crown-engine/engine/core/math/Matrix3x3.cpp

/*
Copyright (c) 2013 Daniele Bartolini, Michele Rossi
Copyright (c) 2012 Daniele Bartolini, Simone Boscaratto

Permission is hereby granted, free of charge, to any person
obtaining a copy of this software and associated documentation
files (the "Software"), to deal in the Software without
restriction, including without limitation the rights to use,
copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the
Software is furnished to do so, subject to the following
conditions:

The above copyright notice and this permission notice shall be
included in all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
OTHER DEALINGS IN THE SOFTWARE.
*/

#include "Assert.h"
#include "Matrix3x3.h"
#include "Types.h"
#include "Matrix4x4.h"
#include "MathUtils.h"
#include "Quaternion.h"
#include "Vector3.h"

namespace crown
{

const Matrix3x3 Matrix3x3::IDENTITY = Matrix3x3(1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0);

//-----------------------------------------------------------------------------
Matrix3x3::Matrix3x3()
{
}

//-----------------------------------------------------------------------------
Matrix3x3::Matrix3x3(float r1c1, float r2c1, float r3c1, float r1c2, float r2c2, float r3c2,
	float r1c3, float r2c3, float r3c3)
{
	m[0] = r1c1;
	m[1] = r2c1;
	m[2] = r3c1;
	m[3] = r1c2;
	m[4] = r2c2;
	m[5] = r3c2;
	m[6] = r1c3;
	m[7] = r2c3;
	m[8] = r3c3;
}

//-----------------------------------------------------------------------------
Matrix3x3::Matrix3x3(const float v[9])
{
	m[0] = v[0];
	m[1] = v[1];
	m[2] = v[2];
	m[3] = v[3];
	m[4] = v[4];
	m[5] = v[5];
	m[6] = v[6];
	m[7] = v[7];
	m[8] = v[8];
}

//-----------------------------------------------------------------------------
Matrix3x3::Matrix3x3(const Matrix3x3& a)
{
	m[0] = a.m[0];
	m[1] = a.m[1];
	m[2] = a.m[2];
	m[3] = a.m[3];
	m[4] = a.m[4];
	m[5] = a.m[5];
	m[6] = a.m[6];
	m[7] = a.m[7];
	m[8] = a.m[8];
}

//-----------------------------------------------------------------------------
Matrix3x3& Matrix3x3::operator=(const Matrix3x3& a)
{
	m[0] = a.m[0];
	m[1] = a.m[1];
	m[2] = a.m[2];
	m[3] = a.m[3];
	m[4] = a.m[4];
	m[5] = a.m[5];
	m[6] = a.m[6];
	m[7] = a.m[7];
	m[8] = a.m[8];

	return *this;
}

//-----------------------------------------------------------------------------
float Matrix3x3::operator[](uint32_t i) const
{
	CE_ASSERT(i < 9, "Index must be < 9");

	return m[i];
}

//-----------------------------------------------------------------------------
float& Matrix3x3::operator[](uint32_t i)
{
	CE_ASSERT(i < 9, "Index must be < 9");

	return m[i];
}

//-----------------------------------------------------------------------------
float Matrix3x3::operator()(uint32_t row, uint32_t column) const
{
	CE_ASSERT(row < 3 && column < 3, "Row and column must be < 3");

	return m[row + column * 3];
}

//-----------------------------------------------------------------------------
Matrix3x3 Matrix3x3::operator+(const Matrix3x3& a) const
{
	Matrix3x3 tmp;

	tmp.m[0] = m[0] + a.m[0];
	tmp.m[1] = m[1] + a.m[1];
	tmp.m[2] = m[2] + a.m[2];
	tmp.m[3] = m[3] + a.m[3];
	tmp.m[4] = m[4] + a.m[4];
	tmp.m[5] = m[5] + a.m[5];
	tmp.m[6] = m[6] + a.m[6];
	tmp.m[7] = m[7] + a.m[7];
	tmp.m[8] = m[8] + a.m[8];

