libcruft-util/matrix.hpp

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/*
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* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
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* Copyright 2011-2015 Danny Robson <danny@nerdcruft.net>
*/
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#ifndef __UTIL_MATRIX_HPP
#define __UTIL_MATRIX_HPP
#include "point.hpp"
#include "range.hpp"
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#include <ostream>
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namespace util {
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template <size_t S, typename T>
struct matrix {
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T values[S][S];
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static const size_t rows = S;
static const size_t cols = S;
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T* operator[] (size_t);
const T* operator[] (size_t) const;
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matrix& transpose (void);
matrix transposed (void) const;
T determinant (void) const;
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matrix inverse (void) const;
matrix& invert (void);
matrix inverse_affine (void) const;
matrix& invert_affine (void);
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T det (void) const;
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matrix operator* (const matrix&) const;
matrix& operator*=(const matrix&);
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vector<S,T> operator* (const vector<S,T>&) const;
point<S,T> operator* (const point<S,T> &) const;
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matrix operator* (T) const;
matrix& operator*= (T);
matrix operator/ (T) const;
matrix& operator/= (T);
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bool operator== (const matrix&) const;
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bool is_affine (void) const;
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template <typename U>
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matrix<S,U> cast (void) const;
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// Perspective matrices
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static matrix<4,T> ortho (T left, T right, T bottom, T top, T near, T far);
static matrix<4,T> ortho2D (T left, T right, T bottom, T top);
static matrix<4,T> perspective (T fov, T aspect, range<T> Z);
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static matrix<4,T> look_at (point<3,T> eye, point<3,T> centre, vector<3,T> up);
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// Affine matrices
static matrix<4,T> translation (util::vector<2,T>);
static matrix<4,T> translation (util::vector<3,T>);
static matrix<4,T> scale (util::vector<3,T>);
static matrix<4,T> scale (T);
static matrix<4,T> rotation (T angle, util::vector<3,T> about);
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// Constant matrices
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static const matrix IDENTITY;
static const matrix ZEROES;
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};
template <size_t S, typename T>
T determinant (const matrix<S,T>&);
template <size_t S, typename T>
matrix<S,T>
inverse (const matrix<S,T>&);
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template <typename T> using matrix3 = matrix<3,T>;
template <typename T> using matrix4 = matrix<4,T>;
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template <size_t S> using matrixf = matrix<S,float>;
template <size_t S> using matrixd = matrix<S,double>;
typedef matrix<2,float> matrix2f;
typedef matrix<2,double> matrix2d;
typedef matrix<3,float> matrix3f;
typedef matrix<3,double> matrix3d;
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typedef matrix<4,float> matrix4f;
typedef matrix<4,double> matrix4d;
template <size_t S, typename T>
std::ostream& operator<< (std::ostream&, const matrix<S,T>&);
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}
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#include "matrix.ipp"
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#endif