SQCSimulator2023/SQCSim-common/matrix4.h

#ifndef MATRIX4_H__
#define MATRIX4_H__

#include <ostream>
#include <sstream>
#include <string>

#include "define.h"
#include "vector3.h"

#ifndef M_PI
#define M_PI 3.14159265f
#endif

#define DEGTORAD(x) ((x * M_PI) / 180.f)
#define RADTODEG(x) ((180.f * x) / M_PI)

template <class T>
class Matrix4
{
    public:
        typedef T Type;

    public:
        static const Matrix4<T> ZERO;
        static const Matrix4<T> IDENTITY;

    public:
        Matrix4();
        Matrix4(const T& v);
        Matrix4(const Matrix4<T>& m);
        Matrix4(const T& m_11, const T& m_12, const T& m_13, const T& m_14,
                const T& m_21, const T& m_22, const T& m_23, const T& m_24,
                const T& m_31, const T& m_32, const T& m_33, const T& m_34,
                const T& m_41, const T& m_42, const T& m_43, const T& m_44);

        const T& Get11() const;
        const T& Get12() const;
        const T& Get13() const;
        const T& Get14() const;
        const T& Get21() const;
        const T& Get22() const;
        const T& Get23() const;
        const T& Get24() const;
        const T& Get31() const;
        const T& Get32() const;
        const T& Get33() const;
        const T& Get34() const;
        const T& Get41() const;
        const T& Get42() const;
        const T& Get43() const;
        const T& Get44() const;

        Matrix4<T>& operator=(const Matrix4<T>& m);

        Matrix4<T> operator+(const Matrix4<T>& m) const;
        const Matrix4<T>& operator+=(const Matrix4<T>& m);

        Matrix4<T> operator-(const Matrix4<T>& m) const;
        Matrix4<T> operator-() const;
        const Matrix4<T>& operator-=(const Matrix4<T>& m);

        Matrix4<T> operator*(const Matrix4<T>& m) const;
        Matrix4<T> operator*(const T& v) const;
        const Matrix4<T>& operator*=(const Matrix4<T>& m);
        const Matrix4<T>& operator*=(const T& v);

        Matrix4<T> operator/(const T& v) const;
        const Matrix4<T>& operator/=(const T& v);

        bool operator==(const Matrix4<T>& m) const;
        bool operator!=(const Matrix4<T>& m) const;

        void SetZero();
        void SetIdentity();
        void SetPerspectiveProjection(const T& fov, const T& aspect, const T& nearPlane, const T& farPlane);
        void SetOrthographicProjection(const T& left, const T& right, const T& bottom, const T& top, const T& nearPlane, const T& farPlane);

        void SetLookAt(const Vector3<T>& eyePosition, const Vector3<T>& lookAtPosition, Vector3<T> upVector = Vector3<T>(T(0), T(1), T(0)));

        bool IsZero() const;
        bool IsIdentity() const;

        void ApplyTranslation(const T& x, const T& y, const T& z);
        void ApplyRotation(const T& angle, const T& x, const T& y, const T& z);
        void ApplyScale(const T& x, const T& y, const T& z);

        Vector3<T> GetTranslation() const;

        const T* GetInternalValues() const;
        T* GetInternalValues();
        std::string ToString(const std::string& lineBegin = "|", const std::string& lineEnd = "|\n") const;

    private:
        union {
            // column-major matrix
            struct
            {
                T m_11, m_21, m_31, m_41, m_12, m_22, m_32, m_42, m_13, m_23, m_33, m_43, m_14, m_24, m_34, m_44;
            };
            T m_values[16];
        };
};

typedef Matrix4<int> Matrix4i;
typedef Matrix4<float> Matrix4f;
typedef Matrix4<double> Matrix4d;

template <class T>
const Matrix4<T> Matrix4<T>::ZERO = Matrix4<T>(0);

template <class T>
const Matrix4<T> Matrix4<T>::IDENTITY = Matrix4<T>(
        1, 0, 0, 0,
        0, 1, 0, 0,
        0, 0, 1, 0,
        0, 0, 0, 1);

    template <class T>
std::ostream& operator<<(std::ostream& out, const Matrix4<T>& m)
{
    out << m.ToString();
    return out;
}

    template <class T>
Matrix4<T>::Matrix4()
{
    // Leave matrix uninitialized
}

    template <class T>
Matrix4<T>::Matrix4(const T& v)
{
    for(int i = 0; i < 16; ++i)
        m_values[i] = v;
}

