crown-engine/engine/core/math/Mat4.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 "Mat3.h"
#include "Types.h"
#include "Mat4.h"
#include "MathUtils.h"
#include "Quat.h"
#include "Vec3.h"
#include "Vec4.h"

namespace crown
{

const Mat4 Mat4::IDENTITY = Mat4(1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0);

//-----------------------------------------------------------------------------
Mat4::Mat4()
{
}

//-----------------------------------------------------------------------------
Mat4::Mat4(float r1c1, float r2c1, float r3c1, float r4c1, float r1c2, float r2c2, float r3c2, float r4c2,
	float r1c3, float r2c3, float r3c3, float r4c3, float r1c4, float r2c4, float r3c4, float r4c4)
{
	m[0] = r1c1;
	m[1] = r2c1;
	m[2] = r3c1;
	m[3] = r4c1;
	m[4] = r1c2;
	m[5] = r2c2;
	m[6] = r3c2;
	m[7] = r4c2;
	m[8] = r1c3;
	m[9] = r2c3;
	m[10] = r3c3;
	m[11] = r4c3;
	m[12] = r1c4;
	m[13] = r2c4;
	m[14] = r3c4;
	m[15] = r4c4;
}

//-----------------------------------------------------------------------------
Mat4::Mat4(const float v[16])
{
	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];
	m[9] = v[9];
	m[10] = v[10];
	m[11] = v[11];
	m[12] = v[12];
	m[13] = v[13];
	m[14] = v[14];
	m[15] = v[15];
}

//-----------------------------------------------------------------------------
Mat4::Mat4(const Mat4& 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];
	m[9] = a.m[9];
	m[10] = a.m[10];
	m[11] = a.m[11];
	m[12] = a.m[12];
	m[13] = a.m[13];
	m[14] = a.m[14];
	m[15] = a.m[15];
}

//-----------------------------------------------------------------------------
Mat4& Mat4::operator=(const Mat4& 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];
	m[9] = a.m[9];
	m[10] = a.m[10];
	m[11] = a.m[11];
	m[12] = a.m[12];
	m[13] = a.m[13];
	m[14] = a.m[14];
	m[15] = a.m[15];

	return *this;
}

//-----------------------------------------------------------------------------
float Mat4::operator[](uint32_t i) const
{
	CE_ASSERT(i < 16, "Index must be < 16");

	return m[i];
}

//-----------------------------------------------------------------------------
float& Mat4::operator[](uint32_t i)
{
	CE_ASSERT(i < 16, "Index must be < 16");

	return m[i];
}

//-----------------------------------------------------------------------------
float Mat4::operator()(uint32_t row, uint32_t column) const
{
	CE_ASSERT(row < 4 && column < 4, "Row and column must be < 4");

	return m[row + column * 4];
}

//-----------------------------------------------------------------------------
Mat4 Mat4::operator+(const Mat4& a) const
{
	Mat4 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];
	tmp.m[9] = m[9] + a.m[9];
	tmp.m[10] = m[10] + a.m[10];
	tmp.m[11] = m[11] + a.m[11];
	tmp.m[12] = m[12] + a.m[12];
	tmp.m[13] = m[13] + a.m[13];
	tmp.m[14] = m[14] + a.m[14];
	tmp.m[14] = m[15] + a.m[15];

	return tmp;
}

//-----------------------------------------------------------------------------
Mat4& Mat4::operator+=(const Mat4& 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];
	m[9] = m[9] + a.m[9];
	m[10] = m[10] + a.m[10];
	m[11] = m[11] + a.m[11];
	m[12] = m[12] + a.m[12];
	m[13] = m[13] + a.m[13];
	m[14] = m[14] + a.m[14];
	m[14] = m[15] + a.m[15];

	return *this;
}

//-----------------------------------------------------------------------------
Mat4 Mat4::operator-(const Mat4& a) const
{
	Mat4 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];
	tmp.m[9] = m[9] - a.m[9];
	tmp.m[10] = m[10] - a.m[10];
	tmp.m[11] = m[11] - a.m[11];
	tmp.m[12] = m[12] - a.m[12];
	tmp.m[13] = m[13] - a.m[13];
	tmp.m[14] = m[14] - a.m[14];
	tmp.m[14] = m[15] - a.m[15];

