Mat4.hpp

 
#ifndef GYM_PCB_MATH_MAT4_H
#define GYM_PCB_MATH_MAT4_H
 
#include "Geometry.hpp"
#include <cassert>
 
namespace math
{
 
class Mat4
{
public:
    Mat4() { }
    Mat4(Real all);
    Mat4(const Real *);
 
    const Real *data() const { return &m[0]; }
 
    Real& operator[](uint i) { assert(i < 16); return m[i]; }
    Real operator[](uint i) const { assert(i < 16); return m[i]; }
 
    Mat4& operator=(const Mat4&);
 
    Mat4& operator+=(const Mat4&);
    Mat4  operator+(const Mat4&) const;
    Mat4& operator-=(const Mat4&);
    Mat4  operator-(const Mat4&) const;
    Mat4& operator*=(Real);
    Mat4  operator*(Real) const;
 
    Mat4& operator*=(const Mat4&);
    Mat4  operator*(const Mat4&) const;
 
    Mat4& setOrtho(const Vector_3 &L_B_N, const Vector_3 &R_T_F);
 
    std::string str() const;
 
private:
    Real m[16];
 
public:
    static const Mat4 ID;
    static const Mat4 ZERO;
};
 
} // namespace math
 
#endif // GYM_PCB_MATH_MAT4_H