urho3d/Engine/Math/Matrix4.h

//
// Urho3D Engine
// Copyright (c) 2008-2011 Lasse Öörni
//
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// of this software and associated documentation files (the "Software"), to deal
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//

#ifndef MATH_MATRIX4_H
#define MATH_MATRIX4_H

#include "Quaternion.h"
#include "Vector4.h"

//! A 4x4 matrix for arbitrary linear transforms including projection
class Matrix4
{
public:
    //! Construct an undefined matrix
    Matrix4()
    {
    }
    
    //! Copy-construct from another matrix
    Matrix4(const Matrix4& matrix) :
        m00(matrix.m00),
        m01(matrix.m01),
        m02(matrix.m02),
        m03(matrix.m03),
        m10(matrix.m10),
        m11(matrix.m11),
        m12(matrix.m12),
        m13(matrix.m13),
        m20(matrix.m20),
        m21(matrix.m21),
        m22(matrix.m22),
        m23(matrix.m23),
        m30(matrix.m30),
        m31(matrix.m31),
        m32(matrix.m32),
        m33(matrix.m33)
    {
    }
    
    //! Copy-cnstruct from a 3x3 matrix and set the extra elements to identity
    Matrix4(const Matrix3& matrix) :
        m00(matrix.m00),
        m01(matrix.m01),
        m02(matrix.m02),
        m03(0.0f),
        m10(matrix.m10),
        m11(matrix.m11),
        m12(matrix.m12),
        m13(0.0f),
        m20(matrix.m20),
        m21(matrix.m21),
        m22(matrix.m22),
        m23(0.0f),
        m30(0.0f),
        m31(0.0f),
        m32(0.0f),
        m33(1.0f)
    {
    }
    
    // Construct from values
    Matrix4(float v00, float v01, float v02, float v03,
            float v10, float v11, float v12, float v13,
            float v20, float v21, float v22, float v23,
            float v30, float v31, float v32, float v33) :
        m00(v00),
        m01(v01),
        m02(v02),
        m03(v03),
        m10(v10),
        m11(v11),
        m12(v12),
        m13(v13),
        m20(v20),
        m21(v21),
        m22(v22),
        m23(v23),
        m30(v30),
        m31(v31),
        m32(v32),
        m33(v33)
    {
    }
    
    //! Construct from a float array
    Matrix4(float* data) :
        m00(data[0]),
        m01(data[1]),
        m02(data[2]),
        m03(data[3]),
        m10(data[4]),
        m11(data[5]),
        m12(data[6]),
        m13(data[7]),
        m20(data[8]),
        m21(data[9]),
        m22(data[10]),
        m23(data[11]),
        m30(data[12]),
        m31(data[13]),
        m32(data[14]),
        m33(data[15])
    {
    }
    
    //! Assign from another matrix
    Matrix4& operator = (const Matrix4& rhs)
    {
        m00 = rhs.m00;
        m01 = rhs.m01;
        m02 = rhs.m02;
        m03 = rhs.m03;
        m10 = rhs.m10;
        m11 = rhs.m11;
        m12 = rhs.m12;
        m13 = rhs.m13;
        m20 = rhs.m20;
        m21 = rhs.m21;
        m22 = rhs.m22;
        m23 = rhs.m23;
        m30 = rhs.m30;
        m31 = rhs.m31;
        m32 = rhs.m32;
        m33 = rhs.m33;
        
        return *this;
    }
    
    //! Assign from a 3x3 matrix. Set the extra elements to identity
    Matrix4& operator = (const Matrix3& rhs)
    {
        m00 = rhs.m00;
        m01 = rhs.m01;
        m02 = rhs.m02;
        m03 = 0.0f;
        m10 = rhs.m10;
        m11 = rhs.m11;
        m12 = rhs.m12;
        m13 = 0.0f;
        m20 = rhs.m20;
        m21 = rhs.m21;
        m22 = rhs.m22;
        m23 = 0.0f;
        m30 = 0.0f;
        m31 = 0.0f;
        m32 = 0.0f;
        m33 = 1.0f;
        
        return *this;
    }
    
    //! Multiply a Vector3 which is assumed to represent position
    Vector3 operator * (const Vector3& rhs) const
    {
        float invW = 1.0f / (m30 * rhs.mX + m31 * rhs.mY + m32 * rhs.mZ + m33);
        
        return Vector3(
            (m00 * rhs.mX + m01 * rhs.mY + m02 * rhs.mZ + m03) * invW,
            (m10 * rhs.mX + m11 * rhs.mY + m12 * rhs.mZ + m13) * invW,
            (m20 * rhs.mX + m21 * rhs.mY + m22 * rhs.mZ + m23) * invW
        );
    }
    
    //! Multiply a Vector4
    Vector4 operator * (const Vector4& rhs) const
    {
        return Vector4(
            m00 * rhs.mX + m01 * rhs.mY + m02 * rhs.mZ + m03 * rhs.mW,
            m10 * rhs.mX + m11 * rhs.mY + m12 * rhs.mZ + m13 * rhs.mW,
            m20 * rhs.mX + m21 * rhs.mY + m22 * rhs.mZ + m23 * rhs.mW,
            m30 * rhs.mX + m31 * rhs.mY + m32 * rhs.mZ + m33 * rhs.mW
        );
    }
    
    //! Add a matrix
    Matrix4 operator + (const Matrix4& rhs) const
    {
        return Matrix4(
            m00 + rhs.m00,
            m01 + rhs.m01,
            m02 + rhs.m02,
            m03 + rhs.m03,
            m10 + rhs.m10,
            m11 + rhs.m11,
            m12 + rhs.m12,
            m13 + rhs.m13,
            m20 + rhs.m20,
            m21 + rhs.m21,
            m22 + rhs.m22,
            m23 + rhs.m23,
            m30 + rhs.m30,
            m31 + rhs.m31,
            m32 + rhs.m32,
            m33 + rhs.m33
        );
    }
    