	return tmp;
}

//-----------------------------------------------------------------------------
Mat4& Mat4::operator-=(const Mat4& 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];
	m[9] = m[9] - a.m[9];
	m[10] = m[10] - a.m[10];
	m[11] = m[11] - a.m[11];
	m[12] = m[12] - a.m[12];
	m[13] = m[13] - a.m[13];
	m[14] = m[14] - a.m[14];
	m[14] = m[15] - a.m[15];

	return *this;
}

//-----------------------------------------------------------------------------
Mat4 Mat4::operator*(float k) const
{
	Mat4 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;
	tmp.m[9] = m[9] * k;
	tmp.m[10] = m[10] * k;
	tmp.m[11] = m[11] * k;
	tmp.m[12] = m[12] * k;
	tmp.m[13] = m[13] * k;
	tmp.m[14] = m[14] * k;
	tmp.m[15] = m[15] * k;

	return tmp;
}

//-----------------------------------------------------------------------------
Mat4& Mat4::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;
	m[9] *= k;
	m[10] *= k;
	m[11] *= k;
	m[12] *= k;
	m[13] *= k;
	m[14] *= k;
	m[15] *= k;

	return *this;
}

//-----------------------------------------------------------------------------
Mat4 Mat4::operator/(float k) const
{
	Mat4 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;
	tmp.m[9] = m[9] * k;
	tmp.m[10] = m[10] * k;
	tmp.m[11] = m[11] * k;
	tmp.m[12] = m[12] * k;
	tmp.m[13] = m[13] * k;
	tmp.m[14] = m[14] * k;
	tmp.m[15] = m[15] * k;

	return tmp;
}

//-----------------------------------------------------------------------------
Mat4& Mat4::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;
	m[9] *= k;
	m[10] *= k;
	m[11] *= k;
	m[12] *= k;
	m[13] *= k;
	m[14] *= k;
	m[15] *= k;

	return *this;
}

//-----------------------------------------------------------------------------
Vec3 Mat4::operator*(const Vec3& v) const
{
	Vec3 tmp;

	tmp.x = m[0] * v.x + m[4] * v.y + m[8] * v.z + m[12];
	tmp.y = m[1] * v.x + m[5] * v.y + m[9] * v.z + m[13];
	tmp.z = m[2] * v.x + m[6] * v.y + m[10] * v.z + m[14];

	return tmp;
}

//-----------------------------------------------------------------------------
Vec4 Mat4::operator*(const Vec4& v) const
{
	Vec4 tmp;

	tmp.x = m[0] * v.x + m[4] * v.y + m[8] * v.z + m[12] * v.w;
	tmp.y = m[1] * v.x + m[5] * v.y + m[9] * v.z + m[13] * v.w;
	tmp.z = m[2] * v.x + m[6] * v.y + m[10] * v.z + m[14] * v.w;
	tmp.w = m[3] * v.x + m[7] * v.y + m[11] * v.z + m[15] * v.w;

	return tmp;
}

//-----------------------------------------------------------------------------
Mat4 Mat4::operator*(const Mat4& a) const
{
	Mat4 tmp;

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

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

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

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

	return tmp;
}

//-----------------------------------------------------------------------------
Mat4& Mat4::operator*=(const Mat4& a)
{
	Mat4 tmp;

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

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

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

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

	*this = tmp;

	return *this;
}

Mat4 operator*(float k, const Mat4& a)
{
	return a * k;
}

//-----------------------------------------------------------------------------
void Mat4::build_rotation_x(float radians)
{
	m[0] = 1.0;
	m[1] = 0.0;
	m[2] = 0.0;
	m[3] = 0.0;
	m[4] = 0.0;
	m[5] = math::cos(radians);
	m[6] = math::sin(radians);
	m[7] = 0.0;
	m[8] = 0.0;
	m[9] = -math::sin(radians);
	m[10] = math::cos(radians);
	m[11] = 0.0;
	m[12] = 0.0;
	m[13] = 0.0;
	m[14] = 0.0;
	m[15] = 1.0;
}

