EHS/include/ehs/Mat3.h

#pragma once

#include "EHS.h"
#include "Vec3.h"
#include "Mat2.h"

namespace ehs
{
	template<typename T = float>
	class Mat3
	{
	private:
		T data[9];

	public:
		Mat3()
		{
			for (UInt_8 i = 0; i < 9; ++i)
				data[i] = 0;
		}

		template<typename C>
		Mat3(const Mat2<C>& mat)
		{
			for (UInt_8 i = 0; i < 4; ++i)
				data[i / 2 * 4 + i % 2] = mat.data[i];
		}

		template<typename C>
		Mat3(const Mat3<C>& mat)
		{
			for (UInt_8 i = 0; i < 9; ++i)
				data[i] = mat.data[i];
		}

		template<typename C>
		Mat3<T>& operator=(const Mat3<C>& mat)
		{
			if (this == &mat)
				return *this;

			for (UInt_8 i = 0; i < 9; ++i)
				data[i] = mat.data[i];

			return *this;
		}

		operator Mat2<T>() const
		{
			Mat2<T> result;

			for (UInt_8 i = 0; i < 4; ++i)
				result[i] = data[i / 2 * 4 + i % 2];

			return result;
		}

		operator const T*() const
		{
			return data;
		}

		operator T*()
		{
			return data;
		}

		Vec3<T> operator*(Vec3<T> vec) const
		{
			Vec3<T> result;
			result.x = vec.x * data[0] + vec.y * data[3] + vec.z * data[6];
			result.y = vec.x * data[1] + vec.y * data[4] + vec.z * data[7];
			result.z = vec.x * data[2] + vec.y * data[5] + vec.z * data[8];

			return result;
		}

		Mat3<T>& operator*=(const T scalar)
		{
			for (UInt_8 i = 0; i < 9; ++i)
				data[i] *= scalar;

			return *this;
		}

		Mat3<T> operator*(const T scalar) const
		{
			Mat3<T> result;
			for (UInt_8 i = 0; i < 9; ++i)
				result.data[i] = data[i] * scalar;

			return result;
		}

		Mat3<T>& operator*=(const Mat3<T>& mat)
		{
			Mat3<T> old = *this;
			for (UInt_8 i = 0; i < 9; ++i)
			{
				UInt_8 row = i / 3;
				UInt_8 column = i % 3;
				data[i] = 0;
				data[i] += old.data[0 * 3 + column] * mat.data[row * 3 + 0];
				data[i] += old.data[1 * 3 + column] * mat.data[row * 3 + 1];
				data[i] += old.data[2 * 3 + column] * mat.data[row * 3 + 2];
			}

			return *this;
		}

		Mat3<T> operator*(const Mat3<T>& mat) const
		{
			Mat3<T> result;
			for (UInt_8 i = 0; i < 9; ++i)
			{
				UInt_8 row = i / 3;
				UInt_8 column = i % 3;
				result.data[i] += data[0 * 3 + column] * mat.data[row * 3 + 0];
				result.data[i] += data[1 * 3 + column] * mat.data[row * 3 + 1];
				result.data[i] += data[2 * 3 + column] * mat.data[row * 3 + 2];
			}

			return result;
		}

		Mat3<T> GetTranspose() const
		{
			Mat3<T> result;
			for (UInt_8 i = 0; i < 9; ++i)
				result.data[i] = data[3 * (i % 3) + i / 3];

			return result;
		}

		void Transpose()
		{
			Mat3<T> old = *this;
			for (UInt_8 i = 0; i < 9; ++i)
				data[i] = old.data[3 * (i % 3) + i / 3];
		}

		Mat3<T> GetMinor() const
		{
			Mat3<T> result;

			for (UInt_8 r = 0; r < 3; ++r)
				for (UInt_8 c = 0; c < 3; ++c)
					result[3 * r + c] = Cut(r, c).GetDeterminant();

			return result;
		}

		void Minor()
		{
			Mat3<T> old = *this;

			for (UInt_8 r = 0; r < 3; ++r)
				for (UInt_8 c = 0; c < 3; ++c)
					data[3 * r + c] = old.Cut(r, c).GetDeterminant();
		}