    //! Subtract a matrix
    Matrix4 operator - (const Matrix4& rhs) const
    {
        return Matrix4(
            m00 - rhs.m00,
            m01 - rhs.m01,
            m02 - rhs.m02,
            m03 - rhs.m03,
            m10 - rhs.m10,
            m11 - rhs.m11,
            m12 - rhs.m12,
            m13 - rhs.m13,
            m20 - rhs.m20,
            m21 - rhs.m21,
            m22 - rhs.m22,
            m23 - rhs.m23,
            m30 - rhs.m30,
            m31 - rhs.m31,
            m32 - rhs.m32,
            m33 - rhs.m33
        );
    }
    
    //! Multiply with a scalar
    Matrix4 operator * (float rhs) const
    {
        return Matrix4(
            m00 * rhs,
            m01 * rhs,
            m02 * rhs,
            m03 * rhs,
            m10 * rhs,
            m11 * rhs,
            m12 * rhs,
            m13 * rhs,
            m20 * rhs,
            m21 * rhs,
            m22 * rhs,
            m23 * rhs,
            m30 * rhs,
            m31 * rhs,
            m32 * rhs,
            m33 * rhs
        );
    }
    
    //! Multiply a matrix
    Matrix4 operator * (const Matrix4& rhs) const
    {
        return Matrix4(
            m00 * rhs.m00 + m01 * rhs.m10 + m02 * rhs.m20 + m03 * rhs.m30,
            m00 * rhs.m01 + m01 * rhs.m11 + m02 * rhs.m21 + m03 * rhs.m31,
            m00 * rhs.m02 + m01 * rhs.m12 + m02 * rhs.m22 + m03 * rhs.m32,
            m00 * rhs.m03 + m01 * rhs.m13 + m02 * rhs.m23 + m03 * rhs.m33,
            m10 * rhs.m00 + m11 * rhs.m10 + m12 * rhs.m20 + m13 * rhs.m30,
            m10 * rhs.m01 + m11 * rhs.m11 + m12 * rhs.m21 + m13 * rhs.m31,
            m10 * rhs.m02 + m11 * rhs.m12 + m12 * rhs.m22 + m13 * rhs.m32,
            m10 * rhs.m03 + m11 * rhs.m13 + m12 * rhs.m23 + m13 * rhs.m33,
            m20 * rhs.m00 + m21 * rhs.m10 + m22 * rhs.m20 + m23 * rhs.m30,
            m20 * rhs.m01 + m21 * rhs.m11 + m22 * rhs.m21 + m23 * rhs.m31,
            m20 * rhs.m02 + m21 * rhs.m12 + m22 * rhs.m22 + m23 * rhs.m32,
            m20 * rhs.m03 + m21 * rhs.m13 + m22 * rhs.m23 + m23 * rhs.m33,
            m30 * rhs.m00 + m31 * rhs.m10 + m32 * rhs.m20 + m33 * rhs.m30,
            m30 * rhs.m01 + m31 * rhs.m11 + m32 * rhs.m21 + m33 * rhs.m31,
            m30 * rhs.m02 + m31 * rhs.m12 + m32 * rhs.m22 + m33 * rhs.m32,
            m30 * rhs.m03 + m31 * rhs.m13 + m32 * rhs.m23 + m33 * rhs.m33
        );
    }
    
    //! Set translation elements
    void setTranslation(const Vector3& translation)
    {
        m03 = translation.mX;
        m13 = translation.mY;
        m23 = translation.mZ;
    }
    
    //! Set rotation elements from a 3x3 matrix
    void setRotation(const Matrix3& rotation)
    {
        m00 = rotation.m00;
        m01 = rotation.m01;
        m02 = rotation.m02;
        m10 = rotation.m10;
        m11 = rotation.m11;
        m12 = rotation.m12;
        m20 = rotation.m20;
        m21 = rotation.m21;
        m22 = rotation.m22;
    }
    
    // Set scaling elements
    void setScale(const Vector3& scale)
    {
        m00 = scale.mX;
        m11 = scale.mY;
        m22 = scale.mZ;
    }
    
    // Set uniform scaling elements
    void setScale(float scale)
    {
        m00 = scale;
        m11 = scale;
        m22 = scale;
    }
    
    //! Return the rotation matrix
    Matrix3 getRotationMatrix() const
    {
        return Matrix3(
            m00,
            m01,
            m02,
            m10,
            m11,
            m12,
            m20,
            m21,
            m22
        );
    }
    
    //! Return the translation elements
    Vector3 getTranslation() const
    {
        return Vector3(
            m03,
            m13,
            m23
        );
    }
    
    //! Return the scaling elements
    Vector3 getScale() const
    {
        return Vector3(
            m00,
            m11,
            m22
        );
    }
    
    //! Return transpose
    Matrix4 getTranspose() const
    {
        return Matrix4(
            m00,
            m10,
            m20,
            m30,
            m01,
            m11,
            m21,
            m31,
            m02,
            m12,
            m22,
            m32,
            m03,
            m13,
            m23,
            m33
        );
    }
    
    //! Return inverse
    Matrix4 getInverse() const;
    
    //! Return float data
    const float* getData() const { return &m00; }
    
    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;
    
    //! Zero matrix
    static const Matrix4 sZero;
    //! Identity matrix
    static const Matrix4 sIdentity;
};

//! Multiply a 4x4 matrix with a scalar
inline Matrix4 operator * (float lhs, const Matrix4& rhs) { return rhs * lhs; }

#endif // MATH_MATRIX4_H