YiMatrixUtilities.h

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// © You i Labs Inc. 2000-2017. All rights reserved.
#ifndef _YI_GL2_MATRIX_UTILITIES_H_
#define _YI_GL2_MATRIX_UTILITIES_H_

#include "framework/YiPredef.h"

#include <glm/fwd.hpp>
#include <glm/mat4x4.hpp>

class CYIMatrixUtilities
{
public:
    static glm::vec3 TransformVector(const glm::mat4 &rMat4x4, const glm::vec3 &rV);

    static glm::vec3 ProjectVector(const glm::vec3 &A, const glm::vec3 &normalizedB);

    template <typename valType>
    static bool SafeInverse(glm::tmat4x4<valType> const &m, glm::tmat4x4<valType> &mOut);
    
private:
    CYIMatrixUtilities();
};

inline glm::vec3 CYIMatrixUtilities::TransformVector(const glm::mat4 &rMat4x4, const glm::vec3 &rV)
{
    glm::vec3 vOut;

    const float fV0 = rV[0];
    const float fV1 = rV[1];
    const float fV2 = rV[2];
    vOut[0] = (rMat4x4[0][0] * fV0 + rMat4x4[1][0] * fV1 + rMat4x4[2][0] * fV2 + rMat4x4[3][0]);
    vOut[1] = (rMat4x4[0][1] * fV0 + rMat4x4[1][1] * fV1 + rMat4x4[2][1] * fV2 + rMat4x4[3][1]);
    vOut[2] = (rMat4x4[0][2] * fV0 + rMat4x4[1][2] * fV1 + rMat4x4[2][2] * fV2 + rMat4x4[3][2]);

    return vOut;
}

inline glm::vec3 CYIMatrixUtilities::ProjectVector(const glm::vec3 &A, const glm::vec3 &normalizedB)
{
    return glm::dot(A, normalizedB) / glm::dot(normalizedB, normalizedB) * normalizedB;
}

#endif // _YI_GL2_MATRIX_UTILITIES_H_