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/* ----------------------------------------------------------------------- *
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/* ----------------------------------------------------------------------- *
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 * This file is part of GEL, http://www.imm.dtu.dk/GEL
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 * This file is part of GEL, http://www.imm.dtu.dk/GEL
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 * Copyright (C) the authors and DTU Informatics
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 * Copyright (C) the authors and DTU Informatics
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 * For license and list of authors, see ../../doc/intro.pdf
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 * For license and list of authors, see ../../doc/intro.pdf
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 * ----------------------------------------------------------------------- */
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 * ----------------------------------------------------------------------- */
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/** @file Mat4x4f.h
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/** @file Mat4x4f.h
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 * @brief 4x4 float matrix class
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 * @brief 4x4 float matrix class
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 */
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 */
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#ifndef __CGLA_MAT4X4_H__
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#ifndef __CGLA_MAT4X4_H__
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#define __CGLA_MAT4X4_H__
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#define __CGLA_MAT4X4_H__
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#include "ExceptionStandard.h"
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#include "ExceptionStandard.h"
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#include "CGLA.h"
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#include "CGLA.h"
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#include "Vec3f.h"
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#include "Vec3f.h"
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#include "Vec3Hf.h"
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#include "Vec3Hf.h"
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#include "Vec4f.h"
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#include "Vec4f.h"
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#include "ArithSqMat4x4Float.h"
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#include "ArithSqMat4x4Float.h"
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namespace CGLA
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namespace CGLA
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{
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{
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  /** \brief 4x4 float matrix.
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  /** \brief 4x4 float matrix.
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      This class is useful for transformations such as perspective projections
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      This class is useful for transformations such as perspective projections
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      or translation where 3x3 matrices do not suffice. */
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      or translation where 3x3 matrices do not suffice. */
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  class Mat4x4f: public ArithSqMat4x4Float<Vec4f, Mat4x4f>
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  class Mat4x4f: public ArithSqMat4x4Float<Vec4f, Mat4x4f>
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    {
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    {
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    public:
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    public:
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      /// Construct a Mat4x4f from four Vec4f vectors
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      /// Construct a Mat4x4f from four Vec4f vectors
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      Mat4x4f(Vec4f _a, Vec4f _b, Vec4f _c, Vec4f _d):
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      Mat4x4f(Vec4f _a, Vec4f _b, Vec4f _c, Vec4f _d):
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	ArithSqMat4x4Float<Vec4f, Mat4x4f> (_a,_b,_c,_d) {}
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	ArithSqMat4x4Float<Vec4f, Mat4x4f> (_a,_b,_c,_d) {}
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      /// Construct the NaN matrix
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      /// Construct the NaN matrix
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      Mat4x4f() {}
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      Mat4x4f() {}
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      /// Construct a matrix with identical elements.
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      /// Construct a matrix with identical elements.
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      explicit Mat4x4f(float a) : ArithSqMat4x4Float<Vec4f, Mat4x4f> (a) {}
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      explicit Mat4x4f(float a) : ArithSqMat4x4Float<Vec4f, Mat4x4f> (a) {}
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    };
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    };
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  /// Create a rotation _matrix. Rotates about one of the major axes.
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  /// Create a rotation _matrix. Rotates about one of the major axes.
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  Mat4x4f rotation_Mat4x4f(CGLA::Axis axis, float angle);
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  Mat4x4f rotation_Mat4x4f(CGLA::Axis axis, float angle);
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  /// Create a translation matrix
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  /// Create a translation matrix
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  Mat4x4f translation_Mat4x4f(const Vec3f&);
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  Mat4x4f translation_Mat4x4f(const Vec3f&);
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  /// Create a scaling matrix.
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  /// Create a scaling matrix.