    template <class T>
Matrix4<T>::Matrix4(const Matrix4<T>& m)
{
    for(int i = 0; i < 16; ++i)
        m_values[i] = m.m_values[i];
}

    template <class T>
Matrix4<T>::Matrix4(const T& m_11, const T& m_12, const T& m_13, const T& m_14,
        const T& m_21, const T& m_22, const T& m_23, const T& m_24,
        const T& m_31, const T& m_32, const T& m_33, const T& m_34,
        const T& m_41, const T& m_42, const T& m_43, const T& m_44)
{
    this->m_11 = m_11;
    this->m_12 = m_12;
    this->m_13 = m_13;
    this->m_14 = m_14;
    this->m_21 = m_21;
    this->m_22 = m_22;
    this->m_23 = m_23;
    this->m_24 = m_24;
    this->m_31 = m_31;
    this->m_32 = m_32;
    this->m_33 = m_33;
    this->m_34 = m_34;
    this->m_41 = m_41;
    this->m_42 = m_42;
    this->m_43 = m_43;
    this->m_44 = m_44;
}

template <class T>
const T& Matrix4<T>::Get11() const
{
    return m_11;
}

template <class T>
const T& Matrix4<T>::Get12() const
{
    return m_12;
}

template <class T>
const T& Matrix4<T>::Get13() const
{
    return m_13;
}

template <class T>
const T& Matrix4<T>::Get14() const
{
    return m_14;
}

template <class T>
const T& Matrix4<T>::Get21() const
{
    return m_21;
}

template <class T>
const T& Matrix4<T>::Get22() const
{
    return m_22;
}

template <class T>
const T& Matrix4<T>::Get23() const
{
    return m_23;
}

template <class T>
const T& Matrix4<T>::Get24() const
{
    return m_24;
}

template <class T>
const T& Matrix4<T>::Get31() const
{
    return m_31;
}

template <class T>
const T& Matrix4<T>::Get32() const
{
    return m_32;
}

template <class T>
const T& Matrix4<T>::Get33() const
{
    return m_33;
}

template <class T>
const T& Matrix4<T>::Get34() const
{
    return m_34;
}

template <class T>
const T& Matrix4<T>::Get41() const
{
    return m_41;
}

template <class T>
const T& Matrix4<T>::Get42() const
{
    return m_42;
}

template <class T>
const T& Matrix4<T>::Get43() const
{
    return m_43;
}

template <class T>
const T& Matrix4<T>::Get44() const
{
    return m_44;
}

    template <class T>
Matrix4<T>& Matrix4<T>::operator=(const Matrix4<T>& m)
{
    if(this != &m)
    {
        for(int i = 0; i < 16; ++i)
            m_values[i] = m.m_values[i];
    }

    return *this;
}

template <class T>
Matrix4<T> Matrix4<T>::operator+(const Matrix4<T>& m) const
{
    return Matrix4<T>(
            m_11 + m.m_11, m_12 + m.m_12, m_13 + m.m_13, m_14 + m.m_14,
            m_21 + m.m_21, m_22 + m.m_22, m_23 + m.m_23, m_24 + m.m_24,
            m_31 + m.m_31, m_32 + m.m_32, m_33 + m.m_33, m_34 + m.m_34,
            m_41 + m.m_41, m_42 + m.m_42, m_43 + m.m_43, m_44 + m.m_44);
}

    template <class T>
const Matrix4<T>& Matrix4<T>::operator+=(const Matrix4<T>& m)
{
    *this = *this + m;
    return *this;
}

template <class T>
Matrix4<T> Matrix4<T>::operator-(const Matrix4<T>& m) const
{
    return Matrix4<T>(
            m_11 - m.m_11, m_12 - m.m_12, m_13 - m.m_13, m_14 - m.m_14,
            m_21 - m.m_21, m_22 - m.m_22, m_23 - m.m_23, m_24 - m.m_24,
            m_31 - m.m_31, m_32 - m.m_32, m_33 - m.m_33, m_34 - m.m_34,
            m_41 - m.m_41, m_42 - m.m_42, m_43 - m.m_43, m_44 - m.m_44);
}

template <class T>
Matrix4<T> Matrix4<T>::operator-() const
{
    return Matrix4<T>(
            -m_11, -m_12, -m_13, -m_14,
            -m_21, -m_22, -m_23, -m_24,
            -m_31, -m_32, -m_33, -m_34,
            -m_41, -m_42, -m_43, -m_44);
}

    template <class T>
const Matrix4<T>& Matrix4<T>::operator-=(const Matrix4<T>& m)
{
    *this = *this - m;
    return *this;
}

