PxMat44.h

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#ifndef PXFOUNDATION_PXMAT44_H
#define PXFOUNDATION_PXMAT44_H

#include "foundation/PxQuat.h"
#include "foundation/PxVec4.h"
#include "foundation/PxMat33.h"
#include "foundation/PxTransform.h"

#if !PX_DOXYGEN
namespace physx
{
#endif

class PxMat44
{
  public:
    PX_CUDA_CALLABLE PX_INLINE PxMat44()
    {
    }

    PX_CUDA_CALLABLE PX_INLINE PxMat44(PxIDENTITY r)
    : column0(1.0f, 0.0f, 0.0f, 0.0f)
    , column1(0.0f, 1.0f, 0.0f, 0.0f)
    , column2(0.0f, 0.0f, 1.0f, 0.0f)
    , column3(0.0f, 0.0f, 0.0f, 1.0f)
    {
        PX_UNUSED(r);
    }

    PX_CUDA_CALLABLE PX_INLINE PxMat44(PxZERO r) : column0(PxZero), column1(PxZero), column2(PxZero), column3(PxZero)
    {
        PX_UNUSED(r);
    }

    PX_CUDA_CALLABLE PxMat44(const PxVec4& col0, const PxVec4& col1, const PxVec4& col2, const PxVec4& col3)
    : column0(col0), column1(col1), column2(col2), column3(col3)
    {
    }

    explicit PX_CUDA_CALLABLE PX_INLINE PxMat44(float r)
    : column0(r, 0.0f, 0.0f, 0.0f)
    , column1(0.0f, r, 0.0f, 0.0f)
    , column2(0.0f, 0.0f, r, 0.0f)
    , column3(0.0f, 0.0f, 0.0f, r)
    {
    }

    PX_CUDA_CALLABLE PxMat44(const PxVec3& col0, const PxVec3& col1, const PxVec3& col2, const PxVec3& col3)
    : column0(col0, 0), column1(col1, 0), column2(col2, 0), column3(col3, 1.0f)
    {
    }

    explicit PX_CUDA_CALLABLE PX_INLINE PxMat44(float values[])
    : column0(values[0], values[1], values[2], values[3])
    , column1(values[4], values[5], values[6], values[7])
    , column2(values[8], values[9], values[10], values[11])
    , column3(values[12], values[13], values[14], values[15])
    {
    }

    explicit PX_CUDA_CALLABLE PX_INLINE PxMat44(const PxQuat& q)
    {
        const float x = q.x;
        const float y = q.y;
        const float z = q.z;
        const float w = q.w;

        const float x2 = x + x;
        const float y2 = y + y;
        const float z2 = z + z;

        const float xx = x2 * x;
        const float yy = y2 * y;
        const float zz = z2 * z;

        const float xy = x2 * y;
        const float xz = x2 * z;
        const float xw = x2 * w;

        const float yz = y2 * z;
        const float yw = y2 * w;
        const float zw = z2 * w;

        column0 = PxVec4(1.0f - yy - zz, xy + zw, xz - yw, 0.0f);
        column1 = PxVec4(xy - zw, 1.0f - xx - zz, yz + xw, 0.0f);
        column2 = PxVec4(xz + yw, yz - xw, 1.0f - xx - yy, 0.0f);
        column3 = PxVec4(0.0f, 0.0f, 0.0f, 1.0f);
    }

    explicit PX_CUDA_CALLABLE PX_INLINE PxMat44(const PxVec4& diagonal)
    : column0(diagonal.x, 0.0f, 0.0f, 0.0f)
    , column1(0.0f, diagonal.y, 0.0f, 0.0f)
    , column2(0.0f, 0.0f, diagonal.z, 0.0f)
    , column3(0.0f, 0.0f, 0.0f, diagonal.w)
    {
    }

    PX_CUDA_CALLABLE PxMat44(const PxMat33& axes, const PxVec3& position)
    : column0(axes.column0, 0.0f), column1(axes.column1, 0.0f), column2(axes.column2, 0.0f), column3(position, 1.0f)
    {
    }

    PX_CUDA_CALLABLE PxMat44(const PxTransform& t)
    {
        *this = PxMat44(PxMat33(t.q), t.p);
    }

    PX_CUDA_CALLABLE PX_INLINE bool operator==(const PxMat44& m) const
    {
        return column0 == m.column0 && column1 == m.column1 && column2 == m.column2 && column3 == m.column3;
    }

    PX_CUDA_CALLABLE PX_INLINE PxMat44(const PxMat44& other)
    : column0(other.column0), column1(other.column1), column2(other.column2), column3(other.column3)
    {
    }

    PX_CUDA_CALLABLE PX_INLINE PxMat44& operator=(const PxMat44& other)
    {
        column0 = other.column0;
        column1 = other.column1;
        column2 = other.column2;
        column3 = other.column3;
        return *this;
    }

    PX_CUDA_CALLABLE PX_INLINE const PxMat44 getTranspose() const
    {
        return PxMat44(
            PxVec4(column0.x, column1.x, column2.x, column3.x), PxVec4(column0.y, column1.y, column2.y, column3.y),
            PxVec4(column0.z, column1.z, column2.z, column3.z), PxVec4(column0.w, column1.w, column2.w, column3.w));
    }

    PX_CUDA_CALLABLE PX_INLINE const PxMat44 operator-() const
    {
        return PxMat44(-column0, -column1, -column2, -column3);
    }

