Adding more Mat4x4 functionality

include/J3ML/Geometry/Frustum.h

@@ -4,6 +4,7 @@
 #pragma once
 
 #include "Plane.h"
+#include <J3ML/LinearAlgebra/CoordinateFrame.h>
 
 namespace Geometry
 {
@@ -32,11 +33,10 @@ namespace Geometry
         Plane LeftFace;
         Plane FarFace;
         Plane NearFace;
-        static Frustum CreateFrustumFromCamera(const Camera& cam, float aspect, float fovY, float zNear, float zFar);
+        static Frustum CreateFrustumFromCamera(const CoordinateFrame& cam, float aspect, float fovY, float zNear, float zFar);
-
     };
 
-    Frustum Frustum::CreateFrustumFromCamera(const Camera &cam, float aspect, float fovY, float zNear, float zFar) {
+    Frustum Frustum::CreateFrustumFromCamera(const CoordinateFrame &cam, float aspect, float fovY, float zNear, float zFar) {
         Frustum frustum;
         const float halfVSide = zFar * tanf(fovY * 0.5f);
         const float halfHSide = halfVSide * aspect;
@@ -51,5 +51,4 @@ namespace Geometry
         frustum.BottomFace   = Plane{cam.Position, Vector3::Cross(frontMultFar + cam.Up * halfVSide, cam.Right)};
         return frustum;
     }
-
 }

include/J3ML/Geometry/LineSegment.h

@@ -4,6 +4,7 @@
 
 namespace Geometry
 {
+    using LinearAlgebra::Vector3;
     class LineSegment
     {
         Vector3 A;

include/J3ML/Geometry/OBB.h

@@ -1,9 +1,8 @@
 #pragma once
 
 #include <J3ML/Geometry/AABB.h>
-#include "Polyhedron.h"
+#include <J3ML/Geometry/LineSegment.h>
-
+#include <J3ML/Geometry/Polyhedron.h>
-
 
 namespace Geometry {
     class OBB
@@ -18,14 +17,14 @@ namespace Geometry {
 
         OBB() {}
         OBB(const Vector3& pos, const Vector3& radii, const Vector3& axis0, const Vector3& axis1, const Vector3& axis2);
-        OBB(const AABB& aabb);
+        OBB(const Geometry::AABB& aabb);
         inline static int NumFaces() { return 6;  }
         inline static int NumEdges() { return 12; }
         inline static int NumVertices() { return 8; }
 
         Polyhedron ToPolyhedron() const;
 
-        AABB MinimalEnclosingAABB() const;
+        Geometry::AABB MinimalEnclosingAABB() const;
 
         Sphere MinimalEnclosingSphere() const;
         Sphere MaximalContainedSphere() const;
@@ -42,7 +41,7 @@ namespace Geometry {
 
         float Volume();
         float SurfaceArea();
-        LineSegment Edge(int edgeIndex) const;
+        Geometry::LineSegment Edge(int edgeIndex) const;
         Vector3 CornerPoint(int cornerIndex) const;
     };
 }

include/J3ML/LinearAlgebra/CoordinateFrame.h

@@ -1,20 +1,16 @@
 #pragma once
 
 #include <J3ML/LinearAlgebra.h>
+#include <J3ML/LinearAlgebra/Vector3.h>
 
 namespace LinearAlgebra
 {
     /// The CFrame is fundamentally 4 vectors (position, forward, right, up vector)
     class CoordinateFrame
     {
-        Vector3 getPosition();
+        Vector3 Position;
-        Vector3 getLookVector();
+        Vector3 Front;
-        Vector3 getRightVector();
+        Vector3 Right;
-        Vector3 getUpVector();
+        Vector3 Up;
-        AxisAngle GetAxisAngle();
-        EulerAngle GetEulerAngleXYZ();
-        EulerAngle GetWorldAngleYZX();
     };
-
-
 }

include/J3ML/LinearAlgebra/Matrix4x4.h

@@ -23,24 +23,38 @@ namespace LinearAlgebra {
         enum { Rows = 4 };
         enum { Cols = 4 };
 
-        // A constant matrix that has zeroes in all its entries
+        /// A constant matrix that has zeroes in all its entries
         static const Matrix4x4 Zero;
-        // A constant matrix that is the identity.
+        /// A constant matrix that is the identity.
         static const Matrix4x4 Identity;
 
