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mat4.hh

Last change on this file was 534, checked in by epyon, 8 years ago

CONTINUED:

getting rid of size_t
datatypes now restricted to uint32 size
64-bit compatibility
copyright updates where modified

File size: 12.3 KB

Rev	Line
[471]	1	// Copyright (C) 2015-2015 ChaosForge Ltd
	2	// http://chaosforge.org/
	3	//
	4	// This file is part of Nova libraries.
	5	// For conditions of distribution and use, see copying.txt file in root folder.
	6
	7	/**
	8	* @file mat4.hh
	9	* @author Kornel Kisielewicz epyon@chaosforge.org
	10	* @brief matrix 4x4
	11	*/
	12
	13	#ifndef NV_STL_MATH_MAT4_HH
	14	#define NV_STL_MATH_MAT4_HH
	15
	16	#include <nv/stl/math/common.hh>
	17
	18	namespace nv
	19	{
	20
	21	namespace math
	22	{
	23
	24	template <typename T>
	25	struct tmat4
	26	{
	27	typedef tvec4<T> column_type;
	28	typedef tvec4<T> row_type;
	29	typedef tmat4<T> this_type;
[534]	30	typedef uint32 size_type;
[471]	31	typedef T value_type;
	32
	33	static constexpr size_type SIZE = 4;
	34	inline constexpr size_type size() const { return 4; }
	35
	36	private:
	37	column_type value[4];
	38
	39	public:
	40	inline tmat4()
	41	: value{
	42	column_type( static_cast<T>( 1 ), static_cast<T>( 0 ), static_cast<T>( 0 ), static_cast<T>( 0 ) ),
	43	column_type( static_cast<T>( 0 ), static_cast<T>( 1 ), static_cast<T>( 0 ), static_cast<T>( 0 ) ),
	44	column_type( static_cast<T>( 0 ), static_cast<T>( 0 ), static_cast<T>( 1 ), static_cast<T>( 0 ) ),
	45	column_type( static_cast<T>( 0 ), static_cast<T>( 0 ), static_cast<T>( 0 ), static_cast<T>( 1 ) )
	46	}
	47	{}
	48
	49	inline tmat4( const tmat4<T> & m ) = default;
	50	inline tmat4( tmat4<T> && m ) = default;
	51	inline tmat4<T> & operator=( const tmat4<T> & m ) = default;
	52	inline tmat4<T> & operator=( tmat4<T> && m ) = default;
	53
	54	inline explicit tmat4( T s )
	55	: value{
	56	column_type( static_cast<T>( s ), static_cast<T>( 0 ), static_cast<T>( 0 ), static_cast<T>( 0 ) ),
	57	column_type( static_cast<T>( 0 ), static_cast<T>( s ), static_cast<T>( 0 ), static_cast<T>( 0 ) ),
	58	column_type( static_cast<T>( 0 ), static_cast<T>( 0 ), static_cast<T>( s ), static_cast<T>( 0 ) ),
	59	column_type( static_cast<T>( 0 ), static_cast<T>( 0 ), static_cast<T>( 0 ), static_cast<T>( s ) )
	60	}
	61	{}
	62
	63	inline explicit tmat4( no_init_t )
	64	: value{
	65	column_type( no_init ),
	66	column_type( no_init ),
	67	column_type( no_init ),
	68	column_type( no_init )
	69	}
	70	{}
	71
	72	inline tmat4(
	73	T x0, T y0, T z0, T w0,
	74	T x1, T y1, T z1, T w1,
	75	T x2, T y2, T z2, T w2,
	76	T x3, T y3, T z3, T w3
	77	) : value{
	78	column_type( x0, y0, z0, w0 ),