	return tmp;
}

//-----------------------------------------------------------------------------
Matrix3x3& Matrix3x3::operator+=(const Matrix3x3& a)
{
	m[0] = m[0] + a.m[0];
	m[1] = m[1] + a.m[1];
	m[2] = m[2] + a.m[2];
	m[3] = m[3] + a.m[3];
	m[4] = m[4] + a.m[4];
	m[5] = m[5] + a.m[5];
	m[6] = m[6] + a.m[6];
	m[7] = m[7] + a.m[7];
	m[8] = m[8] + a.m[8];

	return *this;
}

//-----------------------------------------------------------------------------
Matrix3x3 Matrix3x3::operator-(const Matrix3x3& a) const
{
	Matrix3x3 tmp;

	tmp.m[0] = m[0] - a.m[0];
	tmp.m[1] = m[1] - a.m[1];
	tmp.m[2] = m[2] - a.m[2];
	tmp.m[3] = m[3] - a.m[3];
	tmp.m[4] = m[4] - a.m[4];
	tmp.m[5] = m[5] - a.m[5];
	tmp.m[6] = m[6] - a.m[6];
	tmp.m[7] = m[7] - a.m[7];
	tmp.m[8] = m[8] - a.m[8];

	return tmp;
}

//-----------------------------------------------------------------------------
Matrix3x3& Matrix3x3::operator-=(const Matrix3x3& a)
{
	m[0] = m[0] - a.m[0];
	m[1] = m[1] - a.m[1];
	m[2] = m[2] - a.m[2];
	m[3] = m[3] - a.m[3];
	m[4] = m[4] - a.m[4];
	m[5] = m[5] - a.m[5];
	m[6] = m[6] - a.m[6];
	m[7] = m[7] - a.m[7];
	m[8] = m[8] - a.m[8];

	return *this;
}

//-----------------------------------------------------------------------------
Matrix3x3 Matrix3x3::operator*(float k) const
{
	Matrix3x3 tmp;

	tmp.m[0] = m[0] * k;
	tmp.m[1] = m[1] * k;
	tmp.m[2] = m[2] * k;
	tmp.m[3] = m[3] * k;
	tmp.m[4] = m[4] * k;
	tmp.m[5] = m[5] * k;
	tmp.m[6] = m[6] * k;
	tmp.m[7] = m[7] * k;
	tmp.m[8] = m[8] * k;

	return tmp;
}

//-----------------------------------------------------------------------------
Matrix3x3& Matrix3x3::operator*=(float k)
{
	m[0] *= k;
	m[1] *= k;
	m[2] *= k;
	m[3] *= k;
	m[4] *= k;
	m[5] *= k;
	m[6] *= k;
	m[7] *= k;
	m[8] *= k;

	return *this;
}

//-----------------------------------------------------------------------------
Matrix3x3 Matrix3x3::operator/(float k) const
{
	Matrix3x3 tmp;

	k = (float)1.0 / k;

	tmp.m[0] = m[0] * k;
	tmp.m[1] = m[1] * k;
	tmp.m[2] = m[2] * k;
	tmp.m[3] = m[3] * k;
	tmp.m[4] = m[4] * k;
	tmp.m[5] = m[5] * k;
	tmp.m[6] = m[6] * k;
	tmp.m[7] = m[7] * k;
	tmp.m[8] = m[8] * k;

	return tmp;
}

//-----------------------------------------------------------------------------
Matrix3x3& Matrix3x3::operator/=(float k)
{
	k = (float)1.0 / k;

	m[0] *= k;
	m[1] *= k;
	m[2] *= k;
	m[3] *= k;
	m[4] *= k;
	m[5] *= k;
	m[6] *= k;
	m[7] *= k;
	m[8] *= k;

	return *this;
}

//-----------------------------------------------------------------------------
Vector3 Matrix3x3::operator*(const Vector3& v) const
{
	Vector3 tmp;

	tmp.x = m[0] * v.x + m[3] * v.y + m[6] * v.z;
	tmp.y = m[1] * v.x + m[4] * v.y + m[7] * v.z;
	tmp.z = m[2] * v.x + m[5] * v.y + m[8] * v.z;

	return tmp;
}

//-----------------------------------------------------------------------------
Matrix3x3 Matrix3x3::operator*(const Matrix3x3& a) const
{
	Matrix3x3 tmp;