-        // A compile-time constant float4x4 which has NaN in each element.
+        /// A compile-time constant float4x4 which has NaN in each element.
-        // For this constant, each element has the value of quet NaN, or Not-A-Number.
+        /// For this constant, each element has the value of quet NaN, or Not-A-Number.
-        // Never compare a matrix to this value. Due to how IEEE floats work, "nan == nan" returns false!
+        /// Never compare a matrix to this value. Due to how IEEE floats work, "nan == nan" returns false!
         static const Matrix4x4 NaN;
 
+        /// Creates a new float4x4 with uninitialized member values.
         Matrix4x4() {}
         Matrix4x4(float val);
+        /// Constructs this float4x4 to represent the same transformation as the given float3x3.
+        /** This function expands the last row and column of this matrix with the elements from the identity matrix. */
         Matrix4x4(const Matrix3x3&);
-
+        /// Constructs a new float4x4 by explicitly specifying all the matrix elements.
+        /// The elements are specified in row-major format, i.e. the first row first followed by the second and third row.
+        /// E.g. The element _10 denotes the scalar at second (index 1) row, first (index 0) column.
         Matrix4x4(float m00, float m01, float m02, float m03,
             float m10, float m11, float m12, float m13,
             float m20, float m21, float m22, float m23,
             float m30, float m31, float m32, float m33);
+        /// Constructs the matrix by explicitly specifying the four column vectors.
+        /** @param col0 The first column. If this matrix represents a change-of-basis transformation, this parameter is the world-space
+            direction of the local X axis.
+            @param col1 The second column. If this matrix represents a change-of-basis transformation, this parameter is the world-space
+            direction of the local Y axis.
+            @param col2 The third column. If this matrix represents a change-of-basis transformation, this parameter is the world-space
+            direction of the local Z axis.
+            @param col3 The fourth column. If this matrix represents a change-of-basis transformation, this parameter is the world-space
+            position of the local space pivot. */
         Matrix4x4(const Vector4& r1, const Vector4& r2, const Vector4& r3, const Vector4& r4);
 
 
@@ -70,10 +84,15 @@ namespace LinearAlgebra {
 
         Vector4 GetRow(int index) const;
         Vector4 GetColumn(int index) const;
-        float At(int x, int y) const
+        float At(int x, int y) const;
-        {
+
-            return elems[x][y];
+        /// Tests if this matrix does not contain any NaNs or infs.
-        }
+        /** @return Returns true if the entries of this float4x4 are all finite, and do not contain NaN or infs. */
+        bool IsFinite() const;
+
+        /// Tests if this matrix has an inverse.
+        /** @return Returns true if this matrix can be inverted, up to the given epsilon. */
+        bool IsInvertible(float epsilon = 1e-3f) const;
 
         Vector4 Diagonal() const;
         Vector4 WorldX() const;
@@ -84,10 +103,7 @@ namespace LinearAlgebra {
         // If the determinant is nonzero, this matrix is invertible.
         float Determinant() const;
 
-        Matrix4x4 Inverse() const
+        Matrix4x4 Inverse() const;
-        {
-
-        }
 
         Matrix4x4 Transpose() const;
 
@@ -117,6 +133,53 @@ namespace LinearAlgebra {
             return Vector4{elems[row][0], elems[row][1], elems[row][2], elems[row][3]};
         }
 