//-----------------------------------------------------------------------------
void Mat4::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] = 0.0;
	m[5] = 1.0;
	m[6] = 0.0;
	m[7] = 0.0;
	m[8] = math::sin(radians);
	m[9] = 0.0;
	m[10] = math::cos(radians);
	m[11] = 0.0;
	m[12] = 0.0;
	m[13] = 0.0;
	m[14] = 0.0;
	m[15] = 1.0;
}

//-----------------------------------------------------------------------------
void Mat4::build_rotation_z(float radians)
{
	m[0] = math::cos(radians);
	m[1] = math::sin(radians);
	m[2] = 0.0;
	m[3] = 0.0;
	m[4] = -math::sin(radians);
	m[5] = math::cos(radians);
	m[6] = 0.0;
	m[7] = 0.0;
	m[8] = 0.0;
	m[9] = 0.0;
	m[10] = 1.0;
	m[11] = 0.0;
	m[12] = 0.0;
	m[13] = 0.0;
	m[14] = 0.0;
	m[15] = 1.0;
}

//-----------------------------------------------------------------------------
void Mat4::build_rotation(const Vec3& 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] = 0.0;
	m[4] = n.x * n.y * a - n.z * sin_a;
	m[5] = n.y * n.y * a + cos_a;
	m[6] = n.y * n.z * a + n.x * sin_a;
	m[7] = 0.0;
	m[8] = n.x * n.z * a + n.y * sin_a;
	m[9] = n.y * n.z * a - n.x * sin_a;
	m[10] = n.z * n.z * a + cos_a;
	m[11] = 0.0;
	m[12] = 0.0;
	m[13] = 0.0;
	m[14] = 0.0;
	m[15] = 1.0;
}

//-----------------------------------------------------------------------------
void Mat4::build_projection_perspective_rh(float fovy, float aspect, float near, float far)
{
	double top, right;

	top = math::tan((float)((double)fovy / 360.0 * math::PI)) * (double)near;
	right = top * aspect;

	m[0] = (float)(near / right);
	m[1] = 0.0;
	m[2] = 0.0;
	m[3] = 0.0;
	m[4] = 0.0;
	m[5] = (float)(near / top);
	m[6] = 0.0;
	m[7] = 0.0;
	m[8] = 0.0;
	m[9] = 0.0;
	m[10] = (float)((far + near) / (near - far));
	m[11] = -1.0;
	m[12] = 0.0;
	m[13] = 0.0;
	m[14] = (float)((2.0 * far * near) / (near - far));
	m[15] = 0.0;
}

//-----------------------------------------------------------------------------
void Mat4::build_projection_perspective_lh(float fovy, float aspect, float near, float far)
{
	double top, right;

	top = math::tan((float)((double)fovy / 360.0 * math::PI)) * (double)near;
	right = top * aspect;

	m[0] = (float)(near / right);
	m[1] = 0.0;
	m[2] = 0.0;
	m[3] = 0.0;
	m[4] = 0.0;
	m[5] = (float)(near / top);
	m[6] = 0.0;
	m[7] = 0.0;
	m[8] = 0.0;
	m[9] = 0.0;
	m[10] = (float)(far / (far - near));
	m[11] = 1.0;
	m[12] = 0.0;
	m[13] = 0.0;
	m[14] = (float)((far * near) / (near - far));
	m[15] = 0.0;
}

//-----------------------------------------------------------------------------
void Mat4::build_projection_ortho_rh(float width, float height, float near, float far)
{
	m[0] = (float)2.0 / width;
	m[1] = 0.0;
	m[2] = 0.0;
	m[3] = 0.0;
	m[4] = 0.0;
	m[5] = (float)2.0 / height;
	m[6] = 0.0;
	m[7] = 0.0;
	m[8] = 0.0;
	m[9] = 0.0;
	m[10] = (float)2 / (near - far);
	m[11] = 0.0;
	m[12] = 0.0;
	m[13] = 0.0;
	m[14] = (far + near) / (near - far);
	m[15] = 1.0;
}

