PxMat33.h

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#ifndef PX_MAT33_H
#define PX_MAT33_H

#include "foundation/PxVec3.h"
#include "foundation/PxQuat.h"

#if !PX_DOXYGEN
namespace physx
{
#endif

template<class Type>
class PxMat33T
{
    public:
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxMat33T()
    {
    }

    PX_CUDA_CALLABLE PX_INLINE PxMat33T(PxIDENTITY) :
        column0(Type(1.0), Type(0.0), Type(0.0)),
        column1(Type(0.0), Type(1.0), Type(0.0)),
        column2(Type(0.0), Type(0.0), Type(1.0))
    {
    }

    PX_CUDA_CALLABLE PX_INLINE PxMat33T(PxZERO) :
        column0(Type(0.0)),
        column1(Type(0.0)),
        column2(Type(0.0))
    {
    }

    PX_CUDA_CALLABLE PxMat33T(const PxVec3T<Type>& col0, const PxVec3T<Type>& col1, const PxVec3T<Type>& col2) :
        column0(col0),
        column1(col1),
        column2(col2)
    {
    }

    explicit PX_CUDA_CALLABLE PX_INLINE PxMat33T(Type r) :
        column0(r, Type(0.0), Type(0.0)),
        column1(Type(0.0), r, Type(0.0)),
        column2(Type(0.0), Type(0.0), r)
    {
    }

    explicit PX_CUDA_CALLABLE PX_INLINE PxMat33T(Type values[]) :
        column0(values[0], values[1], values[2]),
        column1(values[3], values[4], values[5]),
        column2(values[6], values[7], values[8])
    {
    }

    explicit PX_CUDA_CALLABLE PX_FORCE_INLINE PxMat33T(const PxQuatT<Type>& q)
    {
        // PT: TODO: PX-566
        const Type x = q.x;
        const Type y = q.y;
        const Type z = q.z;
        const Type w = q.w;

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

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

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

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

        column0 = PxVec3T<Type>(Type(1.0) - yy - zz, xy + zw, xz - yw);
        column1 = PxVec3T<Type>(xy - zw, Type(1.0) - xx - zz, yz + xw);
        column2 = PxVec3T<Type>(xz + yw, yz - xw, Type(1.0) - xx - yy);
    }

    PX_CUDA_CALLABLE PX_INLINE PxMat33T(const PxMat33T& other) :
        column0(other.column0),
        column1(other.column1),
        column2(other.column2)
    {
    }

    PX_CUDA_CALLABLE PX_FORCE_INLINE PxMat33T& operator=(const PxMat33T& other)
    {
        column0 = other.column0;
        column1 = other.column1;
        column2 = other.column2;
        return *this;
    }

    PX_CUDA_CALLABLE PX_INLINE static const PxMat33T createDiagonal(const PxVec3T<Type>& d)
    {
        return PxMat33T(PxVec3T<Type>(d.x, Type(0.0), Type(0.0)),
                        PxVec3T<Type>(Type(0.0), d.y, Type(0.0)),
                        PxVec3T<Type>(Type(0.0), Type(0.0), d.z));
    }

    PX_CUDA_CALLABLE PX_INLINE static const PxMat33T outer(const PxVec3T<Type>& a, const PxVec3T<Type>& b)
    {
        return PxMat33T(a * b.x, a * b.y, a * b.z);
    }

    PX_CUDA_CALLABLE PX_INLINE bool operator==(const PxMat33T& m) const
    {
        return column0 == m.column0 && column1 == m.column1 && column2 == m.column2;
    }

    PX_CUDA_CALLABLE PX_FORCE_INLINE const PxMat33T getTranspose() const
    {
        const PxVec3T<Type> v0(column0.x, column1.x, column2.x);
        const PxVec3T<Type> v1(column0.y, column1.y, column2.y);
        const PxVec3T<Type> v2(column0.z, column1.z, column2.z);

        return PxMat33T(v0, v1, v2);
    }

    PX_CUDA_CALLABLE PX_INLINE const PxMat33T getInverse() const
    {
        const Type det = getDeterminant();
        PxMat33T inverse;

        if(det != Type(0.0))
        {
            const Type invDet = Type(1.0) / det;

            inverse.column0.x = invDet * (column1.y * column2.z - column2.y * column1.z);
            inverse.column0.y = invDet * -(column0.y * column2.z - column2.y * column0.z);
            inverse.column0.z = invDet * (column0.y * column1.z - column0.z * column1.y);

            inverse.column1.x = invDet * -(column1.x * column2.z - column1.z * column2.x);
            inverse.column1.y = invDet * (column0.x * column2.z - column0.z * column2.x);
            inverse.column1.z = invDet * -(column0.x * column1.z - column0.z * column1.x);

            inverse.column2.x = invDet * (column1.x * column2.y - column1.y * column2.x);
            inverse.column2.y = invDet * -(column0.x * column2.y - column0.y * column2.x);
            inverse.column2.z = invDet * (column0.x * column1.y - column1.x * column0.y);

            return inverse;
        }
        else
        {
            return PxMat33T(PxIdentity);
        }
    }

    PX_CUDA_CALLABLE PX_INLINE Type getDeterminant() const
    {
        return column0.dot(column1.cross(column2));
    }

    PX_CUDA_CALLABLE PX_INLINE const PxMat33T operator-() const
    {
        return PxMat33T(-column0, -column1, -column2);
    }

