tyra-linux/engine/inc/math/m4x4.hpp

/*
# ______       ____   ___
#   |     \/   ____| |___|
#   |     |   |   \  |   |
#-----------------------------------------------------------------------
# Copyright 2022, tyra - https://github.com/h4570/tyra
# Licenced under Apache License 2.0
# Sandro Sobczyński <sandro.sobczynski@gmail.com>
*/

#pragma once

#include "math/vec4.hpp"
#include "math/math.hpp"
#include <string>

namespace Tyra {

class M4x4 {
 public:
  MATRIX data alignas(sizeof(float) * 16);

  static M4x4 Identity;

  /**
   * Create matrix with random values
   */
  explicit M4x4();
  M4x4(const M4x4& v) { copy(this, v); }
  explicit M4x4(const float* v) { copy(this, v); }
  inline M4x4(const float& m11, const float& m12, const float& m13,
              const float& m14, const float& m21, const float& m22,
              const float& m23, const float& m24, const float& m31,
              const float& m32, const float& m33, const float& m34,
              const float& m41, const float& m42, const float& m43,
              const float& m44) {
    set(m11, m12, m13, m14, m21, m22, m23, m24, m31, m32, m33, m34, m41, m42,
        m43, m44);
  }

  static void copy(M4x4* out, const float* in);
  static void copy(M4x4* out, const M4x4& in) { copy(out, in.data); }

  void operator=(const M4x4& v);
  Vec4 operator*(const Vec4& v) const;

  M4x4 operator*(const M4x4& v) const {
    M4x4 result;
    cross(result.data, this->data, v.data);
    return result;
  }

  void operator*=(const M4x4& v) { cross(this->data, this->data, v.data); }

  float& operator[](const u8& index) { return data[index]; }

  /**
   * 1 0 0 0
   * 0 1 0 0
   * 0 0 1 0
   * 0 0 0 1
   */
  void identity();

  /**
   * 1 0 0 0
   * 0 1 0 0
   * 0 0 1 0
   * 0 0 0 1
   */
  void unit() { identity(); }

  void set(const float& m11, const float& m12, const float& m13,
           const float& m14, const float& m21, const float& m22,
           const float& m23, const float& m24, const float& m31,
           const float& m32, const float& m33, const float& m34,
           const float& m41, const float& m42, const float& m43,
           const float& m44);

  void translate(const Vec4& v) {
    M4x4 temp = M4x4::Identity;
    temp.translationX(v.x);
    temp.translationY(v.y);
    temp.translationZ(v.z);
    cross(this->data, temp.data, this->data);
  }

  void translateX(const float& v) {
    M4x4 temp = M4x4::Identity;
    temp.translationX(v);
    cross(this->data, temp.data, this->data);
  }

  void translateY(const float& v) {
    M4x4 temp = M4x4::Identity;
    temp.translationY(v);
    cross(this->data, temp.data, this->data);
  }

  void translateZ(const float& v) {
    M4x4 temp = M4x4::Identity;
    temp.translationZ(v);
    cross(this->data, temp.data, this->data);
  }

  /** Rotate M4x4. */
  void rotate(const Vec4& v) {
    M4x4 temp = M4x4::Identity;

    temp.rotationZ(v.z);
    cross(this->data, temp.data, this->data);

    temp.identity();
    temp.rotationY(v.y);
    cross(this->data, temp.data, this->data);

    temp.identity();
    temp.rotationX(v.x);
    cross(this->data, temp.data, this->data);
  }

  /** Rotate M4x4 by X. */
  void rotateX(const float& radians) {
    M4x4 temp = M4x4::Identity;
    temp.rotationX(radians);
    cross(this->data, temp.data, this->data);
  }

  /** Rotate M4x4 by Y. */
  void rotateY(const float& radians) {
    M4x4 temp = M4x4::Identity;
    temp.rotationY(radians);
    cross(this->data, temp.data, this->data);
  }

  /** Rotate M4x4 by Z. */
  void rotateZ(const float& radians) {
    M4x4 temp = M4x4::Identity;
    temp.rotationZ(radians);
    cross(this->data, temp.data, this->data);
  }

  /** Rotate M4x4 by angle. */
  void rotateByAngle(const float& angle, const Vec4& axis) {
    M4x4 temp;
    temp.rotationByAngle(angle, axis);
    cross(this->data, temp.data, this->data);
  }

  void scale(const float& v) { scale(Vec4(v, v, v, 1.0F)); }
  void scaleX(const float& v) { scale(Vec4(v, 1.0F, 1.0F, 1.0F)); }
  void scaleY(const float& v) { scale(Vec4(1.0F, v, 1.0F, 1.0F)); }
  void scaleZ(const float& v) { scale(Vec4(1.0F, 1.0F, v, 1.0F)); }

  void scale(const Vec4& v) {
    M4x4 temp = M4x4::Identity;
    temp.setScale(v);
    cross(this->data, temp.data, this->data);
  }

  /** Create perspective projection M4x4 (gluPerspective) */
  static M4x4 perspective(const float& fov, const float& width,
                          const float& height, const float& projectionScale,
                          const float& aspectRatio, const float& near,
                          const float& far);

  /**
   * Create a view M4x4 that transforms coordinates in
   * such a way that the user looks at a target vector
   * direction from a position vector (glLookAt)
   */
  static M4x4 lookAt(const Vec4& position, const Vec4& target);
  static void lookAt(M4x4* res, const Vec4& position, const Vec4& target);

  void print() const;
  void print(const char* name) const;
  void print(const std::string& name) const { print(name.c_str()); }
  std::string getPrint(const char* name = nullptr) const;

 private:
  static float upVec[4] alignas(sizeof(float) * 4);
  static float viewVec[4] alignas(sizeof(float) * 4);

  static void cross(float res[16], const float a[16], const float b[16]);
  void rotationX(const float& v);
  void rotationY(const float& v);
  void rotationZ(const float& v);
  void rotationByAngle(const float& angle, const Vec4& axis);
  void translationX(const float& v);
  void translationY(const float& v);
  void translationZ(const float& v);
  void setScale(const Vec4& val);
  static M4x4 setCamera(const float pos[4], const float vz[4],
                        const float vy[4]);
};

}  // namespace Tyra