	tmp.m[0] = m[0] * a.m[0] + m[3] * a.m[1] + m[6] * a.m[2];
	tmp.m[1] = m[1] * a.m[0] + m[4] * a.m[1] + m[7] * a.m[2];
	tmp.m[2] = m[2] * a.m[0] + m[5] * a.m[1] + m[8] * a.m[2];

	tmp.m[3] = m[0] * a.m[3] + m[3] * a.m[4] + m[6] * a.m[5];
	tmp.m[4] = m[1] * a.m[3] + m[4] * a.m[4] + m[7] * a.m[5];
	tmp.m[5] = m[2] * a.m[3] + m[5] * a.m[4] + m[8] * a.m[5];

	tmp.m[6] = m[0] * a.m[6] + m[3] * a.m[7] + m[6] * a.m[8];
	tmp.m[7] = m[1] * a.m[6] + m[4] * a.m[7] + m[7] * a.m[8];
	tmp.m[8] = m[2] * a.m[6] + m[5] * a.m[7] + m[8] * a.m[8];

	return tmp;
}

//-----------------------------------------------------------------------------
Matrix3x3& Matrix3x3::operator*=(const Matrix3x3& a)
{
	Matrix3x3 tmp;

	tmp.m[0] = m[0] * a.m[0] + m[3] * a.m[1] + m[6] * a.m[2];
	tmp.m[1] = m[1] * a.m[0] + m[4] * a.m[1] + m[7] * a.m[2];
	tmp.m[2] = m[2] * a.m[0] + m[5] * a.m[1] + m[8] * a.m[2];

	tmp.m[3] = m[0] * a.m[3] + m[3] * a.m[4] + m[6] * a.m[5];
	tmp.m[4] = m[1] * a.m[3] + m[4] * a.m[4] + m[7] * a.m[5];
	tmp.m[5] = m[2] * a.m[3] + m[5] * a.m[4] + m[8] * a.m[5];

	tmp.m[6] = m[0] * a.m[6] + m[3] * a.m[7] + m[6] * a.m[8];
	tmp.m[7] = m[1] * a.m[6] + m[4] * a.m[7] + m[7] * a.m[8];
	tmp.m[8] = m[2] * a.m[6] + m[5] * a.m[7] + m[8] * a.m[8];

	*this = tmp;

	return *this;
}

//-----------------------------------------------------------------------------
Matrix3x3 operator*(float k, const Matrix3x3& a)
{
	return a * k;
}

//-----------------------------------------------------------------------------
void Matrix3x3::build_rotation_x(float radians)
{
	m[0] = 1.0;
	m[1] = 0.0;
	m[2] = 0.0;
	m[3] = 0.0;
	m[4] = math::cos(radians);
	m[5] = math::sin(radians);
	m[6] = 0.0;
	m[7] = -math::sin(radians);
	m[8] = math::cos(radians);
}

//-----------------------------------------------------------------------------
void Matrix3x3::build_rotation_y(float radians)
{
	m[0] = math::cos(radians);
	m[1] = 0.0;
	m[2] = -math::sin(radians);
	m[3] = 0.0;
	m[4] = 1.0;
	m[5] = 0.0;
	m[6] = math::sin(radians);
	m[7] = 0.0;
	m[8] = math::cos(radians);
}

//-----------------------------------------------------------------------------
void Matrix3x3::build_rotation_z(float radians)
{
	m[0] = math::cos(radians);
	m[1] = math::sin(radians);
	m[2] = 0.0;
	m[3] = -math::sin(radians);
	m[4] = math::cos(radians);
	m[5] = 0.0;
	m[6] = 0.0;
	m[7] = 0.0;
	m[8] = 1.0;
}