//-----------------------------------------------------------------------------
void Mat4::build_projection_ortho_lh(float width, float height, float near, float far)
{
	m[0] = (float)2.0 / width;
	m[1] = 0.0;
	m[2] = 0.0;
	m[3] = 0.0;
	m[4] = 0.0;
	m[5] = (float)2.0 / height;
	m[6] = 0.0;
	m[7] = 0.0;
	m[8] = 0.0;
	m[9] = 0.0;
	m[10] = (float)2 / (far - near);
	m[11] = 0.0;
	m[12] = 0.0;
	m[13] = 0.0;
	m[14] = near / (near - far);
	m[15] = (float)1.0;
}

//-----------------------------------------------------------------------------
void Mat4::build_projection_ortho_2d_rh(float width, float height, float near, float far)
{
	m[0] = (float)2.0 / width;
	m[1] = 0.0;
	m[2] = 0.0;
	m[3] = 0.0;
	m[4] = 0.0;
	m[5] = (float)-2.0 / height;
	m[6] = 0.0;
	m[7] = 0.0;
	m[8] = 0.0;
	m[9] = 0.0;
	m[10] = (float)2.0 / (near - far);
	m[11] = 0.0;
	m[12] = (float)-1.0 + (m[0] * (float)0.375);		// Add 0.375 to acheive
	m[13] =  (float)1.0 + (m[5] * (float)0.375);		// pixel-perfect 2d drawing
	m[14] = near / (near - far);
	m[15] = (float)1.0;
}

//-----------------------------------------------------------------------------
Mat4& Mat4::transpose()
{
	float tmp;

	tmp = m[1];
	m[1] = m[4];
	m[4] = tmp;

	tmp = m[2];
	m[2] = m[8];
	m[8] = tmp;

	tmp = m[3];
	m[3] = m[12];
	m[12] = tmp;

	tmp = m[6];
	m[6] = m[9];
	m[9] = tmp;

	tmp = m[7];
	m[7] = m[13];
	m[13] = tmp;

	tmp = m[11];
	m[11] = m[14];
	m[14] = tmp;

	return *this;
}

//-----------------------------------------------------------------------------
Mat4 Mat4::get_transposed() const
{
	Mat4 tmp;

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

	return tmp;
}

//-----------------------------------------------------------------------------
void Mat4::build_look_at_rh(const Vec3& pos, const Vec3& target, const Vec3& up)
{
	Vec3 zAxis =  pos - target;
	zAxis.normalize();

	Vec3 xAxis = up.cross(zAxis);
	Vec3 yAxis = zAxis.cross(xAxis);

	m[0] = xAxis.x;
	m[1] = yAxis.x;
	m[2] = zAxis.x;
	m[3] = 0.0;
	m[4] = xAxis.y;
	m[5] = yAxis.y;
	m[6] = zAxis.y;
	m[7] = 0.0;
	m[8] = xAxis.z;
	m[9] = yAxis.z;
	m[10] = zAxis.z;
	m[11] = 0.0;
	m[12] = -pos.dot(xAxis);
	m[13] = -pos.dot(yAxis);
	m[14] = -pos.dot(zAxis);
	m[15] = 1.0;
}

//-----------------------------------------------------------------------------
void Mat4::build_look_at_lh(const Vec3& pos, const Vec3& target, const Vec3& up)
{
	Vec3 zAxis =  target - pos;
	zAxis.normalize();

	Vec3 xAxis = up.cross(zAxis);
	Vec3 yAxis = zAxis.cross(xAxis);

	m[0] = xAxis.x;
	m[1] = yAxis.x;
	m[2] = zAxis.x;
	m[3] = 0.0;
	m[4] = xAxis.y;
	m[5] = yAxis.y;
	m[6] = zAxis.y;
	m[7] = 0.0;
	m[8] = xAxis.z;
	m[9] = yAxis.z;
	m[10] = zAxis.z;
	m[11] = 0.0;
	m[12] = -pos.dot(xAxis);
	m[13] = -pos.dot(yAxis);
	m[14] = -pos.dot(zAxis);
	m[15] = 1.0;
}