		Mat2<T> Cut(const UInt_8 row, const UInt_8 column) const
		{
			Mat2<T> result;
			UInt_8 index = 0;

			for (UInt_8 r = 0; r < 3; ++r)
			{
				for (UInt_8 c = 0; c < 3; ++c)
				{
					if (r == row || c == column)
						continue;

					result[index++] = data[3 * r + c];
				}
			}

			return result;
		}

		T GetDeterminant() const
		{
			Mat3<T> cofactor = GetCofactor();
			T result = 0;

			for (UInt_8 c = 0; c < 3; ++c)
				result += data[c] * cofactor[c];

			return result;
		}

		Mat3<T> GetCofactor() const
		{
			Mat3<T> minor = GetMinor();
			Mat3<T> result;

			for (UInt_8 r = 0; r < 3; ++r)
			{
				for (UInt_8 c = 0; c < 3; ++c)
				{
					UInt_8 i = 3 * c + r;
					result.data[i] = minor.data[i] * Math::Pow<T>(-1, r + c);
				}
			}

			return result;
		}

		void Cofactor()
		{
			Mat3<T> minor = GetMinor();

			for (UInt_8 r = 0; r < 3; ++r)
			{
				for (UInt_8 c = 0; c < 3; ++c)
				{
					UInt_8 i = 3 * c + r;
					data[i] = minor.data[i] * Math::Pow<T>(-1, r + c);
				}
			}
		}

		Mat3<T> GetAdjugate() const
		{
			return GetCofactor().GetTranspose();
		}

		void Adjugate()
		{
			Cofactor();
			Transpose();
		}

		Mat3<T> GetInverse() const
		{
			T det = GetDeterminant();
			if (Math::ComCmp(det, 0))
				return {};

			return GetAdjugate() * (1 / det);
		}

		void Inverse()
		{
			T det = GetDeterminant();
			if (Math::ComCmp(det, 0))
				return;

			Adjugate();
			operator*=(1 / det);
		}

		static Mat3<T> Identity()
		{
			Mat3<T> result;
			result.data[0] = 1;
			result.data[4] = 1;
			result.data[8] = 1;
			return result;
		}

		static Mat3<T> Scale(const Vec3<T>& scale)
		{
			Mat3<T> result;
			result.data[0] = scale.x;
			result.data[4] = scale.y;
			result.data[8] = scale.z;

			return result;
		}

		static Mat3<T> PitchRotate(const T angle)
		{
			T radians = Math::Rads(angle);

			Mat3<T> result;
			result.data[0] = 1;
			result.data[4] = Math::Cos(radians);
			result.data[5] = Math::Sin(radians);
			result.data[7] = -Math::Sin(radians);
			result.data[8] = Math::Cos(radians);

			return result;
		}

		static Mat3<T> YawRotate(const T angle)
		{
			T radians = Math::Rads(angle);

			Mat3<T> result;
			result.data[0] = Math::Cos(radians);
			result.data[2] = -Math::Sin(radians);
			result.data[4] = 1;
			result.data[6] = Math::Sin(radians);
			result.data[8] = Math::Cos(radians);

			return result;
		}

		static Mat3<T> RollRotate(const T angle)
		{
			T radians = Math::Rads(angle);

			Mat3<T> result;
			result.data[0] = Math::Cos(radians);
			result.data[1] = Math::Sin(radians);
			result.data[3] = -Math::Sin(radians);
			result.data[4] = Math::Cos(radians);
			result.data[8] = 1;

			return result;
		}

		static Mat3<T> Rotate(const Vec3<T>& vec)
		{
			return YawRotate(vec.y) * RollRotate(vec.z) * PitchRotate(vec.x);
		}
	};

	template class EHS_LIB_IO Mat3<float>;
	template class EHS_LIB_IO Mat3<double>;

	typedef Mat3<float> Mat3_f;
	typedef Mat3<double> Mat3_d;
}