sqwarmed/sdk_src/public/nmatrix.h

//========= Copyright <20> 1996-2005, Valve Corporation, All rights reserved. ============//
//
// Purpose: 
//
// $NoKeywords: $
//=============================================================================//

#ifndef NMATRIX_H
#define NMATRIX_H
#ifdef _WIN32
#pragma once
#endif


#include <assert.h>
#include "nvector.h"


#define NMatrixMN NMatrix<M,N>


template<int M, int N>
class NMatrix
{
public:

						NMatrixMN() {}
	
	static NMatrixMN	SetupNMatrixNull();					// Return a matrix of all zeros.
	static NMatrixMN	SetupNMatrixIdentity();				// Return an identity matrix.

	NMatrixMN const&	operator=( NMatrixMN const &other );

	NMatrixMN			operator+( NMatrixMN const &v ) const;
	NMatrixMN const&	operator+=( NMatrixMN const &v );

	NMatrixMN			operator-() const;
	NMatrixMN			operator-( NMatrixMN const &v ) const;

	// Multiplies the column vector on the right-hand side.
	NVector<M>			operator*( NVector<N> const &v ) const;

	// Can't get the compiler to work with a real MxN * NxR matrix multiply...
	NMatrix<M,M>		operator*( NMatrix<N,M> const &b ) const;

	NMatrixMN			operator*( float val ) const;
	
	bool				InverseGeneral( NMatrixMN &mInverse ) const;
	NMatrix<N,M>		Transpose() const;


public:

	float				m[M][N];
};



// Return the matrix generated by multiplying a column vector 'a' by row vector 'b'.
template<int N>
inline NMatrix<N,N> OuterProduct( NVectorN const &a, NVectorN const &b )
{
	NMatrix<N,N> ret;

	for( int i=0; i < N; i++ )
		for( int j=0; j < N; j++ )
			ret.m[i][j] = a.v[i] * b.v[j];

	return ret;
}


// -------------------------------------------------------------------------------- //
// NMatrix inlines.
// -------------------------------------------------------------------------------- //

template<int M, int N>
inline NMatrixMN NMatrixMN::SetupNMatrixNull()
{
	NMatrix ret;
	memset( ret.m, 0, sizeof(float)*M*N );
	return ret;
}


template<int M, int N>
inline NMatrixMN NMatrixMN::SetupNMatrixIdentity()
{
	assert( M == N );	// Identity matrices must be square.

	NMatrix ret;
	memset( ret.m, 0, sizeof(float)*M*N );
	for( int i=0; i < N; i++ )
		ret.m[i][i] = 1;
	return ret;
}


template<int M, int N>
inline NMatrixMN const &NMatrixMN::operator=( NMatrixMN const &v )
{
	memcpy( m, v.m, sizeof(float)*M*N );
	return *this;
}


template<int M, int N>
inline NMatrixMN NMatrixMN::operator+( NMatrixMN const &v ) const
{
	NMatrixMN ret;
	for( int i=0; i < M; i++ )
		for( int j=0; j < N; j++ )
			ret.m[i][j] = m[i][j] + v.m[i][j];

	return ret;
}


template<int M, int N>
inline NMatrixMN const &NMatrixMN::operator+=( NMatrixMN const &v )
{
	for( int i=0; i < M; i++ )
		for( int j=0; j < N; j++ )
			m[i][j] += v.m[i][j];

	return *this;
}


template<int M, int N>
inline NMatrixMN NMatrixMN::operator-() const
{
	NMatrixMN ret;
	
	for( int i=0; i < M*N; i++ )
		((float*)ret.m)[i] = -((float*)m)[i];
	
	return ret;
}


template<int M, int N>
inline NMatrixMN NMatrixMN::operator-( NMatrixMN const &v ) const
{
	NMatrixMN ret;
	for( int i=0; i < M; i++ )
		for( int j=0; j < N; j++ )
			ret.m[i][j] = m[i][j] - v.m[i][j];
	return ret;
}


template<int M, int N>
inline NVector<M> NMatrixMN::operator*( NVectorN const &v ) const
{
	NVectorN ret;

	for( int i=0; i < M; i++ )
	{
		ret.v[i] = 0;