	79	column_type( x1, y1, z1, w1 ),
	80	column_type( x2, y2, z2, w2 ),
	81	column_type( x3, y3, z3, w3 )
	82	}
	83	{}
	84
	85	inline tmat4(
	86	const column_type & v0,
	87	const column_type & v1,
	88	const column_type & v2,
	89	const column_type & v3
	90	) : value{ v0, v1, v2, v3 }
	91	{}
	92
	93	template <typename U>
	94	inline explicit tmat4( const tmat4<U> & m )
	95	: value{
	96	column_type( m[0] ),
	97	column_type( m[1] ),
	98	column_type( m[2] ),
	99	column_type( m[3] )
	100	}
	101	{}
	102
	103	inline explicit tmat4( const tmat2<T> & m )
	104	: value{
	105	column_type( m[0], static_cast<T>( 0 ), static_cast<T>( 0 ) ),
	106	column_type( m[1], static_cast<T>( 0 ), static_cast<T>( 0 ) ),
	107	column_type( static_cast<T>( 0 ), static_cast<T>( 0 ), static_cast<T>( 1 ), static_cast<T>( 0 ) ),
	108	column_type( static_cast<T>( 0 ), static_cast<T>( 0 ), static_cast<T>( 0 ), static_cast<T>( 1 ) )
	109	}
	110	{}
	111
	112	inline explicit tmat4( const tmat3<T> & m )
	113	: value{
	114	column_type( m[0], static_cast<T>( 0 ) ),
	115	column_type( m[1], static_cast<T>( 0 ) ),
	116	column_type( m[2], static_cast<T>( 0 ) ),
	117	column_type( static_cast<T>( 0 ), static_cast<T>( 0 ), static_cast<T>( 0 ), static_cast<T>( 1 ) )
	118	}
	119	{}
	120
	121	inline column_type & operator[]( size_type i )
	122	{
	123	NV_ASSERT_DEBUG( i >= 0 && i < this->size(), "index out of range!" );
	124	return this->value[i];
	125	}
	126
	127	inline const column_type& operator[]( size_type i ) const
	128	{
	129	NV_ASSERT_DEBUG( i >= 0 && i < this->size(), "index out of range!" );
	130	return this->value[i];
	131	}
	132
	133	inline tmat4<T>& operator+=( T s )
	134	{
	135	this->value[0] += s;
	136	this->value[1] += s;
	137	this->value[2] += s;
	138	this->value[3] += s;
	139	return *this;
	140	}
	141
	142	inline tmat4<T>& operator+=( const tmat4<T> & m )
	143	{
	144	this->value[0] += m[0];
	145	this->value[1] += m[1];
	146	this->value[2] += m[2];
	147	this->value[3] += m[3];
	148	return *this;
	149	}
	150
	151	inline tmat4<T> & operator-=( T s )
	152	{
	153	this->value[0] -= s;
	154	this->value[1] -= s;
	155	this->value[2] -= s;
	156	this->value[3] -= s;
	157	return *this;
	158	}
	159
	160	inline tmat4<T> & operator-=( const tmat4<T> & m )
	161	{
	162	this->value[0] -= m[0];
	163	this->value[1] -= m[1];
	164	this->value[2] -= m[2];
	165	this->value[3] -= m[3];
	166	return *this;
	167	}
	168
	169	inline tmat4<T> & operator*=( T s )
	170	{
	171	this->value[0] *= s;
	172	this->value[1] *= s;
	173	this->value[2] *= s;
	174	this->value[3] *= s;
	175	return *this;
	176	}
	177
	178	inline tmat4<T> & operator*=( const tmat4<T> & m )
	179	{
	180	return ( this = this * m );
	181	}
	182
