matrix4.h

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/*
    Sheep - A Rigid Body Dynamics Engine
    Copyright (C) 2001-2004 Francois Beaune
    Contact: http://toxicengine.sourceforge.net/

    This file is part of Sheep.

    Sheep is free software; you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation; either version 2 of the License, or
    (at your option) any later version.

    Sheep is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with Sheep; if not, write to the Free Software
    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
*/

#ifndef SHEEP_MATH_MATRIX4_H
#define SHEEP_MATH_MATRIX4_H

#include "common/misc/htmlstream.h"
#include "quaternion.h"
#include "point3.h"
#include "real.h"
#include "vector3.h"
#include "vector4.h"

#include <cassert>

namespace sheep {

    class Matrix4 {
    public:
        // Constructors.
        Matrix4();
        Matrix4(Real r);
        Matrix4(const Matrix4 &m);

        // Identity matrix.
        static Matrix4 Identity();

        // Transformations.
        static Matrix4 Rotation(const Quaternion &q);   // q must be normalized
        static Matrix4 Rotation(Real angle, const Vector3 &axis);
        static Matrix4 Rotation(Real rotx, Real roty, Real rotz);   //!< Order of rotations: X, then Y, then Z.
        static Matrix4 Scale(const Vector3 &s);
        static Matrix4 Translation(const Vector3 &t);

        // Assignment operators.
        Matrix4 &operator=(Real r);
        Matrix4 &operator=(const Matrix4 &m);

        // Basic operations.
        Matrix4 operator+(const Matrix4 &m) const;
        Matrix4 operator-(const Matrix4 &m) const;
        Matrix4 operator-() const;
        Matrix4 operator*(Real r) const;
        Matrix4 operator/(Real r) const;
        Matrix4 &operator+=(const Matrix4 &m);
        Matrix4 &operator-=(const Matrix4 &m);
        Matrix4 &operator*=(Real r);
        Matrix4 &operator/=(Real r);

        // Matrix products.
        Matrix4 operator*(const Matrix4 &m) const;
        Matrix4 &operator*=(const Matrix4 &m);

        // Product of a matrix and a vector.
        Vector4 operator*(const Vector4 &v) const;

        //! Product of a matrix and a 3-vector or a 3-point. Treat the matrix
        //! as a 4x3 matrix (does not take into account the last row).
        Vector3 operator*(const Vector3 &v) const;
        Point3 operator*(const Point3 &v) const;    

        // Array subscripting.
        Real &operator[](int i);
        const Real &operator[](int i) const;

        // Fortran-style subscripting (still 0-based).
        Real &operator()(int row, int column);
        const Real &operator()(int row, int column) const;

        // Transpose.
        Matrix4 Transpose() const;

        // Inverse.
        Matrix4 Inverse() const;

        // Determinant.
        Real Determinant() const;

        // Trace.
        Real Trace() const;

    private:
        Real m_v[16];   // matrix values (row-major)
    };

    // Product of a real by a matrix.
    Matrix4 operator*(Real r, const Matrix4 &m);

    //! Deprecated.
    htmlstream& operator<<(htmlstream& s, const Matrix4 &m);

#include "matrix4.inl"

}

#endif  // !SHEEP_MATH_MATRIX4_H

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