    PX_CUDA_CALLABLE PX_INLINE const PxMat33T operator+(const PxMat33T& other) const
    {
        return PxMat33T(column0 + other.column0, column1 + other.column1, column2 + other.column2);
    }

    PX_CUDA_CALLABLE PX_INLINE const PxMat33T operator-(const PxMat33T& other) const
    {
        return PxMat33T(column0 - other.column0, column1 - other.column1, column2 - other.column2);
    }

    PX_CUDA_CALLABLE PX_INLINE const PxMat33T operator*(Type scalar) const
    {
        return PxMat33T(column0 * scalar, column1 * scalar, column2 * scalar);
    }

    template<class Type2>
    PX_CUDA_CALLABLE PX_INLINE friend PxMat33T<Type2> operator*(Type2, const PxMat33T<Type2>&);

    PX_CUDA_CALLABLE PX_INLINE const PxVec3T<Type> operator*(const PxVec3T<Type>& vec) const
    {
        return transform(vec);
    }

    // a <op>= b operators

    PX_CUDA_CALLABLE PX_FORCE_INLINE const PxMat33T operator*(const PxMat33T& other) const
    {
        // Rows from this <dot> columns from other
        // column0 = transform(other.column0) etc
        return PxMat33T(transform(other.column0),
                        transform(other.column1),
                        transform(other.column2));
    }

    PX_CUDA_CALLABLE PX_INLINE PxMat33T& operator+=(const PxMat33T& other)
    {
        column0 += other.column0;
        column1 += other.column1;
        column2 += other.column2;
        return *this;
    }

    PX_CUDA_CALLABLE PX_INLINE PxMat33T& operator-=(const PxMat33T& other)
    {
        column0 -= other.column0;
        column1 -= other.column1;
        column2 -= other.column2;
        return *this;
    }

    PX_CUDA_CALLABLE PX_INLINE PxMat33T& operator*=(Type scalar)
    {
        column0 *= scalar;
        column1 *= scalar;
        column2 *= scalar;
        return *this;
    }

    PX_CUDA_CALLABLE PX_INLINE PxMat33T& operator*=(const PxMat33T& other)
    {
        *this = *this * other;
        return *this;
    }

    PX_CUDA_CALLABLE PX_FORCE_INLINE Type operator()(PxU32 row, PxU32 col) const
    {
        return (*this)[col][row];
    }

    PX_CUDA_CALLABLE PX_FORCE_INLINE Type& operator()(PxU32 row, PxU32 col)
    {
        return (*this)[col][row];
    }

    // Transform etc

    PX_CUDA_CALLABLE PX_FORCE_INLINE const PxVec3T<Type> transform(const PxVec3T<Type>& other) const
    {
        return column0 * other.x + column1 * other.y + column2 * other.z;
    }

    PX_CUDA_CALLABLE PX_INLINE const PxVec3T<Type> transformTranspose(const PxVec3T<Type>& other) const
    {
        return PxVec3T<Type>(column0.dot(other), column1.dot(other), column2.dot(other));
    }

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

    PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3T<Type>& operator[](PxU32 num)
    {
        return (&column0)[num];
    }

    PX_CUDA_CALLABLE PX_FORCE_INLINE const PxVec3T<Type>& operator[](PxU32 num) const
    {
        return (&column0)[num];
    }

    // Data, see above for format!

    PxVec3T<Type>   column0, column1, column2; // the three base vectors
};

template<class Type>
PX_CUDA_CALLABLE PX_INLINE PxMat33T<Type> operator*(Type scalar, const PxMat33T<Type>& m)
{
    return PxMat33T<Type>(scalar * m.column0, scalar * m.column1, scalar * m.column2);
}

// implementation from PxQuat.h
template<class Type>
PX_CUDA_CALLABLE PX_INLINE PxQuatT<Type>::PxQuatT(const PxMat33T<Type>& m)
{
    if(m.column2.z < Type(0))
    {
        if(m.column0.x > m.column1.y)
        {
            const Type t = Type(1.0) + m.column0.x - m.column1.y - m.column2.z;
            *this = PxQuatT<Type>(t, m.column0.y + m.column1.x, m.column2.x + m.column0.z, m.column1.z - m.column2.y) * (Type(0.5) / PxSqrt(t));
        }
        else
        {
            const Type t = Type(1.0) - m.column0.x + m.column1.y - m.column2.z;
            *this = PxQuatT<Type>(m.column0.y + m.column1.x, t, m.column1.z + m.column2.y, m.column2.x - m.column0.z) * (Type(0.5) / PxSqrt(t));
        }
    }
    else
    {
        if(m.column0.x < -m.column1.y)
        {
            const Type t = Type(1.0) - m.column0.x - m.column1.y + m.column2.z;
            *this = PxQuatT<Type>(m.column2.x + m.column0.z, m.column1.z + m.column2.y, t, m.column0.y - m.column1.x) * (Type(0.5) / PxSqrt(t));
        }
        else
        {
            const Type t = Type(1.0) + m.column0.x + m.column1.y + m.column2.z;
            *this = PxQuatT<Type>(m.column1.z - m.column2.y, m.column2.x - m.column0.z, m.column0.y - m.column1.x, t) * (Type(0.5) / PxSqrt(t));
        }
    }
}

typedef PxMat33T<float>     PxMat33;
typedef PxMat33T<double>    PxMat33d;

#if !PX_DOXYGEN
} // namespace physx
#endif

#endif