//-----------------------------------------------------------------------------
void Mat4::build_viewpoint_billboard(const Vec3& pos, const Vec3& target, const Vec3& up)
{
	Vec3 zAxis = target - pos;
	zAxis.normalize();

	Vec3 xAxis = up.cross(zAxis).normalize();
	Vec3 yAxis = zAxis.cross(xAxis).normalize();

	m[0] = xAxis.x;
	m[1] = xAxis.y;
	m[2] = xAxis.z;
	m[3] = 0.0;
	m[4] = yAxis.x;
	m[5] = yAxis.y;
	m[6] = yAxis.z;
	m[7] = 0.0;
	m[8] = zAxis.x;
	m[9] = zAxis.y;
	m[10] = zAxis.z;
	m[11] = 0.0;
	m[12] = pos.x;
	m[13] = pos.y;
	m[14] = pos.z;
	m[15] = 1.0;
}

//-----------------------------------------------------------------------------
void Mat4::build_axis_billboard(const Vec3& pos, const Vec3& target, const Vec3& axis)
{
	Vec3 zAxis = target - pos;

	Vec3 xAxis = axis.cross(zAxis).normalize();
	zAxis = axis.cross(xAxis).normalize();
	const Vec3& yAxis = axis;

	m[0] = xAxis.x;
	m[1] = xAxis.y;
	m[2] = xAxis.z;
	m[3] = 0.0;
	m[4] = yAxis.x;
	m[5] = yAxis.y;
	m[6] = yAxis.z;
	m[7] = 0.0;
	m[8] = zAxis.x;
	m[9] = zAxis.y;
	m[10] = zAxis.z;
	m[11] = 0.0;
	m[12] = pos.x;
	m[13] = pos.y;
	m[14] = pos.z;
	m[15] = 1.0;
}

//-----------------------------------------------------------------------------
float Mat4::get_determinant() const
{
	float det;

	float m02m07_m06m03 = m[2] * m[7] - m[6] * m[3];
	float m02m11_m10m03 = m[2] * m[11] - m[10] * m[3];
	float m02m15_m14m03 = m[2] * m[15] - m[14] * m[3];
	float m06m11_m10m07 = m[6] * m[11] - m[10] * m[7];
	float m06m15_m14m07 = m[6] * m[15] - m[14] * m[7];
	float m10m15_m14m11 = m[10] * m[15] - m[14] * m[11];

	det = 	+ m[0] * (m[5] * m10m15_m14m11 - m[9] * m06m15_m14m07 + m[13] * m06m11_m10m07)
			- m[4] * (m[1] * m10m15_m14m11 - m[9] * m02m15_m14m03 + m[13] * m02m11_m10m03)
			+ m[8] * (m[1] * m06m15_m14m07 - m[5] * m02m15_m14m03 + m[13] * m02m07_m06m03)
			- m[12] * (m[1] * m06m11_m10m07 - m[5] * m02m11_m10m03 + m[9] * m02m07_m06m03);

	return det;
}

//-----------------------------------------------------------------------------
Mat4& Mat4::invert()
{
	Mat4 mat;
	float det;

