Matrix4x4.h

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/*

Copyright (c) 2017, Dr Franck P. Vidal (franck.p.vidal@fpvidal.net),
http://www.fpvidal.net/
All rights reserved.

Redistribution and use in source and binary forms, with or without modification,
are permitted provided that the following conditions are met:

1. Redistributions of source code must retain the above copyright notice,
this list of conditions and the following disclaimer.

2. Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation and/or
other materials provided with the distribution.

3. Neither the name of the Bangor University nor the names of its contributors
may be used to endorse or promote products derived from this software without
specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

*/


#ifndef __Matrix4x4_h
#define __Matrix4x4_h


//******************************************************************************
//  Include
//******************************************************************************
#ifndef GVXR_CONFIG_H
#include "gVirtualXRay/gVirtualXRayConfig.h"
#endif

#include <vector>

#ifndef GVXR_VEC3_H
#include "gVirtualXRay/Vec3.h"
#endif


//******************************************************************************
//  namespace
//******************************************************************************
namespace gVirtualXRay {


//******************************************************************************
//  class declaration
//******************************************************************************
template<typename T> class Matrix4x4;


//******************************************************************************
//  function declaration
//******************************************************************************
template <typename T> std::ostream& operator<<(std::ostream& anOutputStream,
                                               const Matrix4x4<T>& aMatrix);


//==============================================================================
//==============================================================================
template<typename T> class Matrix4x4
//------------------------------------------------------------------------------
{
//******************************************************************************
public:
    //--------------------------------------------------------------------------

    //--------------------------------------------------------------------------
    Matrix4x4(const T& a1 = 1.0f,
              const T& a2 = 0.0f,
              const T& a3 = 0.0f,
              const T& a4 = 0.0f,
              const T& a5 = 0.0f,
              const T& a6 = 1.0f,
              const T& a7 = 0.0f,
              const T& a8 = 0.0f,
              const T& a9 = 0.0f,
              const T& a10 = 0.0f,
              const T& a11 = 1.0f,
              const T& a12 = 0.0f,
              const T& a13 = 0.0f,
              const T& a14 = 0.0f,
              const T& a15 = 0.0f,
              const T& a16 = 1.0f);


    //--------------------------------------------------------------------------

    //--------------------------------------------------------------------------
    Matrix4x4(const Matrix4x4& aMatrix);


    //--------------------------------------------------------------------------

    //--------------------------------------------------------------------------
    Matrix4x4(const Matrix4x4* apMatrix);


    //--------------------------------------------------------------------------

    //--------------------------------------------------------------------------
    Matrix4x4(const T* apMatrix);


    //--------------------------------------------------------------------------

    //--------------------------------------------------------------------------
    Matrix4x4(const std::vector<double>& apMatrix);


    //--------------------------------------------------------------------------
    //--------------------------------------------------------------------------
    void loadIdentity();


    //--------------------------------------------------------------------------

    //--------------------------------------------------------------------------
    void setFromVector(const std::vector<double>& apMatrix);


    //--------------------------------------------------------------------------

    //--------------------------------------------------------------------------
    void rotate(const double anAngle, const Vec3<T>& aVector);


    //--------------------------------------------------------------------------

    //--------------------------------------------------------------------------
    void yawPitchRollRotate(double yaw, double pitch, double roll);


    //--------------------------------------------------------------------------

    //--------------------------------------------------------------------------
    void translate(const Vec3<T>& aVector);


    //--------------------------------------------------------------------------

    //--------------------------------------------------------------------------
    void translate(T x, T y, T z);


    //--------------------------------------------------------------------------

    //--------------------------------------------------------------------------
    static Matrix4x4 buildIdentityMatrix();


    //--------------------------------------------------------------------------

    //--------------------------------------------------------------------------
    static Matrix4x4 buildTranslationMatrix(const Vec3<T>& aVector);


    //--------------------------------------------------------------------------

    //--------------------------------------------------------------------------
    static Matrix4x4 buildRotationMatrix(T anAngle, T x, T y, T z);


    //--------------------------------------------------------------------------

    //--------------------------------------------------------------------------
    static Matrix4x4 buildYawPitchRollRotationMatrix(T yaw, T pitch, T roll);


    //--------------------------------------------------------------------------

    //--------------------------------------------------------------------------
    static Matrix4x4 buildScaleMatrix( const Vec3<T>& aVector );


    //--------------------------------------------------------------------------

    //--------------------------------------------------------------------------
    static Matrix4x4 buildScaleMatrix(  T x, T y, T z );


    //--------------------------------------------------------------------------

    //--------------------------------------------------------------------------
    static Matrix4x4 buildRotationMatrix(T anAngle, const Vec3<T>& aVector);


    //--------------------------------------------------------------------------

    //--------------------------------------------------------------------------
    static Matrix4x4 buildTranslationMatrix(T x, T y, T z);


    //--------------------------------------------------------------------------

    //--------------------------------------------------------------------------
    void scale(T x, T y, T z);


    //--------------------------------------------------------------------------

    //--------------------------------------------------------------------------
    Matrix4x4 getTranspose() const;


    //--------------------------------------------------------------------------

    //--------------------------------------------------------------------------
    T determinant() const;


    //--------------------------------------------------------------------------

    //--------------------------------------------------------------------------
    Matrix4x4 getInverse() const;


    //--------------------------------------------------------------------------

    //--------------------------------------------------------------------------
    Matrix4x4& operator=(const Matrix4x4& aMatrix);


    //--------------------------------------------------------------------------

    //--------------------------------------------------------------------------
    const T* get() const;


    //--------------------------------------------------------------------------

    //--------------------------------------------------------------------------
    const T* get4x4() const;


    //--------------------------------------------------------------------------

    //--------------------------------------------------------------------------
    const T* get3x3();


    //--------------------------------------------------------------------------

    //--------------------------------------------------------------------------
    std::vector<double> getAsVector() const;


    //--------------------------------------------------------------------------

    //--------------------------------------------------------------------------
    Vec3<T> operator*(const Vec3<T>& aVector) const;


    //--------------------------------------------------------------------------

    //--------------------------------------------------------------------------
    Matrix4x4 operator*(const Matrix4x4& aMatrix) const;


    //--------------------------------------------------------------------------

    //--------------------------------------------------------------------------
    Matrix4x4& operator*=(const Matrix4x4& aMatrix);


    //--------------------------------------------------------------------------
    //--------------------------------------------------------------------------
    void print() const;


    //--------------------------------------------------------------------------

    //--------------------------------------------------------------------------
    void print(std::ostream& anOutputStream) const;


//******************************************************************************
protected:
    T m_p_4x4_data[4 * 4];


    T m_p_3x3_data[3 * 3];


    bool m_small_matrix_up_to_date;
};


} // namespace gVirtualXRay


//******************************************************************************
#include "Matrix4x4.inl"


#endif // __Matrix4x4_h