// 3D Engine
//
// Matrix 4x4.
//
// Author  Matthew Caryl
// Created 4.5.97
//
// The scaling transform of factor S is refered to as S()
// The x rotation transform of angle X is refered to as X()
// The y rotation transform of angle Y is refered to as Y()
// The z rotation transform of angle Z is refered to as Z()
// The translation transform by (X, Y, Z) is refered to as T()
//
//  Although under copywrite to the author (Matthew Caryl) this code can be copied and modified for non-commercial
//  purposes as long as any derivatives contain this condition.

package ADT;

public class Matrix {
	//
	// Public interface
	//
	
	// M = I
	public Matrix() {
		setScale(1f);
		}
	
	// M = N
	public Matrix(Matrix n) {
		set(n);
		}
	
	// M = N
	public void set(Matrix n) {
		m00 = n.m00; m01 = n.m01; m02 = n.m02; m03 = n.m03;
		m10 = n.m10; m11 = n.m11; m12 = n.m12; m13 = n.m13;
		m20 = n.m20; m21 = n.m21; m22 = n.m22; m23 = n.m23;
		m30 = n.m30; m31 = n.m31; m32 = n.m32; m33 = n.m33;
		}
	
	// M = S()
	public void setScale(float S) {
		m00 =  S; m01 = 0f; m02 = 0f; m03 = 0f;
		m10 = 0f; m11 =  S; m12 = 0f; m13 = 0f;
		m20 = 0f; m21 = 0f; m22 =  S; m23 = 0f;
		m30 = 0f; m31 = 0f; m32 = 0f; m33 = 1f;
		}
	
	// M = S(), assuming previously a scale matrix
	public void resetScale(float S) {
		m00 = S;
		m11 = S;
		m22 = S;
		}
	
	// M = S() * M
	public void scaleBy(float S) {
		m00 *= S; m01 *= S; m02 *= S; m03 *= S;
		m10 *= S; m11 *= S; m12 *= S; m13 *= S;
		m20 *= S; m21 *= S; m22 *= S; m23 *= S;
		}
	
	// M = X()
	public void setRotateX(float X) {
		float sin = (float) Math.sin(X), cos = (float) Math.cos(X);
		
		m00 = 1f; m01 =   0f; m02 =  0f; m03 = 0f;
		m10 = 0f; m11 =  cos; m12 = sin; m13 = 0f;
		m20 = 0f; m21 = -sin; m22 = cos; m23 = 0f;
		m30 = 0f; m31 =   0f; m32 =  0f; m33 = 1f;
		}
	
	// M = X(), assuming previously a x rotation matrix
	public void resetRotateX(float X) {
		float sin = (float) Math.sin(X), cos = (float) Math.cos(X);
		
		m11 =  cos;
		m12 = sin;
		m21 = -sin;
		m22 = cos;
		}
	
	// M = X() * M
	public void rotateByX(float X) {
		float sin = (float) Math.sin(X), cos = (float) Math.cos(X);
		float om10 = m10, om11 = m11, om12 = m12, om13 = m13;
		
		m10 =  cos *  m10 + sin * m20;
		m11 =  cos *  m11 + sin * m21;
		m12 =  cos *  m12 + sin * m22;
		m13 =  cos *  m13 + sin * m23;
		m20 = -sin * om10 + cos * m20;
		m21 = -sin * om11 + cos * m21;
		m22 = -sin * om12 + cos * m22;
		m23 = -sin * om13 + cos * m23;
		}
	
	// M = Y()
	public void setRotateY(float Y) {
		float sin = (float) Math.sin(Y), cos = (float) Math.cos(Y);
		
		m00 = cos; m01 = 0f; m02 = -sin; m03 = 0f;
		m10 =  0f; m11 = 1f; m12 =   0f; m13 = 0f;
		m20 = sin; m21 = 0f; m22 =  cos; m23 = 0f;
		m30 =  0f; m31 = 0f; m32 =   0f; m33 = 1f;
		}
	
