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#pragma once
#include <sstream>
#include "../Common/Sizes.hpp"
#include "Rotation.hpp"
template <uint R, uint C, typename T = Real>
struct Matrix {
Matrix() : elements{} {}
explicit Matrix(const T scalar) {
std::fill(elements, elements + R * C, scalar);
}
template<typename ...Args, std::enable_if_t<sizeof...(Args) == R * C, Int> = 0>
Matrix(Args... args): elements{ static_cast<T>(args)... } {}
explicit Matrix(const T values[R * C]) {
std::copy(values, values + R * C, elements);
}
static Matrix<R, R, T> identity() {
Matrix<R, R, T> result{};
for (Int i = 0; i < R; i++) {
result(i, i) = 1;
}
return result;
}
static Matrix<4, 4, T> transformation(Vector<3> position) {
return {
1.0, 0.0, 0.0, position.x(),
0.0, 1.0, 0.0, position.y(),
0.0, 0.0, 1.0, position.z(),
0.0, 0.0, 0.0, 1.0
};
}
static Matrix<4, 4, T> scale(Vector<3> factor) {
return {
factor.x(), 0.0, 0.0, 0.0,
0.0, factor.y(), 0.0, 0.0,
0.0, 0.0, factor.z(), 0.0,
0.0, 0.0, 0.0, 1.0
};
}
static Matrix<4, 4, T> rotation(Rotation angles) {
auto radians = angles.radians();
auto c = radians.map([](auto a) { return cos(a); });
auto s = radians.map([](auto a) { return sin(a); });
Matrix<4, 4, T> rotation_x{
1.0f, 0.0f, 0.0f, 0.0f,
0.0f, c.x(), -s.x(), 0.0f,
0.0f, s.x(), c.x(), 0.0f,
0.0f, 0.0f, 0.0f, 1.0f,
};
Matrix<4, 4, T> rotation_y{
c.y(), 0.0f, s.y(), 0.0f,
0.0f, 1.0f, 0.0f, 0.0f,
-s.y(), 0.0f, c.y(), 0.0f,
0.0f, 0.0f, 0.0f, 1.0f,
};
Matrix<4, 4, T> rotation_z{
c.z(), -s.z(), 0.0f, 0.0f,
s.z(), c.z(), 0.0f, 0.0f,
0.0f, 0.0f, 1.0f, 0.0f,
0.0f, 0.0f, 0.0f, 1.0f,
};
return rotation_x * rotation_y * rotation_z;
}
Vector<C, T> row(USize index) const {
return Vector<C, T>{ &elements[index * C] };
}
Vector<R, T> col(USize index) const {
Vector<R, T> result{};
for (Int i = 0; i < R; i++) {
result[i] = this->operator()(index, i);
}
return result;
}
Matrix transpose() const {
Matrix result{};
for (Int y = 0; y < R; y++) {
for (Int x = 0; x < C; x++) {
result(x, y) = this->operator()(y, x);
}
}
return result;
}
Matrix operator+(const Matrix other) const {
Matrix result{};
for (Int i = 0; i < R * C; i++) {
result.elements[i] = elements[i] + other.elements[i];
}
return result;
}
Matrix operator*(Real scalar) {
Matrix result{};
for (Int i = 0; i < R * C; i++) {
result.elements[i] = elements[i] * scalar;
}
return result;
}
template<uint N>
Matrix<R, N, T> operator*(const Matrix<C, N, T> other) const {
Matrix<R, N, T> result{};
for (Int y = 0; y < R; y++) {
for (Int x = 0; x < N; x++) {
auto r = row(y);
auto c = other.col(x);
auto dot = r * c;
result(x, y) = dot;
}
}
return result;
}
Vector<R, T> operator*(const Vector<R, T> vector) const {
Matrix<R, 1, T> matrix(vector.elements);
matrix = this->operator*(matrix);
return Vector<R, T>{ matrix.elements };
}
const T& operator()(const USize x, const USize y) const {
return elements[y * C + x];
}
T& operator()(const USize x, const USize y) {
return elements[y * C + x];
}
std::string string() {
std::stringstream str{};
for (Int x = 0; x < R; x++) {
for (Int y = 0; y < C; y++) {
str << this->operator()(x, y) << " ";
}
str << "\n";
}
return str.str();
}
T elements[R * C];
};
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