matrix4.h

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/*
 This file is part of the MinGfx Project.
 
 Copyright (c) 2017,2018 Regents of the University of Minnesota.
 All Rights Reserved.
 
 Original Author(s) of this File:
    Dan Keefe, 2017, University of Minnesota
    
 Author(s) of Significant Updates/Modifications to the File:
    ...
 */
 
#ifndef SRC_MATRIX4_H_
#define SRC_MATRIX4_H_
 
#include <iostream>
 
#include "point3.h"
#include "vector3.h"
#include "ray.h"
 
 
namespace mingfx {
 
 
class Matrix4 {
public: 
 
    Matrix4();
 
    Matrix4(const float* a);
    
    Matrix4(const std::vector<float> &a);
 
    Matrix4(const Matrix4& m2);
 
    virtual ~Matrix4();
 
    bool operator==(const Matrix4& m2) const;
 
    bool operator!=(const Matrix4& m2) const;
 
    Matrix4& operator=(const Matrix4& m2);
 
 
    const float * value_ptr() const;
    
    float operator[](const int i) const;
    
    float& operator[](const int i);
    
    float operator()(const int row, const int col) const;
 
    float& operator()(const int row, const int col);
    
    
    Vector3 ColumnToVector3(int c) const;
 
    Point3 ColumnToPoint3(int c) const;
    
    std::vector<float> ToVector() const;
 
 
    // --- Static Constructors for Special Matrices ---
    
    static Matrix4 FromRowMajorElements(
        const float r1c1, const float r1c2, const float r1c3, const float r1c4,
        const float r2c1, const float r2c2, const float r2c3, const float r2c4,
        const float r3c1, const float r3c2, const float r3c3, const float r3c4,
        const float r4c1, const float r4c2, const float r4c3, const float r4c4
    );
 
    // --- Model Transformations ---
    
    static Matrix4 Scale(const Vector3 &v);
 
    static Matrix4 Translation(const Vector3 &v);
 
    static Matrix4 RotationX(const float radians);
 
    static Matrix4 RotationY(const float radians);
 
    static Matrix4 RotationZ(const float radians);
 
    static Matrix4 Rotation(const Point3 &p, const Vector3 &v, const float a);
 
    static Matrix4 Align(const Point3 &a_p, const Vector3 &a_v1, const Vector3 &a_v2,
                         const Point3 &b_p, const Vector3 &b_v1, const Vector3 &b_v2);
 
    
    // --- View Matrices ---
    
    static Matrix4 LookAt(Point3 eye, Point3 target, Vector3 up);
 
    // --- Projection Matrices ---
    
    static Matrix4 Perspective(float fov_y_in_degrees, float aspect_ratio, float near_plane_dist, float far_plane_dist);
    
    static Matrix4 Frustum(float left, float right, float bottom, float top, float near_plane_dist, float far_plane_dist);
 
    // --- Inverse, Transposeand Other General Matrix Functions ---
 
    Matrix4 Inverse() const;
    
    Matrix4 Orthonormal() const;
 
    Matrix4 Transpose() const;
 
    float SubDeterminant(int exclude_row, int exclude_col) const;
 
    Matrix4 Cofactor() const;
 
    float Determinant() const;
 
 
 
private:
    float m[16];
};
 
 
 
// ---------- Operator Overloads for Working with Points, Vectors, & Matrices ---------- 
 
 
// --- Matrix multiplication for Points, Vectors, & Matrices ---
 
Matrix4 operator*(const Matrix4& m, const float& s);
 
Matrix4 operator*(const float& s, const Matrix4& m);
 
Point3 operator*(const Matrix4& m, const Point3& p);
 
Vector3 operator*(const Matrix4& m, const Vector3& v);
 
Matrix4 operator*(const Matrix4& m1, const Matrix4& m2);
 
 
    
Ray operator*(const Matrix4& m, const Ray& r);
    
// --- Stream operators ---
 
std::ostream & operator<< ( std::ostream &os, const Matrix4 &m);
std::istream & operator>> ( std::istream &is, Matrix4 &m);
 
    
} // end namespace
 
#endif