//-----------------------------------------------------------------------------
void Matrix3x3::build_rotation(const Vector3& n, float radians)
{
	float a = (float)1.0 - math::cos(radians);
	float sin_a = math::sin(radians);
	float cos_a = math::cos(radians);

	m[0] = n.x * n.x * a + cos_a;
	m[1] = n.x * n.y * a + n.z * sin_a;
	m[2] = n.x * n.z * a - n.y * sin_a;
	m[3] = n.x * n.y * a - n.z * sin_a;
	m[4] = n.y * n.y * a + cos_a;
	m[5] = n.y * n.z * a + n.x * sin_a;
	m[6] = n.x * n.z * a + n.y * sin_a;
	m[7] = n.y * n.z * a - n.x * sin_a;
	m[8] = n.z * n.z * a + cos_a;
}

//-----------------------------------------------------------------------------
Matrix3x3& Matrix3x3::transpose()
{
	float tmp;

	tmp = m[1];
	m[1] = m[3];
	m[3] = tmp;

	tmp = m[2];
	m[2] = m[6];
	m[6] = tmp;

	tmp = m[5];
	m[5] = m[7];
	m[7] = tmp;

	return *this;
}

//-----------------------------------------------------------------------------
Matrix3x3 Matrix3x3::get_transposed() const
{
	Matrix3x3 tmp;

	tmp.m[0] = m[0];
	tmp.m[1] = m[3];
	tmp.m[2] = m[6];
	tmp.m[3] = m[1];
	tmp.m[4] = m[4];
	tmp.m[5] = m[7];
	tmp.m[6] = m[2];
	tmp.m[7] = m[5];
	tmp.m[8] = m[8];

	return tmp;
}

//-----------------------------------------------------------------------------
float Matrix3x3::get_determinant() const
{
	float det;

	det =	m[0] * (m[4] * m[8] - m[7] * m[5]) -
			m[3] * (m[1] * m[8] - m[7] * m[2]) +
			m[6] * (m[1] * m[5] - m[4] * m[2]);

	return det;
}

//-----------------------------------------------------------------------------
Matrix3x3& Matrix3x3::invert()
{
	Matrix3x3 mat;
	float det;

	mat.m[0] = (m[4] * m[8] - m[7] * m[5]);
	mat.m[1] = (m[1] * m[8] - m[7] * m[2]);
	mat.m[2] = (m[1] * m[5] - m[4] * m[2]);

	det = m[0] * mat.m[0] - m[3] * mat.m[1] + m[6] * mat.m[2];
	det = (float)1.0 / det;

	mat.m[3] = (m[3] * m[8] - m[6] * m[5]);
	mat.m[4] = (m[0] * m[8] - m[6] * m[2]);
	mat.m[5] = (m[0] * m[5] - m[3] * m[2]);
	mat.m[6] = (m[3] * m[7] - m[6] * m[4]);
	mat.m[7] = (m[0] * m[7] - m[6] * m[1]);
	mat.m[8] = (m[0] * m[4] - m[3] * m[1]);

	m[0] = + mat.m[0] * det;
	m[1] = - mat.m[1] * det;
	m[2] = + mat.m[2] * det;
	m[3] = - mat.m[3] * det;
	m[4] = + mat.m[4] * det;
	m[5] = - mat.m[5] * det;
	m[6] = + mat.m[6] * det;
	m[7] = - mat.m[7] * det;
	m[8] = + mat.m[8] * det;

	return *this;
}

//-----------------------------------------------------------------------------
inline Matrix3x3 Matrix3x3::get_inverted() const
{
	Matrix3x3 tmp(*this);

	return tmp.invert();
}

//-----------------------------------------------------------------------------
void Matrix3x3::load_identity()
{
	m[0] = m[4] = m[8] = 1.0;
	m[1] = m[2] = m[3] = m[5] = m[6] = m[7] = 0.0;
}

//-----------------------------------------------------------------------------
Vector3 Matrix3x3::x() const
{
	return Vector3(m[0], m[1], m[2]);
}

//-----------------------------------------------------------------------------
Vector3 Matrix3x3::y() const
{
	return Vector3(m[3], m[4], m[5]);
}

//-----------------------------------------------------------------------------
Vector3 Matrix3x3::z() const
{
	return Vector3(m[6], m[7], m[8]);
}

//-----------------------------------------------------------------------------
void Matrix3x3::set_x(const Vector3& x)
{
	m[0] = x.x;
	m[1] = x.y;
	m[2] = x.z;
}

