mat3.h

Go to the documentation of this file.

#pragma once
 
#include "base/vec2.h"
#include "base/vec3.h"
#include "base/mat2.h"
#include "base/angle.h"
#include "base/axisangle.h"
 
namespace eu
{
    struct mat3f
    {
        explicit mat3f(const mat2f& mat);
 
        bool operator==(const mat3f& rhs) = delete;
 
        [[nodiscard]] static mat3f from_major(const Scale3f& major);
        [[nodiscard]] static mat3f from_scale(const Scale3f& scale);
        [[nodiscard]] static mat3f from_translation2d(const vec2f& t);
        [[nodiscard]] static mat3f from_rot_x(const Angle& a);
        [[nodiscard]] static mat3f from_rot_y(const Angle& a);
        [[nodiscard]] static mat3f from_rot_z(const Angle& a);
        [[nodiscard]] static mat3f from_axis_angle(const AxisAngle& aa);
        [[nodiscard]] constexpr static mat3f from_scalar(float scalar)
        {
            const float z = 0;
            return from_row_major
            (
                scalar, z, z,
                z, scalar, z,
                z, z, scalar
            );
        }
        
        [[nodiscard]] static mat3f from_col_major
        (
            float t00, float t01, float t02,
            float t10, float t11, float t12,
            float t20, float t21, float t22
        );
 
        [[nodiscard]] constexpr static mat3f from_row_major
        (
            float t00, float t10, float t20,
            float t01, float t11, float t21,
            float t02, float t12, float t22
        )
        {
            return
            {
                t00, t01, t02,
                t10, t11, t12,
                t20, t21, t22
            };
        }
 
        float* get_data_ptr();
 
        [[nodiscard]] float get(int row, int col) const;
        [[nodiscard]] vec3f get_axis(int col) const;
        [[nodiscard]] mat3f get_rotated(const AxisAngle& aa) const;
        [[nodiscard]] mat3f get_scaled(const Scale3f& scale) const;
        [[nodiscard]] vec3f get_column(int c) const;
        [[nodiscard]] vec3f get_row(int r) const;
 
        [[nodiscard]] vec3f get_major() const;
        [[nodiscard]] vec3f get_x_axis() const;
        [[nodiscard]] vec3f get_y_axis() const;
        [[nodiscard]] vec3f get_z_axis() const;
        [[nodiscard]] mat3f get_transposed() const;
        [[nodiscard]] const float* get_data_ptr() const;
 
        void operator+=(const mat3f& rhs);
        void operator-=(const mat3f& rhs);
        
    private:
        float data[9]; // col-major
 
        mat3f() = default;
 
        constexpr mat3f
        (
            float t00, float t01, float t02,
            float t10, float t11, float t12,
            float t20, float t21, float t22
        )
            : data
            {
                t00, t01, t02,
                t10, t11, t12,
                t20, t21, t22
            }
        {
        }
    };
 
    constexpr mat3f m3_identity = mat3f::from_scalar(1);
 
    std::string to_string(const mat3f& m);
    mat3f operator+(const mat3f& lhs, const mat3f& rhs);
    mat3f operator-(const mat3f& lhs, const mat3f& rhs);
    mat3f operator*(const mat3f& lhs, const mat3f& rhs);
    vec3f operator*(const mat3f& lhs, const vec3f& rhs);
}
 
ADD_DEFAULT_FORMATTER(eu::mat3f, std::string, eu::to_string);