CWE-ou-minkata/Sources/Plasma/CoreLib/hsMatrix44.h

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*==LICENSE==*/
#ifndef HSMATRIX44_inc
#define  HSMATRIX44_inc

#include "hsTypes.h"
#include "hsGeometry3.h"

class hsQuat;

////////////////////////////////////////////////////////////////////////////
class hsStream;
struct hsMatrix44 {
    enum {
        kIsIdent    = 0x1
    };

    enum {
        kRight  = 0,
        kUp,
        kView
    };
    hsScalar            fMap[4][4];
    UInt32              fFlags;

    hsMatrix44() : fFlags(0) {}
    hsMatrix44(const hsScalarTriple &translate, const hsQuat &rotate);

    void DecompRigid(hsScalarTriple &translate, hsQuat &rotate) const;

    static const hsMatrix44& IdentityMatrix();

    // worldToCameras and cameraToWorlds are arrays of 6 matrices. Returned are LEFT,RIGHT,FRONT,BACK,TOP,BOTTOM.
    static void MakeEnvMapMatrices(const hsPoint3& pos, hsMatrix44* worldToCameras, hsMatrix44* cameraToWorlds);
    static void MakeCameraMatrices(const hsPoint3& from, const hsPoint3& at, const hsVector3& up, hsMatrix44& worldToCamera, hsMatrix44& cameraToWorld);

    // Concat transform
    hsMatrix44&     Translate(const hsVector3 *);
    hsMatrix44&     Scale(const hsVector3 *);
    hsMatrix44&     Rotate(int axis, hsScalar radians);

    hsMatrix44&     Reset(hsBool asIdent=true) 
    {
        fMap[0][0] = 1.0f; fMap[0][1] = 0.0f; fMap[0][2] = 0.0f; fMap[0][3]  = 0.0f;
        fMap[1][0] = 0.0f; fMap[1][1] = 1.0f; fMap[1][2] = 0.0f; fMap[1][3]  = 0.0f;
        fMap[2][0] = 0.0f; fMap[2][1] = 0.0f; fMap[2][2] = 1.0f; fMap[2][3]  = 0.0f;
        fMap[3][0] = 0.0f; fMap[3][1] = 0.0f; fMap[3][2] = 0.0f; fMap[3][3]  = 1.0f;

        fFlags = asIdent ? kIsIdent : 0;
        return *this;
    }

    // Create matrix from scratch
    hsMatrix44&     MakeTranslateMat(const hsVector3 *trans);
    hsMatrix44&     MakeScaleMat(const hsVector3 *scale);
    hsMatrix44&     MakeRotateMat(int axis, hsScalar radians);
    hsMatrix44&     Make(const hsPoint3* from, const hsPoint3* at, 
                        const hsVector3* up);   // Not a camera matrix
    hsMatrix44&     MakeUpPreserving(const hsPoint3* from, const hsPoint3* at, 
                        const hsVector3* up);   // Not a camera matrix
    // Camera matrix
    hsMatrix44&     MakeCamera(const hsPoint3* from, const hsPoint3* at,
                        const hsVector3* up);
    hsMatrix44&     MakeCameraUpPreserving(const hsPoint3* from, const hsPoint3* at,
                        const hsVector3* up);

    hsBool          GetParity() const;
    hsScalar        GetDeterminant() const;
    hsMatrix44*     GetInverse(hsMatrix44* inverse) const;
    hsMatrix44*     GetTranspose(hsMatrix44* inverse) const;
    hsMatrix44*     GetAdjoint(hsMatrix44* adjoint) const;
    hsVector3*      GetTranslate(hsVector3 *pt) const;
    hsPoint3*       GetTranslate(hsPoint3 *pt) const 
        {   return (hsPoint3*)GetTranslate((hsVector3*)pt); }
    const hsPoint3  GetTranslate() const;
    void            GetAxis(hsVector3* view, hsVector3 *up, hsVector3* right);
    void            GetAxisFromCamera(hsVector3* view, hsVector3 *up, hsVector3* right);

    const hsVector3 GetAxis(int i) const;

    // Change component of matrix
    hsMatrix44&     SetTranslate(const hsScalarTriple *);
    hsMatrix44&     SetScale(const hsVector3 *);
    hsMatrix44&     SetRotate(int axis, hsScalar radians);

    hsVector3       RemoveScale();      // returns old scale
    void MakeXRotation(hsScalar radians);
    void MakeYRotation(hsScalar radians);
    void MakeZRotation(hsScalar radians);


#if 0 // Havok reeks
    friend hsPoint3     operator*(const hsMatrix44& m, const hsPoint3& p)
                    {   
                        if( m.fFlags & hsMatrix44::kIsIdent )
                            return p;

                        hsPoint3 rVal;
                        rVal.fX = hsScalarMul(p.fX, m.fMap[0][0]) + hsScalarMul(p.fY, m.fMap[0][1]) + hsScalarMul(p.fZ, m.fMap[0][2]) + m.fMap[0][3];
                        rVal.fY = hsScalarMul(p.fX, m.fMap[1][0]) + hsScalarMul(p.fY, m.fMap[1][1]) + hsScalarMul(p.fZ, m.fMap[1][2])  + m.fMap[1][3];
                        rVal.fZ = hsScalarMul(p.fX, m.fMap[2][0]) + hsScalarMul(p.fY, m.fMap[2][1]) + hsScalarMul(p.fZ, m.fMap[2][2])  + m.fMap[2][3];
                        return rVal;
                    }
    friend  hsVector3 operator*(const hsMatrix44& m, const hsVector3& p);
    friend hsMatrix44   operator*(const hsMatrix44& a, const hsMatrix44& b);
#else // Havok reeks
    hsPoint3        operator*(const hsPoint3& p) const
                    {   
                        if( fFlags & hsMatrix44::kIsIdent )
                            return p;

                        hsPoint3 rVal;
                        rVal.fX = hsScalarMul(p.fX, fMap[0][0]) + hsScalarMul(p.fY, fMap[0][1]) + hsScalarMul(p.fZ, fMap[0][2]) + fMap[0][3];
                        rVal.fY = hsScalarMul(p.fX, fMap[1][0]) + hsScalarMul(p.fY, fMap[1][1]) + hsScalarMul(p.fZ, fMap[1][2])  + fMap[1][3];
                        rVal.fZ = hsScalarMul(p.fX, fMap[2][0]) + hsScalarMul(p.fY, fMap[2][1]) + hsScalarMul(p.fZ, fMap[2][2])  + fMap[2][3];
                        return rVal;
                    }
    hsVector3 operator*(const hsVector3& p) const;
    hsMatrix44  operator*(const hsMatrix44& b) const;
#endif // Havok reeks
    
    hsPoint3*           MapPoints(long count, hsPoint3 points[]) const;
    
    hsBool          IsIdentity(void);
    void            NotIdentity() { fFlags &= ~kIsIdent; }

#if 0 // Havok reeks
    friend int operator==(const hsMatrix44& s, const hsMatrix44& t);
    friend int operator!=(const hsMatrix44& s, const hsMatrix44& t);
#else // Havok reeks
    hsBool operator==(const hsMatrix44& ss) const;
    hsBool operator!=(const hsMatrix44& ss) const { return !(ss == *this); }
#endif // Havok reeks

    void Read(hsStream *stream);
    void Write(hsStream *stream);
};

#if 0 // Havok reeks
inline int operator!=(const hsMatrix44& s, const hsMatrix44& t)
{
    return (!(s==t));
}
#endif // Havok reeks

////////////////////////////////////////////////////////////////////////////
#endif