    PX_CUDA_CALLABLE PX_INLINE const PxMat44 operator+(const PxMat44& other) const
    {
        return PxMat44(column0 + other.column0, column1 + other.column1, column2 + other.column2,
                       column3 + other.column3);
    }

    PX_CUDA_CALLABLE PX_INLINE const PxMat44 operator-(const PxMat44& other) const
    {
        return PxMat44(column0 - other.column0, column1 - other.column1, column2 - other.column2,
                       column3 - other.column3);
    }

    PX_CUDA_CALLABLE PX_INLINE const PxMat44 operator*(float scalar) const
    {
        return PxMat44(column0 * scalar, column1 * scalar, column2 * scalar, column3 * scalar);
    }

    friend PxMat44 operator*(float, const PxMat44&);

    PX_CUDA_CALLABLE PX_INLINE const PxMat44 operator*(const PxMat44& other) const
    {
        // Rows from this <dot> columns from other
        // column0 = transform(other.column0) etc
        return PxMat44(transform(other.column0), transform(other.column1), transform(other.column2),
                       transform(other.column3));
    }

    // a <op>= b operators

    PX_CUDA_CALLABLE PX_INLINE PxMat44& operator+=(const PxMat44& other)
    {
        column0 += other.column0;
        column1 += other.column1;
        column2 += other.column2;
        column3 += other.column3;
        return *this;
    }

    PX_CUDA_CALLABLE PX_INLINE PxMat44& operator-=(const PxMat44& other)
    {
        column0 -= other.column0;
        column1 -= other.column1;
        column2 -= other.column2;
        column3 -= other.column3;
        return *this;
    }

    PX_CUDA_CALLABLE PX_INLINE PxMat44& operator*=(float scalar)
    {
        column0 *= scalar;
        column1 *= scalar;
        column2 *= scalar;
        column3 *= scalar;
        return *this;
    }

    PX_CUDA_CALLABLE PX_INLINE PxMat44& operator*=(const PxMat44& other)
    {
        *this = *this * other;
        return *this;
    }

    PX_CUDA_CALLABLE PX_FORCE_INLINE float operator()(unsigned int row, unsigned int col) const
    {
        return (*this)[col][row];
    }

    PX_CUDA_CALLABLE PX_FORCE_INLINE float& operator()(unsigned int row, unsigned int col)
    {
        return (*this)[col][row];
    }

    PX_CUDA_CALLABLE PX_INLINE const PxVec4 transform(const PxVec4& other) const
    {
        return column0 * other.x + column1 * other.y + column2 * other.z + column3 * other.w;
    }

    PX_CUDA_CALLABLE PX_INLINE const PxVec3 transform(const PxVec3& other) const
    {
        return transform(PxVec4(other, 1.0f)).getXYZ();
    }

    PX_CUDA_CALLABLE PX_INLINE const PxVec4 rotate(const PxVec4& other) const
    {
        return column0 * other.x + column1 * other.y + column2 * other.z; // + column3*0;
    }

    PX_CUDA_CALLABLE PX_INLINE const PxVec3 rotate(const PxVec3& other) const
    {
        return rotate(PxVec4(other, 1.0f)).getXYZ();
    }

    PX_CUDA_CALLABLE PX_INLINE const PxVec3 getBasis(int num) const
    {
        PX_ASSERT(num >= 0 && num < 3);
        return (&column0)[num].getXYZ();
    }

    PX_CUDA_CALLABLE PX_INLINE const PxVec3 getPosition() const
    {
        return column3.getXYZ();
    }

    PX_CUDA_CALLABLE PX_INLINE void setPosition(const PxVec3& position)
    {
        column3.x = position.x;
        column3.y = position.y;
        column3.z = position.z;
    }

    PX_CUDA_CALLABLE PX_FORCE_INLINE const float* front() const
    {
        return &column0.x;
    }

    PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec4& operator[](unsigned int num)
    {
        return (&column0)[num];
    }
    PX_CUDA_CALLABLE PX_FORCE_INLINE const PxVec4& operator[](unsigned int num) const
    {
        return (&column0)[num];
    }

    PX_CUDA_CALLABLE PX_INLINE void scale(const PxVec4& p)
    {
        column0 *= p.x;
        column1 *= p.y;
        column2 *= p.z;
        column3 *= p.w;
    }

    PX_CUDA_CALLABLE PX_INLINE const PxMat44 inverseRT(void) const
    {
        PxVec3 r0(column0.x, column1.x, column2.x), r1(column0.y, column1.y, column2.y),
            r2(column0.z, column1.z, column2.z);

        return PxMat44(r0, r1, r2, -(r0 * column3.x + r1 * column3.y + r2 * column3.z));
    }

    PX_CUDA_CALLABLE PX_INLINE bool isFinite() const
    {
        return column0.isFinite() && column1.isFinite() && column2.isFinite() && column3.isFinite();
    }

    // Data, see above for format!

    PxVec4 column0, column1, column2, column3; // the four base vectors
};

// implementation from PxTransform.h
PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform::PxTransform(const PxMat44& m)
{
    PxVec3 column0 = PxVec3(m.column0.x, m.column0.y, m.column0.z);
    PxVec3 column1 = PxVec3(m.column1.x, m.column1.y, m.column1.z);
    PxVec3 column2 = PxVec3(m.column2.x, m.column2.y, m.column2.z);

    q = PxQuat(PxMat33(column0, column1, column2));
    p = PxVec3(m.column3.x, m.column3.y, m.column3.z);
}

#if !PX_DOXYGEN
} // namespace physx
#endif

#endif // #ifndef PXFOUNDATION_PXMAT44_H