+        Matrix4x4 operator-() const;
+        Matrix4x4 operator +(const Matrix4x4& rhs) const;
+        Matrix4x4 operator - (const Matrix4x4& rhs) const;
+
+        Matrix4x4 operator *(float scalar) const
+        {
+
+        }
+
+        Vector2 operator * (const Vector2& rhs) const;
+        Vector3 operator * (const Vector3& rhs) const;
+        Vector4 operator * (const Vector4& rhs) const;
+
+        Matrix4x4 operator * (const Matrix3x3 &rhs) const
+        {
+
+        }
+
+        Matrix4x4 operator +() const { return *this; }
+
+        Matrix4x4 operator * (const Matrix4x4& rhs) const
+        {
+
+
+            float r00 = At(0, 0) * rhs.At(0, 0) + At(0, 1) * rhs.At(1, 0) + At(0, 2) * rhs.At(2, 0) + At(0, 3) * rhs.At(3, 0);
+            float r01 = At(0, 0) * rhs.At(0, 1) + At(0, 1) * rhs.At(1, 1) + At(0, 2) * rhs.At(2, 1) + At(0, 3) * rhs.At(3, 1);
+            float r02 = At(0, 0) * rhs.At(0, 2) + At(0, 1) * rhs.At(1, 2) + At(0, 2) * rhs.At(2, 2) + At(0, 3) * rhs.At(3, 2);
+            float r03 = At(0, 0) * rhs.At(0, 3) + At(0, 1) * rhs.At(1, 3) + At(0, 2) * rhs.At(2, 3) + At(0, 3) * rhs.At(3, 3);
+
+            float r10 = At(1, 0) * rhs.At(0, 0) + At(1, 1) * rhs.At(1, 0) + At(1, 2) * rhs.At(2, 0) + At(1, 3) * rhs.At(3, 0);
+            float r11 = At(1, 0) * rhs.At(0, 1) + At(1, 1) * rhs.At(1, 1) + At(1, 2) * rhs.At(2, 1) + At(1, 3) * rhs.At(3, 1);
+            float r12 = At(1, 0) * rhs.At(0, 2) + At(1, 1) * rhs.At(1, 2) + At(1, 2) * rhs.At(2, 2) + At(1, 3) * rhs.At(3, 2);
+            float r13 = At(1, 0) * rhs.At(0, 3) + At(1, 1) * rhs.At(1, 3) + At(1, 2) * rhs.At(2, 3) + At(1, 3) * rhs.At(3, 3);
+
+            float r20 = At(2, 0) * rhs.At(0, 0) + At(2, 1) * rhs.At(1, 0) + At(2, 2) * rhs.At(2, 0) + At(2, 3) * rhs.At(3, 0);
+            float r21 = At(2, 0) * rhs.At(0, 1) + At(2, 1) * rhs.At(1, 1) + At(2, 2) * rhs.At(2, 1) + At(2, 3) * rhs.At(3, 1);
+            float r22 = At(2, 0) * rhs.At(0, 2) + At(2, 1) * rhs.At(1, 2) + At(2, 2) * rhs.At(2, 2) + At(2, 3) * rhs.At(3, 2);
+            float r23 = At(2, 0) * rhs.At(0, 3) + At(2, 1) * rhs.At(1, 3) + At(2, 2) * rhs.At(2, 3) + At(2, 3) * rhs.At(3, 3);
+
+            float r30 = At(3, 0) * rhs.At(0, 0) + At(3, 1) * rhs.At(1, 0) + At(3, 2) * rhs.At(2, 0) + At(3, 3) * rhs.At(3, 0);
+            float r31 = At(3, 0) * rhs.At(0, 1) + At(3, 1) * rhs.At(1, 1) + At(3, 2) * rhs.At(2, 1) + At(3, 3) * rhs.At(3, 1);
+            float r32 = At(3, 0) * rhs.At(0, 2) + At(3, 1) * rhs.At(1, 2) + At(3, 2) * rhs.At(2, 2) + At(3, 3) * rhs.At(3, 2);
+            float r33 = At(3, 0) * rhs.At(0, 3) + At(3, 1) * rhs.At(1, 3) + At(3, 2) * rhs.At(2, 3) + At(3, 3) * rhs.At(3, 3);
+            return {r00,r01,r02,r03, r10, r11, r12, r13, r20,r21,r22,r23, r30,r31,r32,r33};
+        }
+
+
     protected:
         float elems[4][4];
 

src/J3ML/Geometry/LineSegment.cpp

@@ -1,3 +1,5 @@
-//
+#include <J3ML/Geometry/LineSegment.h>
-// Created by dawsh on 1/25/24.
+
-//
+namespace Geometry {
+
+}

src/J3ML/LinearAlgebra/Matrix4x4.cpp

@@ -167,5 +167,9 @@ namespace LinearAlgebra {
         float p30 = 0;       float p31 = 0;       float p32 = 0.f;         float p33 = 1.f;
     }
 
+    float Matrix4x4::At(int x, int y) const {
+        return elems[x][y];
+    }
+
 
 }