Dribble/cpp/localization/Matrix4D.h

#ifndef MATRIX4D_H_
#define MATRIX4D_H_

#include "Vector3f.h"

#define M_ROWS      4
#define M_COLS      4
#define M_LENGTH    (M_ROWS * M_COLS)

/**
 * @class Matrix4D
 *
 * This class represents a 4x4 matrix and contains methods
 * to operate on it
 *
 * @author Nuno Almeida (nuno.alm@ua.pt)
 * Adapted - Miguel Abreu
 */
class Matrix4D {

public:
    float content[M_LENGTH]; // content of the matrix, vector-like

    /**
     * Default constructor returns the identity matrix
     */
    Matrix4D();

    /**
     * Constructor returns a matrix from a vector of floats
     */
    Matrix4D(const float[]);

    /**
     * Copy constructor
     */
    Matrix4D(const Matrix4D& other);

    /**
     * Constructor returns a translation matrix
     */
    Matrix4D(const Vector3f& v);

    /**
     * Destructor
     */
    ~Matrix4D();

    /**
     * Sets a value in some position (vector-like)
     */
    void set(unsigned i, float value);

    /**
     * Sets a value in some position (matrix-like)
     */
    void set(unsigned i, unsigned j, float value);

    /**
     * Gets a value from some position (vector-like)
     */
    float get(unsigned i) const;

    /**
     * Gets a value from some position (matrix-like)
     */
    float get(unsigned i, unsigned j) const;

    /**
     * Assigns another matrix to this one
     *
     * @param other Another matrix
     */
    void operator=(const Matrix4D& other);

    /**
     * Gets the sum of another vector with this one
     *
     * @param other Another matrix
     */
    Matrix4D operator+(const Matrix4D& other) const;

    /**
     * Sums this matrix to another
     *
     * @param other Another matrix
     * @return Sum of this matrix with another
     */
    void operator+=(const Matrix4D& other);

    /**
     * Gets the subtraction of another vector from this one
     *
     * @param other Another matrix
     */
    Matrix4D operator-(const Matrix4D&) const;

    /**
     * Subtracts another matrix from this one
     *
     * @param other Another matrix
     * @return This matrix minus another
     */
    void operator-=(const Matrix4D& other);

    /**
     * Multiplies two matrices
     *
     * @param other Another matrix
     * @return Multiplication matrix
     */
    Matrix4D operator*(const Matrix4D& other) const;

    /**
     * Multiplies a matrix with a vector
     *
     * @param other Another matrix
     * @return Multiplication vector
     */
    Vector3f operator*(const Vector3f& other) const;

    /**
     * Checks whether this matrix is equal to another
     *
     * @param other Another matrix
     * @return true/false
     */
    bool operator==(const Matrix4D&) const;

    /**
     * Gets the content of the position i (in vector representation) of this
     * matrix
     *
     * @param pos Position
     * @return Value in the position
     */
    float& operator[](const unsigned pos);

    /**
     * Gets the translation vector from this matrix
     *
     * @return Translation vector
     */
    Vector3f toVector3f() const;

    /**
     * Gets the transpose of this matrix
     *
     * @return Transpose
     */
    Matrix4D transpose();

    /**
     * Gets the inverse of this matrix  (m.abreu@2020)
     *
     * @param inverse_out inverse matrix
     * @return true if it exists
     */
    bool inverse(Matrix4D& inverse_out) const;

    /**
     * Gets the inverse of this matrix,  (m.abreu@2020)
     * assuming that it represents an affine transformation with only translation and rotation
     * This method creates a new matrix
     *
     * @return inverse matrix
     */
    Matrix4D inverse_tranformation_matrix() const;

    /**
     * Gets the inverse of this matrix,  (m.abreu@2020)
     * assuming that it represents an affine transformation with only translation and rotation
     * This method overwrites the given matrix
     *
     * @param inverse_out inverse matrix output
     */
    void inverse_tranformation_matrix(Matrix4D& inverse_out) const;


    /**
     * Gets the rotation matrix around x-axis
     *
     * @param angle Angle (degrees)
     */
    static Matrix4D rotationX(float angle);

    /**
     * Gets the rotation matrix around y-axis
     *
     * @param angle Angle (degrees)
     */
    static Matrix4D rotationY(float angle);

    /**
     * Gets the rotation matrix around z-axis
     *
     * @param angle Angle (degrees)
     */
    static Matrix4D rotationZ(float angle);

    /**
     * Gets the rotation matrix around an arbitrary axis
     *
     * @param axis Axis (x, y and z)
     * @param angle Angle (degrees)
     */
    static Matrix4D rotation(Vector3f axis, float angle);

    /**
     * Gets the translation matrix
     *
     * @param x x-axis coordinate
     * @param y y-axis coordinate
     * @param z z-axis coordinate
     */
    static Matrix4D translation(Vector3f v) {
        return translation(v.getX(), v.getY(), v.getZ());
    }
    static Matrix4D translation(float x, float y, float z);


};

#endif // MATRIX4D_H_