	float m01m06_m05m02 = m[1] * m[6] - m[5] * m[2];
	float m01m07_m05m03 = m[1] * m[7] - m[5] * m[3];
	float m01m10_m09m02 = m[1] * m[10] - m[9] * m[2];
	float m01m11_m09m03 = m[1] * m[11] - m[9] * m[3];
	float m01m14_m13m02 = m[1] * m[14] - m[13] * m[2];
	float m01m15_m13m03 = m[1] * m[15] - m[13] * m[3];
	float m02m07_m06m03 = m[2] * m[7] - m[6] * m[3];
	float m02m11_m10m03 = m[2] * m[11] - m[10] * m[3];
	float m02m15_m14m03 = m[2] * m[15] - m[14] * m[3];
	float m05m10_m09m06 = m[5] * m[10] - m[9] * m[6];
	float m05m11_m09m07 = m[5] * m[11] - m[9] * m[7];
	float m05m14_m13m06 = m[5] * m[14] - m[13] * m[6];
	float m05m15_m13m07 = m[5] * m[15] - m[13] * m[7];
	float m06m11_m10m07 = m[6] * m[11] - m[10] * m[7];
	float m06m15_m14m07 = m[6] * m[15] - m[14] * m[7];
	float m09m14_m13m10 = m[9] * m[14] - m[13] * m[10];
	float m09m15_m13m11 = m[9] * m[15] - m[13] * m[11];
	float m10m15_m14m11 = m[10] * m[15] - m[14] * m[11];

	mat.m[0] = (+ m[5] * m10m15_m14m11 - m[9] * m06m15_m14m07 + m[13] * m06m11_m10m07);
	mat.m[1] = (+ m[1] * m10m15_m14m11 - m[9] * m02m15_m14m03 + m[13] * m02m11_m10m03);
	mat.m[2] = (+ m[1] * m06m15_m14m07 - m[5] * m02m15_m14m03 + m[13] * m02m07_m06m03);
	mat.m[3] = (+ m[1] * m06m11_m10m07 - m[5] * m02m11_m10m03 + m[9] * m02m07_m06m03);

	det = m[0] * mat.m[0] - m[4] * mat.m[1] + m[8] * mat.m[2] - m[12] * mat.m[3];
	det = (float)1.0 / det;

	mat.m[4] = (+ m[4] * m10m15_m14m11 - m[8] * m06m15_m14m07 + m[12] * m06m11_m10m07);
	mat.m[5] = (+ m[0] * m10m15_m14m11 - m[8] * m02m15_m14m03 + m[12] * m02m11_m10m03);
	mat.m[6] = (+ m[0] * m06m15_m14m07 - m[4] * m02m15_m14m03 + m[12] * m02m07_m06m03);
	mat.m[7] = (+ m[0] * m06m11_m10m07 - m[4] * m02m11_m10m03 + m[8] * m02m07_m06m03);
	mat.m[8] = (+ m[4] * m09m15_m13m11 - m[8] * m05m15_m13m07 + m[12] * m05m11_m09m07);
	mat.m[9] = (+ m[0] * m09m15_m13m11 - m[8] * m01m15_m13m03 + m[12] * m01m11_m09m03);
	mat.m[10] = (+ m[0] * m05m15_m13m07 - m[4] * m01m15_m13m03 + m[12] * m01m07_m05m03);
	mat.m[11] = (+ m[0] * m05m11_m09m07 - m[4] * m01m11_m09m03 + m[8] * m01m07_m05m03);
	mat.m[12] = (+ m[4] * m09m14_m13m10 - m[8] * m05m14_m13m06 + m[12] * m05m10_m09m06);
	mat.m[13] = (+ m[0] * m09m14_m13m10 - m[8] * m01m14_m13m02 + m[12] * m01m10_m09m02);
	mat.m[14] = (+ m[0] * m05m14_m13m06 - m[4] * m01m14_m13m02 + m[12] * m01m06_m05m02);
	mat.m[15] = (+ m[0] * m05m10_m09m06 - m[4] * m01m10_m09m02 + m[8] * m01m06_m05m02);

	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;
	m[9] = - mat.m[9] * det;
	m[10] = + mat.m[10] * det;
	m[11] = - mat.m[11] * det;
	m[12] = - mat.m[12] * det;
	m[13] = + mat.m[13] * det;
	m[14] = - mat.m[14] * det;
	m[15] = + mat.m[15] * det;

	return *this;
}

//-----------------------------------------------------------------------------
inline Mat4 Mat4::get_inverted() const
{
	Mat4 tmp(*this);

	return tmp.invert();
}

//-----------------------------------------------------------------------------
void Mat4::load_identity()
{
	m[0] = m[5] = m[10] = m[15] = 1.0;
	m[1] = m[2] = m[3] = m[4] = m[6] = m[7] = m[8] = m[9] = m[11] = m[12] = m[13] = m[14] = 0.0;
}