	183	inline tmat4<T> & operator/=( T s )
	184	{
	185	this->value[0] /= s;
	186	this->value[1] /= s;
	187	this->value[2] /= s;
	188	this->value[3] /= s;
	189	return *this;
	190	}
	191
	192	inline tmat4<T> & operator/=( const tmat4<T> & m )
	193	{
	194	return ( this = this * detail::compute_inverse<T>( m ) );
	195	}
	196
	197	inline tmat4<T> & operator++()
	198	{
	199	++this->value[0];
	200	++this->value[1];
	201	++this->value[2];
	202	++this->value[3];
	203	return *this;
	204	}
	205
	206	inline tmat4<T> & operator--()
	207	{
	208	--this->value[0];
	209	--this->value[1];
	210	--this->value[2];
	211	--this->value[3];
	212	return *this;
	213	}
	214
	215	inline tmat4<T> operator++( int )
	216	{
	217	tmat4<T> result( *this );
	218	++*this;
	219	return result;
	220	}
	221
	222	inline tmat4<T> operator--( int )
	223	{
	224	tmat4<T> result( *this );
	225	--*this;
	226	return result;
	227	}
	228
	229	};
	230
	231	namespace detail
	232	{
	233	template <typename T>
	234	inline tmat4<T> compute_inverse( const tmat4<T> & m )
	235	{
	236	T cf00 = m[2][2] * m[3][3] - m[3][2] * m[2][3];
	237	T cf02 = m[1][2] * m[3][3] - m[3][2] * m[1][3];
	238	T cf03 = m[1][2] * m[2][3] - m[2][2] * m[1][3];
	239
	240	T cf04 = m[2][1] * m[3][3] - m[3][1] * m[2][3];
	241	T cf06 = m[1][1] * m[3][3] - m[3][1] * m[1][3];
	242	T cf07 = m[1][1] * m[2][3] - m[2][1] * m[1][3];
	243
	244	T cf08 = m[2][1] * m[3][2] - m[3][1] * m[2][2];
	245	T cf10 = m[1][1] * m[3][2] - m[3][1] * m[1][2];
	246	T cf11 = m[1][1] * m[2][2] - m[2][1] * m[1][2];
	247
	248	T cf12 = m[2][0] * m[3][3] - m[3][0] * m[2][3];
	249	T cf14 = m[1][0] * m[3][3] - m[3][0] * m[1][3];
	250	T cf15 = m[1][0] * m[2][3] - m[2][0] * m[1][3];
	251
	252	T cf16 = m[2][0] * m[3][2] - m[3][0] * m[2][2];
	253	T cf18 = m[1][0] * m[3][2] - m[3][0] * m[1][2];
	254	T cf19 = m[1][0] * m[2][2] - m[2][0] * m[1][2];
	255
	256	T cf20 = m[2][0] * m[3][1] - m[3][0] * m[2][1];
	257	T cf22 = m[1][0] * m[3][1] - m[3][0] * m[1][1];
	258	T cf23 = m[1][0] * m[2][1] - m[2][0] * m[1][1];
	259
	260	tvec4<T> f0( cf00, cf00, cf02, cf03 );
	261	tvec4<T> f1( cf04, cf04, cf06, cf07 );
	262	tvec4<T> f2( cf08, cf08, cf10, cf11 );
	263	tvec4<T> f3( cf12, cf12, cf14, cf15 );
	264	tvec4<T> f4( cf16, cf16, cf18, cf19 );
	265	tvec4<T> f5( cf20, cf20, cf22, cf23 );
	266
	267	tvec4<T> v0( m[1][0], m[0][0], m[0][0], m[0][0] );
	268	tvec4<T> v1( m[1][1], m[0][1], m[0][1], m[0][1] );
	269	tvec4<T> v2( m[1][2], m[0][2], m[0][2], m[0][2] );
	270	tvec4<T> v3( m[1][3], m[0][3], m[0][3], m[0][3] );
	271
	272	tvec4<T> i0( v1 * f0 - v2 * f1 + v3 * f2 );
	273	tvec4<T> i1( v0 * f0 - v2 * f3 + v3 * f4 );
	274	tvec4<T> i2( v0 * f1 - v1 * f3 + v3 * f5 );
	275	tvec4<T> i3( v0 * f2 - v1 * f4 + v2 * f5 );
