gm_mat4.h

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// gmMatrix4.h - 4x4 element matrix class
//
// libgm++: Graphics Math Library
// Ferdi Scheepers and Stephen F May
// 15 June 1994
// ----------------------------------
// modified: October 2002
// Pavel Kolcarek, kolcarek@fi.muni.cz
// 

#ifndef GM_MATRIX4_H
#define GM_MATRIX4_H

#include <stdio.h>
#include <stdlib.h>
#include <assert.h>
#include <gm_utils.h>

using namespace std;

class gmVector3;
class gmVector4;

class gmMatrix4 {

protected:
  double m_[4][4];

public:
  gmMatrix4();
  gmMatrix4(const gmMatrix4&);
  gmMatrix4(double, double, double, double,
        double, double, double, double,
        double, double, double, double,
        double, double, double, double);

  // array access

  double* operator [](int);
  const double* operator [](int) const;

  // assignment
  
  gmMatrix4& assign(double, double, double, double,
            double, double, double, double,
            double, double, double, double,
            double, double, double, double);
  gmMatrix4& operator =(const gmMatrix4&);

  // operators

  gmMatrix4& operator +=(const gmMatrix4&);
  gmMatrix4& operator -=(const gmMatrix4&);
  gmMatrix4& operator *=(const gmMatrix4&);
  gmMatrix4& operator *=(double);
  gmMatrix4& operator /=(double);
 
  gmMatrix4 operator +(const gmMatrix4&) const;
  gmMatrix4 operator -(const gmMatrix4&) const;
  gmMatrix4 operator -() const;
  gmMatrix4 operator *(const gmMatrix4&) const;
  gmMatrix4 operator *(double) const;
  gmMatrix4 operator /(double) const;

friend gmMatrix4 operator *(double, const gmMatrix4&);

  bool operator ==(const gmMatrix4&) const;
  bool operator !=(const gmMatrix4&) const;

  gmVector4 operator *(const gmVector4&) const;

friend gmVector4 operator *(const gmVector4&, const gmMatrix4&);
  
  // mixed multiplying: vector3 = matrix4x4 * vector3 (double is for missing
  // fourth vector element).
  gmVector3 mixed_mult(gmVector3&, const double&);
 
  // output

friend ostream & operator << (ostream &, const gmMatrix4&);

  // operations

  gmMatrix4 inverse() const;
  gmMatrix4 transpose() const;
  gmMatrix4 adjoint() const;
  
  double determinant() const;
  bool isSingular() const;

  gmVector3 transform(const gmVector3&) const;
  
  void copyTo(float [4][4]) const;
  void copyTo(double [4][4]) const;

  // transformation matrices

  static gmMatrix4 identity();
  static gmMatrix4 rotate(double, const gmVector3& axis);
  static gmMatrix4 scale(double, double, double);
  static gmMatrix4 translate(double, double, double);
  static gmMatrix4 arb_rotate(gmVector3&, double); // arbitrary axis rotation matrix

  // cubic basis matrices

  static gmMatrix4 bezierBasis();
  static gmMatrix4 bsplineBasis();
  static gmMatrix4 catmullromBasis();
  static gmMatrix4 hermiteBasis();
  
  static gmMatrix4 tensedBSplineBasis(double);
  static gmMatrix4 cardinalBasis(double);
  static gmMatrix4 tauBasis(double, double);
  static gmMatrix4 betaSplineBasis(double, double);

};

// ARRAY ACCESS

inline double* gmMatrix4::operator [](int i)
{
  assert(i == 0 || i == 1 || i == 2 || i == 3);
  return &m_[i][0];
}

inline const double* gmMatrix4::operator [](int i) const
{
  assert(i == 0 || i == 1 || i == 2 || i == 3);
  return &m_[i][0];
}

inline void gmMatrix4::copyTo(float f[4][4]) const
{
  f[0][0] = m_[0][0]; f[0][1] = m_[0][1]; 
  f[0][2] = m_[0][2]; f[0][3] = m_[0][3];
  f[1][0] = m_[1][0]; f[1][1] = m_[1][1]; 
  f[1][2] = m_[1][2]; f[1][3] = m_[1][3];
  f[2][0] = m_[2][0]; f[2][1] = m_[2][1]; 
  f[2][2] = m_[2][2]; f[2][3] = m_[2][3];
  f[3][0] = m_[3][0]; f[3][1] = m_[3][1]; 
  f[3][2] = m_[3][2]; f[3][3] = m_[3][3];
}

inline void gmMatrix4::copyTo(double f[4][4]) const
{
  f[0][0] = m_[0][0]; f[0][1] = m_[0][1]; 
  f[0][2] = m_[0][2]; f[0][3] = m_[0][3];
  f[1][0] = m_[1][0]; f[1][1] = m_[1][1]; 
  f[1][2] = m_[1][2]; f[1][3] = m_[1][3];
  f[2][0] = m_[2][0]; f[2][1] = m_[2][1]; 
  f[2][2] = m_[2][2]; f[2][3] = m_[2][3];
  f[3][0] = m_[3][0]; f[3][1] = m_[3][1]; 
  f[3][2] = m_[3][2]; f[3][3] = m_[3][3];
}

#endif // GMMATRIX4_H