RP411/MUNGA/AFFNMTRX.h

#pragma once

#include "point3d.h"

class Origin;
class TransposedMatrix;
class Hinge;
class EulerAngles;
class Quaternion;
class YawPitchRoll;

class AffineMatrix
{
public:
	static const AffineMatrix Identity;

	#if defined(USE_SIGNATURE)
		friend int Is_Signature_Bad(const volatile AffineMatrix *);
	#endif

	Scalar entries[12];

	//
	// Constructors
	//
	AffineMatrix()		{}
	AffineMatrix& BuildIdentity();
	AffineMatrix(int)	{ BuildIdentity(); }

	//
	// Assignment Operators
	//
	AffineMatrix& operator=(const AffineMatrix &m);
	AffineMatrix& operator=(const Origin &p);
	AffineMatrix& operator=(const Hinge &hinge);
	AffineMatrix& operator=(const EulerAngles &angles);
	AffineMatrix& operator=(const YawPitchRoll &angles);
	AffineMatrix& operator=(const Quaternion &q);
	AffineMatrix& operator=(const Point3D &p)				{ return SetFromAxis(W_Axis, p); }
	AffineMatrix& operator=(const Matrix4x4 &m);
	AffineMatrix& operator=(const TransposedMatrix &m);

	//
	// Comparison operators
	//
	Logical operator==(const AffineMatrix& m) const;
	Logical operator!=(const AffineMatrix& m) const;

	//
	// Index operators
	//
	Scalar& operator()(size_t row, size_t column)
	{
		Check_Pointer(this);
		Warn(row>3);
		Warn(column>2);
		return entries[(column<<2)+row];
	}
	const Scalar& operator()(size_t row, size_t column) const
	{
		Check_Pointer(this);
		Warn(row>3);
		Warn(column>2);
		return entries[(column<<2)+row];
	}

	//
	// Axis Manipulation functions
	//
	void GetFromAxis(size_t index, Vector3D *v) const;
	void GetToAxis(size_t index, Vector3D *v) const;

	AffineMatrix& SetFromAxis(size_t index, const Vector3D &v);
	AffineMatrix& SetToAxis(size_t index, const Vector3D &v);

	//
	// Matrix Multiplication
	//
	AffineMatrix& Multiply(const AffineMatrix& m1, const AffineMatrix& m2);
	AffineMatrix& operator*=(const AffineMatrix& m)
	{
		AffineMatrix temp(*this);
		return Multiply(temp,m);
	}

	//
	// Matrix Inversion
	//
	AffineMatrix& Invert(const AffineMatrix& Source);
	AffineMatrix& Invert()
	{
		AffineMatrix src(*this);
		return Invert(src);
	}

	//
	// Scaling, Rotation and Translation
	//
	AffineMatrix& Multiply(const AffineMatrix &m,const Vector3D &v);
	AffineMatrix& operator*=(const Vector3D &v)
	{
		AffineMatrix m(*this);
		return Multiply(m,v);
	}
	AffineMatrix& Multiply(const AffineMatrix &m,const Quaternion &q);
	AffineMatrix& operator*=(const Quaternion &q)
	{
		AffineMatrix m(*this);
		return Multiply(m,q);
	}
	AffineMatrix& Multiply(const AffineMatrix &m,const Point3D &p);
	AffineMatrix& operator*=(const Point3D& p)
	{
		AffineMatrix m(*this);
		return Multiply(m,p);
	}

	//
	// Miscellaneous Functions
	//
	Scalar Determinant() const;
	AffineMatrix& Solve();

	//
	// Support functions
	//
	friend std::ostream& operator <<(std::ostream& stream, const AffineMatrix& m);
	Logical TestInstance() const;
	static Logical TestClass();
};

inline Point3D& Point3D::operator=(const AffineMatrix& m)
{
	m.GetFromAxis(W_Axis,this);
	return *this;
}

inline MemoryStream& MemoryStream_Read(MemoryStream *stream, AffineMatrix *output)
{
	return stream->ReadBytes(output, sizeof(*output));
}
inline MemoryStream& MemoryStream_Write(MemoryStream *stream, const AffineMatrix *input)
{
	return stream->WriteBytes(input, sizeof(*input));
}