	276
	277	tvec4<T> sgn_a( +1, -1, +1, -1 );
	278	tvec4<T> sgn_b( -1, +1, -1, +1 );
	279	tmat4<T> inv( i0 * sgn_a, i1 * sgn_b, i2 * sgn_a, i3 * sgn_b );
	280
	281	tvec4<T> rz( inv[0][0], inv[1][0], inv[2][0], inv[3][0] );
	282	tvec4<T> d0( m[0] * rz );
	283	T d1 = ( d0.x + d0.y ) + ( d0.z + d0.w );
	284	T one_over_det = static_cast<T>( 1 ) / d1;
	285
	286	return inv * one_over_det;
	287	}
	288
	289	}
	290
	291
	292	template <typename T>
	293	inline tmat4<T> const operator-( const tmat4<T> & m )
	294	{
	295	return tmat4<T>(
	296	-m[0],
	297	-m[1],
	298	-m[2],
	299	-m[3] );
	300	}
	301
	302	template <typename T>
	303	inline tmat4<T> operator+( const tmat4<T> & m, T s )
	304	{
	305	return tmat4<T>(
	306	m[0] + s,
	307	m[1] + s,
	308	m[2] + s,
	309	m[3] + s );
	310	}
	311
	312	template <typename T>
	313	inline tmat4<T> operator+( T s, const tmat4<T> & m )
	314	{
	315	return tmat4<T>(
	316	m[0] + s,
	317	m[1] + s,
	318	m[2] + s,
	319	m[3] + s );
	320	}
	321
	322	template <typename T>
	323	inline tmat4<T> operator+( const tmat4<T> & m1, const tmat4<T> & m2 )
	324	{
	325	return tmat4<T>(
	326	m1[0] + m2[0],
	327	m1[1] + m2[1],
	328	m1[2] + m2[2],
	329	m1[3] + m2[3] );
	330	}
	331
	332	template <typename T>
	333	inline tmat4<T> operator-( const tmat4<T> & m, T s )
	334	{
	335	return tmat4<T>(
	336	m[0] - s,
	337	m[1] - s,
	338	m[2] - s,
	339	m[3] - s );
	340	}
	341
	342	template <typename T>
	343	inline tmat4<T> operator-( T s, const tmat4<T> & m )
	344	{
	345	return tmat4<T>(
	346	s - m[0],
	347	s - m[1],
	348	s - m[2],
	349	s - m[3] );
	350	}
	351
	352	template <typename T>
	353	inline tmat4<T> operator-( const tmat4<T> & m1, const tmat4<T> & m2 )
	354	{
	355	return tmat4<T>(
	356	m1[0] - m2[0],
	357	m1[1] - m2[1],
	358	m1[2] - m2[2],
	359	m1[3] - m2[3] );
	360	}
	361
	362	template <typename T>
	363	inline tmat4<T> operator*( const tmat4<T> & m, T s )
	364	{
	365	return tmat4<T>(
	366	m[0] * s,
	367	m[1] * s,
	368	m[2] * s,
	369	m[3] * s );
	370	}
	371
	372	template <typename T>
	373	inline tmat4<T> operator*( T s, const tmat4<T> & m )
	374	{
	375	return tmat4<T>(
	376	m[0] * s,
	377	m[1] * s,
	378	m[2] * s,
	379	m[3] * s );
	380	}
	381
	382	template <typename T>
	383	inline typename tmat4<T>::column_type operator*( const tmat4<T> & m, const typename tmat4<T>::row_type & v )
	384	{
	385	typedef typename tmat4<T>::column_type column_type;
	386	column_type u0 = m[0] * column_type( v[0] );
	387	column_type u1 = m[1] * column_type( v[1] );
	388	column_type u2 = m[2] * column_type( v[2] );
	389	column_type u3 = m[3] * column_type( v[3] );
	390	return ( u0 + u1 ) + ( u2 + u3 );
	391	}
	392
	393	template <typename T>
