DtMatrixUtils.h

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/****************************************************************************** 
** Copyright (c) 2020 MAK Technologies, Inc. 
** All rights reserved. 
******************************************************************************/ 

#pragma once

#include <vrvMath/DtMatrix4.h>

namespace makVrv 
{

   template<class T>
   class DtMatrixUtils
   {
   public:
      static DtMatrix4<T> matrixRotationX(T angle);
      static DtMatrix4<T> matrixRotationY(T angle);
      static DtMatrix4<T> matrixRotationZ(T angle);
      static DtMatrix4<T> matrixRotation_4x4(const DtVector3<T>& axis, T angle);
      static DtMatrix3<T> matrixRotation_3x3(const DtVector3<T>& axis, T angle);
   };

   template<class T>
   DtMatrix4<T> DtMatrixUtils<T>::matrixRotationX(T angle)
   {
      DtMatrix4<T> result;

      result.setIdentity();

      result[1][1] = DtMath::Cos(angle);result[1][2] = -DtMath::Sin(angle);
      result[2][1] = DtMath::Sin(angle);result[2][2] =  DtMath::Cos(angle);

      return result;
   }

   template<class T>
   DtMatrix4<T> DtMatrixUtils<T>::matrixRotationY(T angle)
   {
      DtMatrix4<T> result;

      result.setIdentity();

      result[0][0] =  DtMath::Cos(angle);result[0][2] =  DtMath::Sin(angle);
      result[2][0] = -DtMath::Sin(angle);result[2][2] =  DtMath::Cos(angle);

      return result;
   }

   template<class T>
   DtMatrix4<T> DtMatrixUtils<T>::matrixRotationZ(T angle)
   {
      DtMatrix4<T> result;

      result.setIdentity();

      result[0][0] = DtMath::Cos(angle);result[0][1] = -DtMath::Sin(angle);
      result[1][0] = DtMath::Sin(angle);result[1][1] =  DtMath::Cos(angle);

      return result;
   }

   template<class T>
   DtMatrix3<T> DtMatrixUtils<T>::matrixRotation_3x3(const DtVector3<T>& axis, T theta)
   {
      DtMatrix3<T> result;

      T sin_theta = DtMath::Sin(theta);
      T cos_theta = DtMath::Cos(theta);
      T one_minus_cos_theta = 1-DtMath::Cos(theta);

      result[0][0] = cos_theta + DtMath::Squared(axis.x)*(one_minus_cos_theta);
      result[0][1] = axis.x*axis.y*one_minus_cos_theta - axis.z*sin_theta;
      result[0][2] = axis.x*axis.z*one_minus_cos_theta + axis.y*sin_theta;

      result[1][0] = axis.y*axis.x*one_minus_cos_theta + axis.z*sin_theta;
      result[1][1] = cos_theta + DtMath::Squared(axis.y)*one_minus_cos_theta;
      result[1][2] = axis.y*axis.z*one_minus_cos_theta - axis.x*sin_theta;

      result[2][0] = axis.z*axis.x*one_minus_cos_theta - axis.y*sin_theta;
      result[2][1] = axis.z*axis.y*one_minus_cos_theta + axis.x*sin_theta;
      result[2][2] = cos_theta + DtMath::Squared(axis.z)*one_minus_cos_theta;

      return result;
   }
   template<class T>
   DtMatrix4<T> DtMatrixUtils<T>::matrixRotation_4x4(const DtVector3<T>& axis, T theta)
   {
      return DtMatrix4<T>(matrixRotation_3x3(axis, theta));
   }

   class DtMatrixPrecisionConvert
   {
   public:
      static Matrix3_32 ToFloat32(const Matrix3_64& rhs)
      {
         Matrix3_32 result;
         for(size_t i = 0; i < 3; ++i)
         {
            for(size_t j = 0; j < 3; ++j)
            {
               result[i][j] = static_cast<float32>(rhs[i][j]);
            }
         }
         return result;
      }

      static Matrix4_32 ToFloat32(const Matrix4_64& rhs)
      {
         Matrix4_32 result;
         for(size_t i = 0; i < 4; ++i)
         {
            for(size_t j = 0; j < 4; ++j)
            {
               result[i][j] = static_cast<float32>(rhs[i][j]);
            }
         }
         return result;
      }
   };

} //namespace makVrv