anki-3d-engine/src/Math/Mat4.h

#ifndef _MAT4_H_
#define _MAT4_H_

#include "Common.h"
#include "MathForwardDecls.h"


namespace M {


/// Used mainly for transformations but not necessarily
class Mat4
{
	private:
		union
		{
			float arr1[16];
			float arr2[4][4];
		};

	public:
		// access to the data
		float& operator ()(const uint i, const uint j);
		const float& operator ()(const uint i, const uint j) const;
		float& operator [](const uint i);
		const float& operator [](const uint i) const;
		// constructors & distructors
		explicit Mat4() {}
		explicit Mat4(float f);
		explicit Mat4(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);
		explicit Mat4(const float arr []);
		         Mat4(const Mat4& b);
		explicit Mat4(const Mat3& m3);
		explicit Mat4(const Vec3& v);
		explicit Mat4(const Vec4& v);
		explicit Mat4(const Vec3& transl, const Mat3& rot);
		explicit Mat4(const Vec3& transl, const Mat3& rot, float scale);
		explicit Mat4(const Transform& t);
		// ops with same type
		Mat4  operator + (const Mat4& b) const;
		Mat4& operator +=(const Mat4& b);
		Mat4  operator - (const Mat4& b) const;
		Mat4& operator -=(const Mat4& b);
		Mat4  operator * (const Mat4& b) const; ///< 64 muls, 48 adds
		Mat4& operator *=(const Mat4& b);
		Mat4  operator / (const Mat4& b) const;
		Mat4& operator /=(const Mat4& b);
		// ops with float
		Mat4  operator + (float f) const;
		Mat4& operator +=(float f);
		Mat4  operator - (float f) const;
		Mat4& operator -=(float f);
		Mat4  operator * (float f) const;
		Mat4& operator *=(float f);
		Mat4  operator / (float f) const;
		Mat4& operator /=(float f);
		// ops with other types
		Vec4  operator * (const Vec4& v4) const; ///< 16 muls, 12 adds
		// comparision
		bool operator ==(const Mat4& b) const;
		bool operator !=(const Mat4& b) const;
		// other
		void  setRows(const Vec4& a, const Vec4& b, const Vec4& c, const Vec4& d);
		void  setRow(uint i, const Vec4& v);
		void  setColumns(const Vec4& a, const Vec4& b, const Vec4& c, const Vec4& d);
		void  setColumn(uint i, const Vec4& v);
		void  setRotationPart(const Mat3& m3);
		void  setTranslationPart(const Vec4& v4);
		Mat3  getRotationPart() const;
		void  setTranslationPart(const Vec3& v3);
		Vec3  getTranslationPart() const;
		void  transpose();
		Mat4  getTransposed() const;
		float getDet() const;
		void  invert();
		Mat4  getInverse() const;
		Mat4  getInverseTransformation() const;
		Mat4  lerp(const Mat4& b, float t) const;
		void  setIdentity();
		static Mat4 combineTransformations(const Mat4& m0, const Mat4& m1); ///< 12 muls, 27 adds. Something like m4 = m0 * m1 but without touching the 4rth row and allot faster
		static const Mat4& getIdentity();
		static const Mat4& getZero();
};


// other operators
extern Mat4 operator +(float f, const Mat4& m4);
extern Mat4 operator -(float f, const Mat4& m4);
extern Mat4 operator *(float f, const Mat4& m4);
extern Mat4 operator /(float f, const Mat4& m4);
extern ostream& operator<<(ostream& s, const Mat4& m);


} // end namespace


#include "Mat4.inl.h"


#endif