bullet3/Extras/FCollada/FMath/FMMatrix44.h

/*
	Copyright (C) 2005-2006 Feeling Software Inc.
	MIT License: http://www.opensource.org/licenses/mit-license.php
*/

/**
	@file FMMatrix44.h
	The file containing the class and global functions for 4x4 matrices.
*/

#ifndef _FM_MATRIX44_H_
#define _FM_MATRIX44_H_

/**
	A 4x4 matrix: use to represent 3D transformations.
		
	@ingroup FMath
*/
class FCOLLADA_EXPORT FMMatrix44
{
public:
	float m[4][4];	/**< The matrix elements stored in a 2D array. */

	/**
	 * Creates a FMMatrix44 from the \c float array.
	 *
	 * The float array stores the elements in the following order: m[0][0], 
	 * m[1][0], m[2][0], m[3][0], m[0][1], m[1][1], m[2][1], m[3][1], m[0][2],
	 * m[1][2], m[2][2], m[3][2], m[0][3], m[1][3], m[2][3], m[3][3].
	 *
	 * @param _m The \c float array to create the matrix from.
	 */
	FMMatrix44(const float* _m);

	/**
	 * Creates an empty FMMatrix44.
	 *
	 * The default values are non deterministic.
	 */
	#ifndef _DEBUG
	FMMatrix44() {}
	#else
	FMMatrix44() { memset(m, 55, 16 * sizeof(float)); }
	#endif 

	/**
	 * Get this FMMatrix44 as an array of \c floats.
	 *
	 * The array contains the elements in the following order: m[0][0], 
	 * m[0][1], m[0][2], m[0][3], m[1][0], m[1][1], m[1][2], m[1][3], m[2][0],
	 * m[2][1], m[2][2], m[0][3], m[3][0], m[3][1], m[3][2], m[3][3].
	 *
	 * @return The \c float array.
	 */
	operator float*() { return &m[0][0]; }

	/**
	 * Get this FMMatrix44 as an array of \c floats.
	 *
	 * The array contains the elements in the following order: m[0][0], 
	 * m[0][1], m[0][2], m[0][3], m[1][0], m[1][1], m[1][2], m[1][3], m[2][0],
	 * m[2][1], m[2][2], m[0][3], m[3][0], m[3][1], m[3][2], m[3][3].
	 *
	 * @return The \c float array.
	 */
	operator const float*() const { return &m[0][0]; }

	/**
	 * Get a specified row of FMMatrix44 as an array of \c floats.
	 *
	 * @param a The row index, starting at 0, of the row to get.
	 * @return The \c float array of the elements in the specified row.
	 */
	float* operator[](int a) { return m[a]; }

	/**
	 * Get a specified row of FMMatrix44 as an array of \c floats.
	 *
	 * @param a The row index, starting at 0, of the row to get.
	 * @return The \c float array of the elements in the specified row.
	 */
	const float* operator[](int a) const { return m[a]; }

	/**
	 * Assign this FMMatrix44's elements to be the same as that of the given 
	 * FMMatrix44.
	 *
	 * @param copy The FMMatrix to copy elements from.
	 * @return This FMMatrix.
	 */
	FMMatrix44& operator=(const FMMatrix44& copy);

	/**
	 * Gets the transposed of this FMMatrix44.
	 *
	 * @return The transposed of this FMMatrix.
	 */
	FMMatrix44 Transposed() const;

	/**
	 * Gets the inversion of this FMMatrix33.
	 *
	 * @return The inversion of this FMMatrix.
	 */
	FMMatrix44 Inverted() const;
	
	/**
	 * Decompose this FMMatrix44 into it's scale, rotation, and translation
	 * components; it also tells whether it is inverted.
	 *
	 * @param Scale The FMVector to place the scale components to.
	 * @param Rotation The FMVector to place the rotation components to.
	 * @param Translation The FMVector to place the translation components to.
	 * @param inverted The value corresponding to if it was inverted (-1.0f or 
	 * 1.0f)
	 */
	void Decompose(FMVector3& Scale, FMVector3& Rotation, FMVector3& Translation, float& inverted) const;

	/**
	 * Transforms the given point by this FMMatrix44.
	 *
	 * @param coordinate The point to transform.
	 * @return The FMVector3 representation of the transformed point.
	 */
	FMVector3 TransformCoordinate(const FMVector3& coordinate) const;

	/**
	 * Transforms the given vector by this FMMatrix44.
	 *
	 * @param v The vector to transform.
	 * @return The FMVector3 representation of the transformed vector.
	 */
	FMVector3 TransformVector(const FMVector3& v) const;

	/**
	 * Gets the translation component of this FMMatrix44.
	 *
	 * @return The FMVector3 representation of the translation.
	 */
	FMVector3 GetTranslation() const;

public:
	static FMMatrix44 Identity;	/**< The identity FMMatrix44. */

	/**
	 * Gets the FMMatrix44 representation of a 3D translation.
	 *
	 * The translation in the x, y and z directions correspond to the \a x, 
	 * \a y, and \a z components of the FMVector3.
	 *
	 * @param translation The FMVector3 to get the translation components from.
	 * @return The translation FMMatrix44.
	 */
	static FMMatrix44 TranslationMatrix(const FMVector3& translation);

	/**
	 * Gets the FMMatrix44 representation of a 3D rotation about a given axis
	 * by an angle.
	 *
	 * @param axis The axis of rotation.
	 * @param angle The angle of rotation in radians.
	 * @return The rotation FMMatrix44.
	 */
	static FMMatrix44 AxisRotationMatrix(const FMVector3& axis, float angle);
};

/**
 * Matrix multiplication with two FMMatrix44.
 *
 * @param m1 The first matrix.
 * @param m2 The second matrix.
 * @return The FMMatrix44 representation of the resulting matrix.
 */
FMMatrix44 FCOLLADA_EXPORT operator*(const FMMatrix44& m1, const FMMatrix44& m2);

/**
	Matrix equality comparison function.
	@param m1 The first matrix.
	@param m2 The second matrix.
	@return Whether the given matrices are equal.
*/
bool IsEquivalent(const FMMatrix44& m1, const FMMatrix44& m2);

/**
	Matrix equality operator override.
	@param m1 The first matrix.
	@param m2 The second matrix.
	@return Whether the given matrices are equal.
*/
inline bool operator==(const FMMatrix44& m1, const FMMatrix44& m2) { return IsEquivalent(m1, m2); }

/** A dynamically-sized array of 4x4 matrices. */
typedef vector<FMMatrix44> FMMatrix44List;

#endif // _FM_MATRIX44_H_