m21, float m22, float m23,
		float m30, float m31, float m32, float m33)
	{
		this->m00 = m00;
		this->m01 = m01;
		this->m02 = m02;
		this->m03 = m03;
		this->m10 = m10;
		this->m11 = m11;
		this->m12 = m12;
		this->m13 = m13;
		this->m20 = m20;
		this->m21 = m21;
		this->m22 = m22;
		this->m23 = m23;
		this->m30 = m30;
		this->m31 = m31;
		this->m32 = m32;
		this->m33 = m33;
	}

	static Matrix4 Multiply(const Matrix4 &m1, const Matrix4 &m2)
	{
		Matrix4 r;
		r.m00 = m1.m00 * m2.m00 + m1.m01 * m2.m10 + m1.m02 * m2.m20 + m1.m03 * m2.m30;
		r.m01 = m1.m00 * m2.m01 + m1.m01 * m2.m11 + m1.m02 * m2.m21 + m1.m03 * m2.m31;
		r.m02 = m1.m00 * m2.m02 + m1.m01 * m2.m12 + m1.m02 * m2.m22 + m1.m03 * m2.m32;
		r.m03 = m1.m00 * m2.m03 + m1.m01 * m2.m13 + m1.m02 * m2.m23 + m1.m03 * m2.m33;

		r.m10 = m1.m10 * m2.m00 + m1.m11 * m2.m10 + m1.m12 * m2.m20 + m1.m13 * m2.m30;
		r.m11 = m1.m10 * m2.m01 + m1.m11 * m2.m11 + m1.m12 * m2.m21 + m1.m13 * m2.m31;
		r.m12 = m1.m10 * m2.m02 + m1.m11 * m2.m12 + m1.m12 * m2.m22 + m1.m13 * m2.m32;
		r.m13 = m1.m10 * m2.m03 + m1.m11 * m2.m13 + m1.m12 * m2.m23 + m1.m13 * m2.m33;

		r.m20 = m1.m20 * m2.m00 + m1.m21 * m2.m10 + m1.m22 * m2.m20 + m1.m23 * m2.m30;
		r.m21 = m1.m20 * m2.m01 + m1.m21 * m2.m11 + m1.m22 * m2.m21 + m1.m23 * m2.m31;
		r.m22 = m1.m20 * m2.m02 + m1.m21 * m2.m12 + m1.m22 * m2.m22 + m1.m23 * m2.m32;
		r.m23 = m1.m20 * m2.m03 + m1.m21 * m2.m13 + m1.m22 * m2.m23 + m1.m23 * m2.m33;

		r.m30 = m1.m30 * m2.m00 + m1.m31 * m2.m10 + m1.m32 * m2.m20 + m1.m33 * m2.m30;
		r.m31 = m1.m30 * m2.m01 + m1.m31 * m2.m11 + m1.m32 * m2.m21 + m1.m33 * m2.m31;
		r.m32 = m1.m30 * m2.m02 + m1.m31 * m2.m12 + m1.m32 * m2.m22 + m1.m33 * m2.m32;
		r.m33 = m1.m30 * m2.m03 + m1.m31 * m2.m13 + m1.m32 * m2.m23 + m1.m33 * m2.m33;

		return r;
	}

	static Matrix4 Transpose(const Matrix4 &m)
	{
		return Matrix4(
			m.m00, m.m10, m.m20, m.m30,
			m.m01, m.m11, m.m21, m.m31,
			m.m02, m.m12, m.m22, m.m32,
			m.m03, m.m13, m.m23, m.m33);
	}

	static Matrix4 CreateTranslation(float x, float y, float z)
	{
		return Matrix4(
			1, 0, 0, x,
			0, 1, 0, y,
			0, 0, 1, z,
			0, 0, 0, 1);
	}

	static Matrix4 CreateTransform(const Vector3& position, const Vector3& scale, const Quaternion& orientation);

	static float Determinant(float m11, float m12, float m13,
		float m21, float m22, float m23,
		float m31, float m32, float m33)
	{
		return m11 * (m22 * m33 - m32 * m23) -
			m21 * (m12 * m33 - m32 * m13) +
			m31 * (m12 * m23 - m22 * m13);
	}
};

NS_BF_END;