//-----------------------------------------------------------------------------
void Matrix3x3::set_y(const Vector3& y)
{
	m[3] = y.x;
	m[4] = y.y;
	m[5] = y.z;
}

//-----------------------------------------------------------------------------
void Matrix3x3::set_z(const Vector3& z)
{
	m[6] = z.x;
	m[7] = z.y;
	m[8] = z.z;
}

//-----------------------------------------------------------------------------
Vector3 Matrix3x3::get_scale() const
{
	Vector3 tmp;

	tmp.x = m[0];
	tmp.y = m[4];
	tmp.z = m[8];

	return tmp;
}

//-----------------------------------------------------------------------------
void Matrix3x3::set_scale(const Vector3& scale)
{
	m[0] = scale.x;
	m[4] = scale.y;
	m[8] = scale.z;
}

//-----------------------------------------------------------------------------
float* Matrix3x3::to_float_ptr()
{
	return &m[0];
}

//-----------------------------------------------------------------------------
const float* Matrix3x3::to_float_ptr() const
{
	return &m[0];
}

//-----------------------------------------------------------------------------
Matrix4x4 Matrix3x3::to_mat4() const
{
	Matrix4x4 tmp;

	tmp.m[0] = m[0];
	tmp.m[1] = m[1];
	tmp.m[2] = m[2];
	tmp.m[3] = 0.0;
	tmp.m[4] = m[3];
	tmp.m[5] = m[4];
	tmp.m[6] = m[5];
	tmp.m[7] = 0.0;
	tmp.m[8] = m[6];
	tmp.m[9] = m[7];
	tmp.m[10] = m[8];
	tmp.m[11] = 0.0;
	tmp.m[12] = 0.0;
	tmp.m[13] = 0.0;
	tmp.m[14] = 0.0;
	tmp.m[15] = 1.0;

	return tmp;
}

//-----------------------------------------------------------------------------
Quaternion Matrix3x3::to_quat() const
{
	Quaternion tmp;

	float fourWSquaredMinusOne = m[0] + m[4] + m[8];
	float fourXSquaredMinusOne = m[0] - m[4] - m[8];
	float fourYSquaredMinusOne = -m[0] + m[4] - m[8];
	float fourZSquaredMinusOne = -m[0] - m[4] + m[8];
	float fourMaxSquaredMinusOne = fourWSquaredMinusOne;
	uint32_t index = 0;

	if (fourXSquaredMinusOne > fourMaxSquaredMinusOne)
	{
		fourMaxSquaredMinusOne = fourXSquaredMinusOne;
		index = 1;
	}

	if (fourYSquaredMinusOne > fourMaxSquaredMinusOne)
	{
		fourMaxSquaredMinusOne = fourYSquaredMinusOne;
		index = 2;
	}

	if (fourZSquaredMinusOne > fourMaxSquaredMinusOne)
	{
		fourMaxSquaredMinusOne = fourZSquaredMinusOne;
		index = 3;
	}

	float biggest = math::sqrt(fourMaxSquaredMinusOne + (float)1.0) * (float)0.5;
	float mult = (float)0.25 / biggest;

	switch (index)
	{
		case 0:
			tmp.w = biggest;
			tmp.v.x = (-m[7] + m[5]) * mult;
			tmp.v.y = (-m[2] + m[6]) * mult;
			tmp.v.z = (-m[3] + m[1]) * mult;
			break;
		case 1:
			tmp.v.x = biggest;
			tmp.w = (-m[7] + m[5]) * mult;
			tmp.v.y = (-m[3] - m[1]) * mult;
			tmp.v.z = (-m[2] - m[6]) * mult;
			break;
		case 2:
			tmp.v.y = biggest;
			tmp.w = (-m[2] + m[6]) * mult;
			tmp.v.x = (-m[3] - m[1]) * mult;
			tmp.v.z = (-m[7] - m[5]) * mult;
			break;
		case 3:
			tmp.v.z = biggest;
			tmp.w = (-m[3] + m[1]) * mult;
			tmp.v.x = (-m[2] - m[6]) * mult;
			tmp.v.y = (-m[7] - m[5]) * mult;
			break;
	}

	return tmp;
}

} // namespace crown