	// M = Y(), assuming previously a y rotation matrix
	public void resetRotateY(float Y) {
		float sin = (float) Math.sin(Y), cos = (float) Math.cos(Y);
		
		m00 = cos;
		m02 = -sin;
		m20 = sin;
		m22 = cos;
		}
	
	// M = Y() * M
	public void rotateByY(float Y) {
		float sin = (float) Math.sin(Y); float cos = (float) Math.cos(Y);
		float om00 = m00, om01 = m01, om02 = m02, om03 = m03;
		
		m00 = cos *  m00 - sin * m20;
		m01 = cos *  m01 - sin * m21;
		m02 = cos *  m02 - sin * m22;
		m03 = cos *  m03 - sin * m23;
		m20 = sin * om00 + cos * m20;
		m21 = sin * om01 + cos * m21;
		m22 = sin * om02 + cos * m22;
		m23 = sin * om03 + cos * m23;
		}
	
	// M = Z()
	public void setRotateZ(float Z) {
		float sin = (float) Math.sin(Z), cos = (float) Math.cos(Z);
		
		m00 =  cos; m01 = sin; m02 = 0f; m03 = 0f;
		m10 = -sin; m11 = cos; m12 = 0f; m13 = 0f;
		m20 =   0f; m21 =  0f; m22 = 1f; m23 = 0f;
		m30 =   0f; m31 =  0f; m32 = 0f; m33 = 1f;
		}
	
	// M = Z(), assuming previously a z rotation matrix
	public void resetRotateZ(float Z) {
		float sin = (float) Math.sin(Z), cos = (float) Math.cos(Z);
		
		m00 = cos;
		m01 = sin;
		m10 = -sin;
		m11 = cos;
		}
	
	// M = Z() * M
	public void rotateByZ(float Z) {
		float sin = (float) Math.sin(Z),  cos = (float) Math.cos(Z);
		float om00 = m00, om01 = m01, om02 = m02, om03 = m03;
		
		m00 =  cos *  m00 + sin * m10;
		m01 =  cos *  m01 + sin * m11;
		m02 =  cos *  m02 + sin * m12;
		m03 =  cos *  m03 + sin * m13;
		m10 = -sin * om00 + cos * m10;
		m11 = -sin * om01 + cos * m11;
		m12 = -sin * om02 + cos * m12;
		m13 = -sin * om03 + cos * m13;
		}

	// M = X() * Y() * Z()
    public void setRotate(float X, float Y, float Z) {
    	setRotateZ(Z);
    	rotateByY(Y);
    	rotateByX(X);
    	}

	// M = X() * Y() * Z(), assuming previously a rotation matrix
    public void resetRotate(float X, float Y, float Z) {
    	setRotateZ(Z);
    	rotateByY(Y);
    	rotateByX(X);
    	}
    
	// M = X() * Y() * Z() * M
    public void rotateBy(float X, float Y, float Z) {
    	rotateByZ(Z);
    	rotateByY(Y);
    	rotateByX(X);
    	}
	
	// M = T()
	public void setTranslate(float X, float Y, float Z) {
		m00 = 1f; m01 = 0f; m02 = 0f; m03 =  X;
		m10 = 0f; m11 = 1f; m12 = 0f; m13 =  Y;
		m20 = 0f; m21 = 0f; m22 = 1f; m23 =  Z;
		m30 = 0f; m31 = 0f; m32 = 0f; m33 = 1f;
		}
	
	// M = T(), assuming previously a translation matrix
	public void resetTranslate(float X, float Y, float Z) {
		m03 = X;
		m13 = Y;
		m23 = Z;
		}
	
	// M = T() * M
	public void translateBy(float X, float Y, float Z) {
		m00 += m30 * X; m01 += m31 * X; m02 += m32 * X; m03 += m33 * X;
		m10 += m30 * Y; m11 += m31 * Y; m12 += m32 * Y; m13 += m33 * Y;
		m20 += m30 * Z; m21 += m31 * Z; m22 += m32 * Z; m23 += m33 * Z;
		}
	
	// M = parallel projection transform
	public void setParallel() {
		m00 = 1f; m01 = 0f; m02 = 0f; m03 = 0f;
		m10 = 0f; m11 = 1f; m12 = 0f; m13 = 0f;
		m20 = 0f; m21 = 0f; m22 = 1f; m23 = 0f;
		m30 = 0f; m31 = 0f; m32 = 0f; m33 = 1f;
		}
	