//-----------------------------------------------------------------------------
Vec3 Mat4::x() const
{
	return Vec3(m[0], m[1], m[2]);
}

//-----------------------------------------------------------------------------
Vec3 Mat4::y() const
{
	return Vec3(m[4], m[5], m[6]);
}

//-----------------------------------------------------------------------------
Vec3 Mat4::z() const
{
	return Vec3(m[8], m[9], m[10]);
}

//-----------------------------------------------------------------------------
void Mat4::set_x(const Vec3& x)
{
	m[0] = x.x;
	m[1] = x.y;
	m[2] = x.z;
}

//-----------------------------------------------------------------------------
void Mat4::set_y(const Vec3& y)
{
	m[4] = y.x;
	m[5] = y.y;
	m[6] = y.z;
}

//-----------------------------------------------------------------------------
void Mat4::set_z(const Vec3& z)
{
	m[8] = z.x;
	m[9] = z.y;
	m[10] = z.z;
}

//-----------------------------------------------------------------------------
Vec3 Mat4::translation() const
{
	Vec3 tmp;

	tmp.x = m[12];
	tmp.y = m[13];
	tmp.z = m[14];

	return tmp;
}

//-----------------------------------------------------------------------------
void Mat4::set_translation(const Vec3& trans)
{
	m[12] = trans.x;
	m[13] = trans.y;
	m[14] = trans.z;
}

//-----------------------------------------------------------------------------
Vec3 Mat4::get_scale() const
{
	Vec3 tmp;

	tmp.x = m[0];
	tmp.y = m[5];
	tmp.z = m[10];

	return tmp;
}

//-----------------------------------------------------------------------------
void Mat4::set_scale(const Vec3& scale)
{
	m[0] = scale.x;
	m[5] = scale.y;
	m[10] = scale.z;
}

//-----------------------------------------------------------------------------
float* Mat4::to_float_ptr()
{
	return &m[0];
}

//-----------------------------------------------------------------------------
const float* Mat4::to_float_ptr() const
{
	return &m[0];
}

//-----------------------------------------------------------------------------
Mat3 Mat4::to_mat3() const
{
	Mat3 tmp;

	tmp.m[0] = m[0];
	tmp.m[1] = m[1];
	tmp.m[2] = m[2];
	tmp.m[3] = m[4];
	tmp.m[4] = m[5];
	tmp.m[5] = m[6];
	tmp.m[6] = m[8];
	tmp.m[7] = m[9];
	tmp.m[8] = m[10];

	return tmp;
}

//-----------------------------------------------------------------------------
Quat Mat4::to_quat() const
{
	Quat tmp;
	float fourWSquaredMinusOne = m[0] + m[5] + m[10];
	float fourXSquaredMinusOne = m[0] - m[5] - m[10];
	float fourYSquaredMinusOne = -m[0] + m[5] - m[10];
	float fourZSquaredMinusOne = -m[0] - m[5] + m[10];
	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[9] + m[6]) * mult;
			tmp.v.y = (-m[2] + m[8]) * mult;
			tmp.v.z = (-m[4] + m[1]) * mult;
			break;
		case 1:
			tmp.v.x = biggest;
			tmp.w = (-m[9] + m[6]) * mult;
			tmp.v.y = (-m[4] - m[1]) * mult;
			tmp.v.z = (-m[2] - m[8]) * mult;
			break;
		case 2:
			tmp.v.y = biggest;
			tmp.w = (-m[2] + m[8]) * mult;
			tmp.v.x = (-m[4] - m[1]) * mult;
			tmp.v.z = (-m[9] - m[6]) * mult;
			break;
		case 3:
			tmp.v.z = biggest;
			tmp.w = (-m[4] + m[1]) * mult;
			tmp.v.x = (-m[2] - m[8]) * mult;
			tmp.v.y = (-m[9] - m[6]) * mult;
			break;
	}

	return tmp;
}

} // namespace crown