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#ifndef EGG_MATRIX_H
#define EGG_MATRIX_H
#include "common.h"
#include "egg/math/eggQuat.h"
#include "egg/math/eggVector.h"
#include "nw4r/math/math_types.h"
namespace EGG {
struct Matrix34f {
Matrix34f() {}
Matrix34f(f32 xx, f32 xy, f32 xz, f32 xw, f32 yx, f32 yy, f32 yz, f32 yw, f32 zx, f32 zy, f32 zz, f32 zw);
f32 operator()(int i, int j) const {
return m[i][j];
}
f32 &operator()(int i, int j) {
return m[i][j];
}
f32 operator()(int i) const {
return arr[i];
}
f32 &operator()(int i) {
return arr[i];
}
Matrix34f &operator=(const Matrix34f &other) {
copyFrom(other);
return *this;
}
void rotateBaseX(Vector3f &, Matrix34f &);
void rotateVectorChange(Vector3f &, Vector3f &, Matrix34f &);
void inverseTo(Matrix34f &to) const;
void inverseTransposeTo(Matrix34f &to) const;
void makeIdentity();
void makeSRT(const Vector3f &s, const Vector3f &r, const Vector3f &t);
void makeRT(const Vector3f &r, const Vector3f &t);
void makeR(const Vector3f &r);
void makeST(const Vector3f &s, const Vector3f &t);
void makeSQT(const Vector3f &s, const Quatf &q, const Vector3f &t);
void makeSQ(const Vector3f &, const Quatf &);
void makeQT(const Quatf &, const Vector3f &);
void makeQ(const Quatf &);
void makeS(const Vector3f &s);
void makeT(const Vector3f &t);
void fromQuat(const Quatf &q);
void toQuat(Quatf &q) const;
void slerpTo(const Matrix34f &, Matrix34f &, f32) const;
void copyTo16(f32 *pf) const;
void setAxisRotation(const Vector3f &, f32);
Vector3f multVector(const Vector3f &vec) const;
void loadPosMtx(u32);
void loadNrmMtx(u32 nrmMtxId);
void multiplyTo(const Matrix34f &m2, Matrix34f &to) const;
void dump();
operator nw4r::math::MTX34 *() {
return (nw4r::math::MTX34 *)this;
}
operator const nw4r::math::MTX34 *() const {
return (nw4r::math::MTX34 *)this;
}
public:
void concat(const Matrix34f &, Matrix34f &) const;
void rotate(const Vector3f &rpy) const;
void multVectorTo(const Vector3f &from, Vector3f &to) const;
void transposeTo(Matrix34f &to) const;
void copyFrom(const Matrix34f &other) {
for (int i = 0; i < 12; i++) {
(*this)(i) = other(i);
}
}
void setBase(int idx, const Vector3f &b) {
(*this)(0, idx) = b.x;
(*this)(1, idx) = b.y;
(*this)(2, idx) = b.z;
}
void getBase(int idx, Vector3f &b) const {
b(0) = (*this)(0, idx);
b(1) = (*this)(1, idx);
b(2) = (*this)(2, idx);
}
void setTranslation(const Vector3f &t) {
setBase(3, t);
}
void getTranslation(Vector3f &t) const {
getBase(3, t);
}
void makeZero() {
for (int i = 0; i < 12; i++) {
arr[i] = 0.0f;
}
}
public:
union {
f32 m[3][4];
f32 arr[12];
};
public:
static Matrix34f ident;
};
} // namespace EGG
#endif
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