	// M = perspective projection transform
	public void setPerspective(float Zf) {
		m00 = 1f; m01 = 0f; m02 =       0f; m03 = 0f;
		m10 = 0f; m11 = 1f; m12 =       0f; m13 = 0f;
		m20 = 0f; m21 = 0f; m22 =       1f; m23 = 0f;
		m30 = 0f; m31 = 0f; m32 = -1f / Zf; m33 = 1f;
		}
	
	// M = M * N
	public void multiply(Matrix n) {
		float om00 = m00, om01 = m01, om02 = m02, om03 = m03;
		float om10 = m10, om11 = m11, om12 = m12, om13 = m13;
		float om20 = m20, om21 = m21, om22 = m22, om23 = m23;
		float om30 = m30, om31 = m31, om32 = m32, om33 = m33;
		
		m00 = om00 * n.m00 + om01 * n.m10 + om02 * n.m20 + om03 * n.m30;
		m01 = om00 * n.m01 + om01 * n.m11 + om02 * n.m21 + om03 * n.m31;
		m02 = om00 * n.m02 + om01 * n.m12 + om02 * n.m22 + om03 * n.m32;
		m03 = om00 * n.m03 + om01 * n.m13 + om02 * n.m23 + om03 * n.m33;
		
		m10 = om10 * n.m00 + om11 * n.m10 + om12 * n.m20 + om13 * n.m30;
		m11 = om10 * n.m01 + om11 * n.m11 + om12 * n.m21 + om13 * n.m31;
		m12 = om10 * n.m02 + om11 * n.m12 + om12 * n.m22 + om13 * n.m32;
		m13 = om10 * n.m03 + om11 * n.m13 + om12 * n.m23 + om13 * n.m33;
		
		m20 = om20 * n.m00 + om21 * n.m10 + om22 * n.m20 + om23 * n.m30;
		m21 = om20 * n.m01 + om21 * n.m11 + om22 * n.m21 + om23 * n.m31;
		m22 = om20 * n.m02 + om21 * n.m12 + om22 * n.m22 + om23 * n.m32;
		m23 = om20 * n.m03 + om21 * n.m13 + om22 * n.m23 + om23 * n.m33;
		
		m30 = om30 * n.m00 + om31 * n.m10 + om32 * n.m20 + om33 * n.m30;
		m31 = om30 * n.m01 + om31 * n.m11 + om32 * n.m21 + om33 * n.m31;
		m32 = om30 * n.m02 + om31 * n.m12 + om32 * n.m22 + om33 * n.m32;
		m33 = om30 * n.m03 + om31 * n.m13 + om32 * n.m23 + om33 * n.m33;
		}
	
	// D = M * S
	public void transform(Vector s, Vector d) {
		d.x = m00 * s.x + m01 * s.y + m02 * s.z + m03 * s.w;
		d.y = m10 * s.x + m11 * s.y + m12 * s.z + m13 * s.w;
		d.z = m20 * s.x + m21 * s.y + m22 * s.z + m23 * s.w;
		d.w = m30 * s.x + m31 * s.y + m32 * s.z + m33 * s.w;
		}
	
	// D[] = M * S[]
	public void transform(Vector[] s, Vector[] d) {
		for (int i = s.length - 1; i >= 0; i--) {
			d[i].x = m00 * s[i].x + m01 * s[i].y + m02 * s[i].z + m03 * s[i].w;
			d[i].y = m10 * s[i].x + m11 * s[i].y + m12 * s[i].z + m13 * s[i].w;
			d[i].z = m20 * s[i].x + m21 * s[i].y + m22 * s[i].z + m23 * s[i].w;
			d[i].w = m30 * s[i].x + m31 * s[i].y + m32 * s[i].z + m33 * s[i].w;
			}
		}

	//
	// Private interface
	//
	
	private float m00, m01, m02, m03;
	private float m10, m11, m12, m13;
	private float m20, m21, m22, m23;
	private float m30, m31, m32, m33;
	}