template <class T>
Matrix4<T> Matrix4<T>::operator*(const Matrix4<T>& m) const
{
    return Matrix4<T>(
            m_11 * m.m_11 + m_12 * m.m_21 + m_13 * m.m_31 + m_14 * m.m_41,
            m_11 * m.m_12 + m_12 * m.m_22 + m_13 * m.m_32 + m_14 * m.m_42,
            m_11 * m.m_13 + m_12 * m.m_23 + m_13 * m.m_33 + m_14 * m.m_43,
            m_11 * m.m_14 + m_12 * m.m_24 + m_13 * m.m_34 + m_14 * m.m_44,

            m_21 * m.m_11 + m_22 * m.m_21 + m_23 * m.m_31 + m_24 * m.m_41,
            m_21 * m.m_12 + m_22 * m.m_22 + m_23 * m.m_32 + m_24 * m.m_42,
            m_21 * m.m_13 + m_22 * m.m_23 + m_23 * m.m_33 + m_24 * m.m_43,
            m_21 * m.m_14 + m_22 * m.m_24 + m_23 * m.m_34 + m_24 * m.m_44,

            m_31 * m.m_11 + m_32 * m.m_21 + m_33 * m.m_31 + m_34 * m.m_41,
            m_31 * m.m_12 + m_32 * m.m_22 + m_33 * m.m_32 + m_34 * m.m_42,
            m_31 * m.m_13 + m_32 * m.m_23 + m_33 * m.m_33 + m_34 * m.m_43,
            m_31 * m.m_14 + m_32 * m.m_24 + m_33 * m.m_34 + m_34 * m.m_44,

            m_41 * m.m_11 + m_42 * m.m_21 + m_43 * m.m_31 + m_44 * m.m_41,
            m_41 * m.m_12 + m_42 * m.m_22 + m_43 * m.m_32 + m_44 * m.m_42,
            m_41 * m.m_13 + m_42 * m.m_23 + m_43 * m.m_33 + m_44 * m.m_43,
            m_41 * m.m_14 + m_42 * m.m_24 + m_43 * m.m_34 + m_44 * m.m_44);
}

template <class T>
Matrix4<T> Matrix4<T>::operator*(const T& v) const
{
    return Matrix4<T>(
            m_11 * v, m_12 * v, m_13 * v, m_14 * v,
            m_21 * v, m_22 * v, m_23 * v, m_24 * v,
            m_31 * v, m_32 * v, m_33 * v, m_34 * v,
            m_41 * v, m_42 * v, m_43 * v, m_44 * v);
}

    template <class T>
const Matrix4<T>& Matrix4<T>::operator*=(const Matrix4<T>& m)
{
    *this = *this * m;
    return *this;
}

    template <class T>
const Matrix4<T>& Matrix4<T>::operator*=(const T& v)
{
    *this = *this * v;
    return *this;
}

template <class T>
Matrix4<T> Matrix4<T>::operator/(const T& v) const
{
    return Matrix4<T>(
            m_11 / v, m_12 / v, m_13 / v, m_14 / v,
            m_21 / v, m_22 / v, m_23 / v, m_24 / v,
            m_31 / v, m_32 / v, m_33 / v, m_34 / v,
            m_41 / v, m_42 / v, m_43 / v, m_44 / v);
}

    template <class T>
const Matrix4<T>& Matrix4<T>::operator/=(const T& v)
{
    *this = *this / v;
    return *this;
}

template <class T>
bool Matrix4<T>::operator==(const Matrix4<T>& m) const
{
    for(int i = 0; i < 16; ++i)
        if(m_values[i] != m.m_values[i])
            return false;

    return true;
}

template <class T>
bool Matrix4<T>::operator!=(const Matrix4<T>& m) const
{
    return !(*this == m);
}

    template <class T>
void Matrix4<T>::SetZero()
{
    *this = ZERO;
}

    template <class T>
void Matrix4<T>::SetIdentity()
{
    *this = IDENTITY;
}

    template <class T>
void Matrix4<T>::SetPerspectiveProjection(const T& fov, const T& aspect, const T& nearPlane, const T& farPlane)
{
    const float h = T(1) / tan(fov * T(M_PI / 360.f));
    T negDepth = nearPlane - farPlane;