	394	inline typename tmat4<T>::row_type operator* ( const typename tmat4<T>::column_type & v, const tmat4<T> & m )
	395	{
	396	return typename tmat4<T>::row_type(
	397	m[0][0] * v[0] + m[0][1] * v[1] + m[0][2] * v[2] + m[0][3] * v[3],
	398	m[1][0] * v[0] + m[1][1] * v[1] + m[1][2] * v[2] + m[1][3] * v[3],
	399	m[2][0] * v[0] + m[2][1] * v[1] + m[2][2] * v[2] + m[2][3] * v[3],
	400	m[3][0] * v[0] + m[3][1] * v[1] + m[3][2] * v[2] + m[3][3] * v[3]
	401	);
	402	}
	403
	404	template <typename T>
	405	inline tmat4<T> operator*( const tmat4<T> & m1, const tmat4<T> & m2 )
	406	{
	407	typedef typename tmat4<T>::column_type column_type;
	408	column_type m2_0 = m2[0];
	409	column_type m2_1 = m2[1];
	410	column_type m2_2 = m2[2];
	411	column_type m2_3 = m2[3];
	412
	413	tmat4<T> result( no_init );
	414	result[0] = m1[0] * m2_0[0] + m1[1] * m2_0[1] + m1[2] * m2_0[2] + m1[3] * m2_0[3];
	415	result[1] = m1[0] * m2_1[0] + m1[1] * m2_1[1] + m1[2] * m2_1[2] + m1[3] * m2_1[3];
	416	result[2] = m1[0] * m2_2[0] + m1[1] * m2_2[1] + m1[2] * m2_2[2] + m1[3] * m2_2[3];
	417	result[3] = m1[0] * m2_3[0] + m1[1] * m2_3[1] + m1[2] * m2_3[2] + m1[3] * m2_3[3];
	418	return result;
	419	}
	420
	421	template <typename T>
	422	inline tmat4<T> operator/( const tmat4<T> & m, T s )
	423	{
	424	return tmat4<T>(
	425	m[0] / s,
	426	m[1] / s,
	427	m[2] / s,
	428	m[3] / s );
	429	}
	430
	431	template <typename T>
	432	inline tmat4<T> operator/( T s, const tmat4<T> & m )
	433	{
	434	return tmat4<T>(
	435	s / m[0],
	436	s / m[1],
	437	s / m[2],
	438	s / m[3] );
	439	}
	440
	441	template <typename T>
	442	inline typename tmat4<T>::column_type operator/( const tmat4<T> & m, typename tmat4<T>::row_type const & v )
	443	{
	444	return detail::compute_inverse<T>( m ) * v;
	445	}
	446
	447	template <typename T>
	448	inline typename tmat4<T>::row_type operator/( typename tmat4<T>::column_type const & v, const tmat4<T> & m )
	449	{
	450	return v * detail::compute_inverse<T>( m );
	451	}
	452
	453	template <typename T>
	454	inline tmat4<T> operator/( const tmat4<T> & m1, const tmat4<T> & m2 )
	455	{
	456	tmat4<T> m1_copy( m1 );
	457	return m1_copy /= m2;
	458	}
	459
	460	template <typename T>
	461	inline bool operator==( const tmat4<T> & m1, const tmat4<T> & m2 )
	462	{
	463	return ( m1[0] == m2[0] ) && ( m1[1] == m2[1] ) && ( m1[2] == m2[2] ) && ( m1[3] == m2[3] );
	464	}
	465
	466	template <typename T>
	467	inline bool operator!=( const tmat4<T> & m1, const tmat4<T> & m2 )
	468	{
	469	return ( m1[0] != m2[0] ) \|\| ( m1[1] != m2[1] ) \|\| ( m1[2] != m2[2] ) \|\| ( m1[3] != m2[3] );
	470	}
	471	}
	472
	473	}
	474
	475	#endif // NV_STL_MATH_MAT4_HH

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