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#ifndef DQM_TRACKERREMAPPER_MAT4_H
#define DQM_TRACKERREMAPPER_MAT4_H
// helper class for matrix operations
// - 4 rows
// - 3 columns
// in math operations behaves like 4x4 matrix with 4th row equal to: [0, 0, 0, 1]
// ! it's just the minimum implementation !
class mat4 {
public:
float data[12];
mat4() {}
mat4(float r00,
float r10,
float r20,
float r01,
float r11,
float r21,
float r02,
float r12,
float r22,
float x,
float y,
float z) {
data[0] = r00;
data[1] = r10;
data[2] = r20;
data[3] = r01;
data[4] = r11;
data[5] = r21;
data[6] = r02;
data[7] = r12;
data[8] = r22;
data[9] = x;
data[10] = y;
data[11] = z;
}
mat4(const mat4& mat) {
for (unsigned i = 0; i < 12; ++i)
data[i] = mat[i];
}
mat4& operator=(const mat4& mat) = default;
mat4& operator&(const mat4& mat) {
if (this != &mat) {
for (unsigned i = 0; i < 12; ++i)
data[i] = mat[i];
}
return *this;
}
mat4 operator+(const mat4& mat) const {
mat4 tmp;
for (unsigned i = 0; i < 12; ++i)
tmp[i] = (*this)[i] + mat[i];
return tmp;
}
mat4 operator*(float s) const {
mat4 tmp;
for (unsigned i = 0; i < 12; ++i)
tmp[i] = (*this)[i] * s;
return tmp;
}
float& operator[](unsigned i) { return data[i]; }
float operator[](unsigned i) const { return data[i]; }
void MulVec(const float* vecIn, float* vecOut) {
for (unsigned i = 0; i < 3; ++i) {
float temp = 0;
for (unsigned j = 0; j < 3; ++j) {
temp += data[3 * j + i] * vecIn[j];
}
vecOut[i] = temp + data[9 + i];
}
}
void BuildOrthographicMatrix(float left, float right, float top, float bottom, float near, float far) {
float rmli = 1.0f / (right - left);
float rpl = right + left;
float tmbi = 1.0f / (top - bottom);
float tpb = top + bottom;
float fmni = 1.0f / (far - near);
float fpn = far + near;
data[0] = 2.0f * rmli;
data[1] = 0.0f;
data[2] = 0.0f;
data[3] = 0.0f;
data[4] = 2.0f * tmbi;
data[5] = 0.0f;
data[6] = 0.0f;
data[7] = 0.0f;
data[8] = -2.0f * fmni;
data[9] = -rpl * rmli;
data[10] = -tpb * tmbi;
data[11] = -fpn * fmni;
}
};
#endif
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