    SetZero();

    m_11 = h / aspect;
    m_22 = h;
    m_33 = (farPlane + nearPlane) / negDepth;
    m_34 = T(2) * (nearPlane * farPlane) / negDepth;
    m_43 = -T(1);
}

    template <class T>
void Matrix4<T>::SetOrthographicProjection(const T& left, const T& right, const T& bottom, const T& top, const T& nearPlane, const T& farPlane)
{
    m_11 = T(2) / (right - left);
    m_12 = T(0);
    m_13 = T(0);
    m_14 = -(right + left) / (right - left);

    m_21 = T(0);
    m_22 = T(2) / (top - bottom);
    m_23 = T(0);
    m_24 = -(top + bottom) / (top - bottom);

    m_31 = T(0);
    m_32 = T(0);
    m_33 = -T(2) / (farPlane - nearPlane);
    m_34 = -(farPlane + nearPlane) / (farPlane - nearPlane);

    m_41 = T(0);
    m_42 = T(0);
    m_43 = T(0);
    m_44 = T(1);
}

    template <class T>
void Matrix4<T>::SetLookAt(const Vector3<T>& eyePosition, const Vector3<T>& lookAtPosition, Vector3<T> upVector)
{
    Vector3f L = lookAtPosition - eyePosition;
    L.Normalize();

    upVector.Normalize();
    Vector3f S = L.Cross(upVector);
    S.Normalize();

    Vector3f U = S.Cross(L);

    Matrix4<T> M;
    M.m_11 = S.x;
    M.m_12 = S.y;
    M.m_13 = S.z;
    M.m_14 = 0;

    M.m_21 = U.x;
    M.m_22 = U.y;
    M.m_23 = U.z;
    M.m_24 = 0;

    M.m_31 = -L.x;
    M.m_32 = -L.y;
    M.m_33 = -L.z;
    M.m_34 = 0;

    M.m_41 = 0;
    M.m_42 = 0;
    M.m_43 = 0;
    M.m_44 = 1.f;

    SetIdentity();
    *this *= M;
    ApplyTranslation(-eyePosition.x, -eyePosition.y, -eyePosition.z);
}

    template <class T>
void Matrix4<T>::ApplyTranslation(const T& x, const T& y, const T& z)
{
    Matrix4<T> tmp(
            1, 0, 0, x,
            0, 1, 0, y,
            0, 0, 1, z,
            0, 0, 0, 1);

    *this *= tmp;
}

    template <class T>
void Matrix4<T>::ApplyRotation(const T& angle, const T& x, const T& y, const T& z)
{
    // TODO axis (x, y, z) must be normalized...

    T s = sin(DEGTORAD(angle));
    T c = cos(DEGTORAD(angle));
    T ic = T(1) - c;

    Matrix4<T> tmp(
            x * x * ic + c, y * x * ic + (z * s), z * x * ic - (y * s), 0,
            x * y * ic - (z * s), y * y * ic + c, z * y * ic + (x * s), 0,
            x * z * ic + (y * s), y * z * ic - (x * s), z * z * ic + c, 0,
            0, 0, 0, 1);

    *this *= tmp;
}

    template <class T>
void Matrix4<T>::ApplyScale(const T& x, const T& y, const T& z)
{
    Matrix4<T> tmp(
            x, 0, 0, 0,
            0, y, 0, 0,
            0, 0, z, 0,
            0, 0, 0, 1);

    *this *= tmp;
}

template <class T>
Vector3<T> Matrix4<T>::GetTranslation() const
{
    // NOTE: Works only if the matrix doesn't contains scale information (only rotation and translation)
    // Reference: http://www.gamedev.net/topic/397751-how-to-get-camera-position/
    T x = -(m_11 * m_14 + m_21 * m_24 + m_31 * m_34);
    T y = -(m_12 * m_14 + m_22 * m_24 + m_32 * m_34);
    T z = -(m_13 * m_14 + m_23 * m_24 + m_33 * m_34);

    return Vector3<T>(x, y, z);
}

    template <class T>
T* Matrix4<T>::GetInternalValues()
{
    return m_values;
}

template <class T>
const T* Matrix4<T>::GetInternalValues() const
{
    return m_values;
}

template <class T>
std::string Matrix4<T>::ToString(const std::string& lineBegin, const std::string& lineEnd) const
{
    std::ostringstream ss;
    ss << lineBegin << m_11 << " " << m_12 << " " << m_13 << " " << m_14 << lineEnd;
    ss << lineBegin << m_21 << " " << m_22 << " " << m_23 << " " << m_24 << lineEnd;
    ss << lineBegin << m_31 << " " << m_32 << " " << m_33 << " " << m_34 << lineEnd;
    ss << lineBegin << m_41 << " " << m_42 << " " << m_43 << " " << m_44 << lineEnd;

    return ss.str();
}

#endif // MATRIX4_H__