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  Mat4x4f scaling_Mat4x4f(const Vec3f&);
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  Mat4x4f scaling_Mat4x4f(const Vec3f&);
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    /// Creates a perspective projection similar to gluPerspective
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    /// Description from gluPerspective: perspective_Mat4x4f specifies a viewing frustum into
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    /// the world coordinate system. In general, the aspect ratio in perspective_Mat4x4f
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    /// should match the aspect ratio of the associated viewport. For example, aspect = 2.0
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    /// means the viewer's angle of view is twice as wide in x as it is in y. If the viewport
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    /// is twice as wide as it is tall, it displays the image without distortion.
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    Mat4x4f perspective_Mat4x4f(float fovy, float aspect, float zNear, float zFar);
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    /// Creates a perspective matrix similar to glFrustum
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    Mat4x4f frustum_Mat4x4f(float  	left,
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                            float  	right,
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                            float  	bottom,
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                            float  	top,
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                            float  	nearVal,
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                            float  	farVal);
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    /// Creates an orthographic projection matrix (similar to glOrtho)
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    Mat4x4f ortho_Mat4x4f(float left,
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                          float right,
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                          float bottom,
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                          float top,
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                          float nearVal,
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                          float farVal);
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    /// Creates a 2D orthographic projection matrix (similar to gluOrtho2D)
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    Mat4x4f ortho2D_Mat4x4f(float left, float right, float bottom, float top);
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    /// Creates a view matrix similar to gluLookAt
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    Mat4x4f lookAt_Mat4x4f(const Vec3f& eye, const Vec3f& at, const Vec3f& up);
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  /// Create an identity matrix.
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  /// Create an identity matrix.
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  inline Mat4x4f identity_Mat4x4f()
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  inline Mat4x4f identity_Mat4x4f()
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    {
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    {
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      return Mat4x4f(Vec4f(1.0f,0.0f,0.0f,0.0f),
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      return Mat4x4f(Vec4f(1.0f,0.0f,0.0f,0.0f),
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		     Vec4f(0.0f,1.0f,0.0f,0.0f),
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		     Vec4f(0.0f,1.0f,0.0f,0.0f),
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		     Vec4f(0.0f,0.0f,1.0f,0.0f),
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		     Vec4f(0.0f,0.0f,1.0f,0.0f),
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		     Vec4f(0.0f,0.0f,0.0f,1.0f));
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		     Vec4f(0.0f,0.0f,0.0f,1.0f));
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    }
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    }
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  /** Compute inverse assuming that the upper-left 3x3 sub-matrix is
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  /** Compute inverse assuming that the upper-left 3x3 sub-matrix is
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      orthonormal (which is the case if the transformation is only
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      orthonormal (which is the case if the transformation is only
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      a concatenation of rotations and translations).
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      a concatenation of rotations and translations).
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  */
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  */
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  inline Mat4x4f invert_ortho(const Mat4x4f& m)
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  inline Mat4x4f invert_ortho(const Mat4x4f& m)
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  {
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  {
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    Vec3f rx(m[0][0], m[1][0], m[2][0]);
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    Vec3f rx(m[0][0], m[1][0], m[2][0]);
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    Vec3f ry(m[0][1], m[1][1], m[2][1]);
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    Vec3f ry(m[0][1], m[1][1], m[2][1]);
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    Vec3f rz(m[0][2], m[1][2], m[2][2]);
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    Vec3f rz(m[0][2], m[1][2], m[2][2]);
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    Vec3f t(m[0][3], m[1][3], m[2][3]);
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    Vec3f t(m[0][3], m[1][3], m[2][3]);
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    return Mat4x4f(Vec4f(rx, -dot(t, rx)),
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    return Mat4x4f(Vec4f(rx, -dot(t, rx)),
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		   Vec4f(ry, -dot(t, ry)),
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		   Vec4f(ry, -dot(t, ry)),
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		   Vec4f(rz, -dot(t, rz)),
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		   Vec4f(rz, -dot(t, rz)),
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		   Vec4f(0.0f, 0.0f, 0.0f, 1.0f));
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		   Vec4f(0.0f, 0.0f, 0.0f, 1.0f));
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  }
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  }
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}
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}
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#endif
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#endif
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