DMat44.h

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// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
// SPDX-FileCopyrightText: 2022 Jorrit Rouwe
// SPDX-License-Identifier: MIT
 
#pragma once
 
#include <Jolt/Math/MathTypes.h>
 
JPH_NAMESPACE_BEGIN
 
class [[nodiscard]] alignas(JPH_DVECTOR_ALIGNMENT) DMat44
{
public:
    JPH_OVERRIDE_NEW_DELETE
 
    // Underlying column type
    using Type = Vec4::Type;
    using DType = DVec3::Type;
    using DTypeArg = DVec3::TypeArg;
 
    // Argument type
    using ArgType = DMat44Arg;
 
                                DMat44() = default; 
    JPH_INLINE                  DMat44(Vec4Arg inC1, Vec4Arg inC2, Vec4Arg inC3, DVec3Arg inC4);
                                DMat44(const DMat44 &inM2) = default;
    DMat44 &                    operator = (const DMat44 &inM2) = default;
    JPH_INLINE explicit         DMat44(Mat44Arg inM);
    JPH_INLINE                  DMat44(Mat44Arg inRot, DVec3Arg inT);
    JPH_INLINE                  DMat44(Type inC1, Type inC2, Type inC3, DTypeArg inC4);
 
    static JPH_INLINE DMat44    sZero();
 
    static JPH_INLINE DMat44    sIdentity();
 
    static JPH_INLINE DMat44    sRotation(QuatArg inQuat)                               { return DMat44(Mat44::sRotation(inQuat), DVec3::sZero()); }
 
    static JPH_INLINE DMat44    sTranslation(DVec3Arg inV)                              { return DMat44(Vec4(1, 0, 0, 0), Vec4(0, 1, 0, 0), Vec4(0, 0, 1, 0), inV); }
 
    static JPH_INLINE DMat44    sRotationTranslation(QuatArg inR, DVec3Arg inT)         { return DMat44(Mat44::sRotation(inR), inT); }
 
    static JPH_INLINE DMat44    sInverseRotationTranslation(QuatArg inR, DVec3Arg inT);
 
    static JPH_INLINE DMat44    sScale(Vec3Arg inV)                                     { return DMat44(Mat44::sScale(inV), DVec3::sZero()); }
 
    JPH_INLINE Mat44            ToMat44() const                                         { return Mat44(mCol[0], mCol[1], mCol[2], Vec3(mCol3)); }
 
    JPH_INLINE bool             operator == (DMat44Arg inM2) const;
    JPH_INLINE bool             operator != (DMat44Arg inM2) const                      { return !(*this == inM2); }
 
    JPH_INLINE bool             IsClose(DMat44Arg inM2, float inMaxDistSq = 1.0e-12f) const;
 
    JPH_INLINE DMat44           operator * (Mat44Arg inM) const;
 
    JPH_INLINE DMat44           operator * (DMat44Arg inM) const;
 
    JPH_INLINE DVec3            operator * (Vec3Arg inV) const;
 
    JPH_INLINE DVec3            operator * (DVec3Arg inV) const;
 
    JPH_INLINE Vec3             Multiply3x3(Vec3Arg inV) const                          { return GetRotation().Multiply3x3(inV); }
 
    JPH_INLINE DVec3            Multiply3x3(DVec3Arg inV) const;
 
    JPH_INLINE Vec3             Multiply3x3Transposed(Vec3Arg inV) const                { return GetRotation().Multiply3x3Transposed(inV); }
 
    JPH_INLINE DMat44           PreScaled(Vec3Arg inScale) const;
 
    JPH_INLINE DMat44           PostScaled(Vec3Arg inScale) const;
 
    JPH_INLINE DMat44           PreTranslated(Vec3Arg inTranslation) const;
 
    JPH_INLINE DMat44           PreTranslated(DVec3Arg inTranslation) const;
 
    JPH_INLINE DMat44           PostTranslated(Vec3Arg inTranslation) const;
 
    JPH_INLINE DMat44           PostTranslated(DVec3Arg inTranslation) const;
 
    JPH_INLINE Vec3             GetAxisX() const                                        { return Vec3(mCol[0]); }
    JPH_INLINE void             SetAxisX(Vec3Arg inV)                                   { mCol[0] = Vec4(inV, 0.0f); }
    JPH_INLINE Vec3             GetAxisY() const                                        { return Vec3(mCol[1]); }
    JPH_INLINE void             SetAxisY(Vec3Arg inV)                                   { mCol[1] = Vec4(inV, 0.0f); }
    JPH_INLINE Vec3             GetAxisZ() const                                        { return Vec3(mCol[2]); }
    JPH_INLINE void             SetAxisZ(Vec3Arg inV)                                   { mCol[2] = Vec4(inV, 0.0f); }
    JPH_INLINE DVec3            GetTranslation() const                                  { return mCol3; }
    JPH_INLINE void             SetTranslation(DVec3Arg inV)                            { mCol3 = inV; }
    JPH_INLINE Vec3             GetColumn3(uint inCol) const                            { JPH_ASSERT(inCol < 3); return Vec3(mCol[inCol]); }
    JPH_INLINE void             SetColumn3(uint inCol, Vec3Arg inV)                     { JPH_ASSERT(inCol < 3); mCol[inCol] = Vec4(inV, 0.0f); }
    JPH_INLINE Vec4             GetColumn4(uint inCol) const                            { JPH_ASSERT(inCol < 3); return mCol[inCol]; }
    JPH_INLINE void             SetColumn4(uint inCol, Vec4Arg inV)                     { JPH_ASSERT(inCol < 3); mCol[inCol] = inV; }
 
    JPH_INLINE Mat44            Transposed3x3() const                                   { return GetRotation().Transposed3x3(); }
 
    JPH_INLINE DMat44           Inversed() const;
 
    JPH_INLINE DMat44           InversedRotationTranslation() const;
 
    JPH_INLINE Mat44            GetRotation() const                                     { return Mat44(mCol[0], mCol[1], mCol[2], Vec4(0, 0, 0, 1)); }
 
    JPH_INLINE void             SetRotation(Mat44Arg inRotation);
 
    JPH_INLINE Quat             GetQuaternion() const                                   { return GetRotation().GetQuaternion(); }
 
    JPH_INLINE Mat44            GetDirectionPreservingMatrix() const                    { return GetRotation().Inversed3x3().Transposed3x3(); }
 
    JPH_INLINE DMat44           Decompose(Vec3 &outScale) const                         { return DMat44(GetRotation().Decompose(outScale), mCol3); }
 
    friend ostream &            operator << (ostream &inStream, DMat44Arg inM)
    {
        inStream << inM.mCol[0] << ", " << inM.mCol[1] << ", " << inM.mCol[2] << ", " << inM.mCol3;
        return inStream;
    }
 
private:
    Vec4                        mCol[3];                                                
    DVec3                       mCol3;                                                  
};
 
static_assert(is_trivial<DMat44>(), "Is supposed to be a trivial type!");
 
JPH_NAMESPACE_END
 
#include "DMat44.inl"