		for( int j=0; j < N; j++ )
			ret.v[i] += m[i][j] * v.v[j];
	}
	
	return ret;
}


template<int M, int N>
inline NMatrix<M,M> NMatrixMN::operator*( NMatrix<N,M> const &b ) const
{
	NMatrix<M,M> ret;

	for( int myRow=0; myRow < M; myRow++ )
	{
		for( int otherCol=0; otherCol < M; otherCol++ )
		{
			ret[myRow][otherCol] = 0;
			for( int i=0; i < N; i++ )
				ret[myRow][otherCol] += a.m[myRow][i] * b.m[i][otherCol];
		}
	}

	return ret;
}


template<int M, int N>
inline NMatrixMN NMatrixMN::operator*( float val ) const
{
	NMatrixMN ret;

	for( int i=0; i < N*M; i++ )
		((float*)ret.m)[i] = ((float*)m)[i] * val;

	return ret;
}


template<int M, int N>
bool NMatrixMN::InverseGeneral( NMatrixMN &mInverse ) const
{
	int iRow, i, j, iTemp, iTest;
	float mul, fTest, fLargest;
	float mat[N][2*N];
	int rowMap[N], iLargest;
	float *pOut, *pRow, *pScaleRow;

	
	// Can only invert square matrices.
	if( M != N )
	{
		assert( !"Tried to invert a non-square matrix" );
		return false;
	}


	// How it's done.
	// AX = I
	// A = this
	// X = the matrix we're looking for
	// I = identity

	// Setup AI
	for(i=0; i < N; i++)
	{
		const float *pIn = m[i];
		pOut = mat[i];

		for(j=0; j < N; j++)
		{
			pOut[j] = pIn[j];
		}

		for(j=N; j < 2*N; j++)
			pOut[j] = 0;
		
		pOut[i+N] = 1.0f;

		rowMap[i] = i;
	}

	// Use row operations to get to reduced row-echelon form using these rules:
	// 1. Multiply or divide a row by a nonzero number.
	// 2. Add a multiple of one row to another.
	// 3. Interchange two rows.

	for(iRow=0; iRow < N; iRow++)
	{
		// Find the row with the largest element in this column.
		fLargest = 1e-6f;
		iLargest = -1;
		for(iTest=iRow; iTest < N; iTest++)
		{
			fTest = (float)fabs(mat[rowMap[iTest]][iRow]);
			if(fTest > fLargest)
			{
				iLargest = iTest;
				fLargest = fTest;
			}
		}

		// They're all too small.. sorry.
		if(iLargest == -1)
		{
			return false;
		}

		// Swap the rows.
		iTemp = rowMap[iLargest];
		rowMap[iLargest] = rowMap[iRow];
		rowMap[iRow] = iTemp;

		pRow = mat[rowMap[iRow]];

		// Divide this row by the element.
		mul = 1.0f / pRow[iRow];
		for(j=0; j < 2*N; j++)
			pRow[j] *= mul;

		pRow[iRow] = 1.0f; // Preserve accuracy...
		
		// Eliminate this element from the other rows using operation 2.
		for(i=0; i < N; i++)
		{
			if(i == iRow)
				continue;

			pScaleRow = mat[rowMap[i]];
		
			// Multiply this row by -(iRow*the element).
			mul = -pScaleRow[iRow];
			for(j=0; j < 2*N; j++)
			{
				pScaleRow[j] += pRow[j] * mul;
			}

			pScaleRow[iRow] = 0.0f; // Preserve accuracy...
		}
	}

	// The inverse is on the right side of AX now (the identity is on the left).
	for(i=0; i < N; i++)
	{
		const float *pIn = mat[rowMap[i]] + N;
		pOut = mInverse.m[i];

		for(j=0; j < N; j++)
		{
			pOut[j] = pIn[j];
		}
	}

	return true;
}


template<int M, int N>
inline NMatrix<N,M> NMatrixMN::Transpose() const
{
	NMatrix<N,M> ret;
	
	for( int i=0; i < M; i++ )
		for( int j=0; j < N; j++ )
			ret.m[j][i] = m[i][j];
	
	return ret;
}

#endif // NMATRIX_H