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source: trunk/nv/stl/math/mat4.hh @ 471

Last change on this file since 471 was 471, checked in by epyon, 10 years ago
full math library GLM dependency removed
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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;
30	typedef size_t size_type;
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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