13079282556

Committed 07 May 2022 10:53PM UTC coverage: 57.717% (+43.7%) from 14.013%

Build # 13079282556

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shakesoda

Commit Message

fix typo in mat4.mul

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/modules/mat4.lua

--- double 4x4, 1-based, column major matrices
-- @module mat4
local modules   = (...):gsub('%.[^%.]+$', '') .. "."
local constants = require(modules .. "constants")
local vec2      = require(modules .. "vec2")
local vec3      = require(modules .. "vec3")
local quat      = require(modules .. "quat")
local utils     = require(modules .. "utils")
local precond   = require(modules .. "_private_precond")
local private   = require(modules .. "_private_utils")
local sqrt      = math.sqrt
local cos       = math.cos
local sin       = math.sin
local tan       = math.tan
local rad       = math.rad
local mat4      = {}
local mat4_mt   = {}

-- Private constructor.
local function new(m)
        m = m or {
                0, 0, 0, 0,
                0, 0, 0, 0,
                0, 0, 0, 0,
                0, 0, 0, 0
        }
        m._m = m
        return setmetatable(m, mat4_mt)
end

-- Convert matrix into identity
local function identity(m)
        m[1],  m[2],  m[3],  m[4]  = 1, 0, 0, 0
        m[5],  m[6],  m[7],  m[8]  = 0, 1, 0, 0
        m[9],  m[10], m[11], m[12] = 0, 0, 1, 0
        m[13], m[14], m[15], m[16] = 0, 0, 0, 1
        return m
end

-- Do the check to see if JIT is enabled. If so use the optimized FFI structs.
local status, ffi
if type(jit) == "table" and jit.status() then
        --  status, ffi = pcall(require, "ffi")
        if status then
                ffi.cdef "typedef struct { double _m[16]; } cpml_mat4;"
                new = ffi.typeof("cpml_mat4")
        end
end

-- Statically allocate a temporary variable used in some of our functions.
local tmp = new()
local tm4 = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 }
local tv4 = { 0, 0, 0, 0 }

--- The public constructor.
-- @param a Can be of four types: </br>
-- table Length 16 (4x4 matrix)
-- table Length 9 (3x3 matrix)
-- table Length 4 (4 vec4s)
-- nil
-- @treturn mat4 out
function mat4.new(a)
        local out = new()

        -- 4x4 matrix
        if type(a) == "table" and #a == 16 then
                for i = 1, 16 do
                        out[i] = tonumber(a[i])
                end

        -- 3x3 matrix
        elseif type(a) == "table" and #a == 9 then
                out[1], out[2],  out[3]  = a[1], a[2], a[3]
                out[5], out[6],  out[7]  = a[4], a[5], a[6]
                out[9], out[10], out[11] = a[7], a[8], a[9]
                out[16] = 1

        -- 4 vec4s
        elseif type(a) == "table" and type(a[1]) == "table" then
                local idx = 1
                for i = 1, 4 do
                        for j = 1, 4 do
                                out[idx] = a[i][j]
                                idx = idx + 1
                        end
                end

        -- nil
        else
                out[1]  = 1
                out[6]  = 1
                out[11] = 1
                out[16] = 1
        end

        return out
end

--- Create an identity matrix.
-- @tparam mat4 a Matrix to overwrite
-- @treturn mat4 out
function mat4.identity(a)
        return identity(a or new())
end

--- Create a matrix from an angle/axis pair.
-- @tparam number angle Angle of rotation
-- @tparam vec3 axis Axis of rotation
-- @treturn mat4 out
function mat4.from_angle_axis(angle, axis)
        local l = axis:len()
        if l == 0 then
                return new()
        end

        local x, y, z = axis.x / l, axis.y / l, axis.z / l
        local c = cos(angle)
        local s = sin(angle)

        return new {
                x*x*(1-c)+c,   y*x*(1-c)+z*s, x*z*(1-c)-y*s, 0,
                x*y*(1-c)-z*s, y*y*(1-c)+c,   y*z*(1-c)+x*s, 0,
                x*z*(1-c)+y*s, y*z*(1-c)-x*s, z*z*(1-c)+c,   0,
                0, 0, 0, 1
        }
end

--- Create a matrix from a quaternion.
-- @tparam quat q Rotation quaternion
-- @treturn mat4 out
function mat4.from_quaternion(q)
        return mat4.from_angle_axis(q:to_angle_axis())
end

--- Create a matrix from a direction/up pair.
-- @tparam vec3 direction Vector direction
-- @tparam vec3 up Up direction
-- @treturn mat4 out
function mat4.from_direction(direction, up)
        local forward = vec3.normalize(direction)
        local side = vec3.cross(forward, up):normalize()
        local new_up = vec3.cross(side, forward):normalize()

        local out = new()
        out[1]    = side.x
        out[5]    = side.y
        out[9]    = side.z
        out[2]    = new_up.x
        out[6]    = new_up.y
        out[10]   = new_up.z
        out[3]    = forward.x
        out[7]    = forward.y
        out[11]   = forward.z
        out[16]   = 1

        return out
end

--- Create a matrix from a transform.
-- @tparam vec3 trans Translation vector
-- @tparam quat rot Rotation quaternion
-- @tparam vec3 scale Scale vector
-- @treturn mat4 out
function mat4.from_transform(trans, rot, scale)
        local rx, ry, rz, rw = rot.x, rot.y, rot.z, rot.w

        local sm = new {
                scale.x, 0,       0,       0,
                0,       scale.y, 0,       0,
                0,       0,       scale.z, 0,
                0,       0,       0,       1,
        }

        local rm = new {
                1-2*(ry*ry+rz*rz), 2*(rx*ry-rz*rw), 2*(rx*rz+ry*rw), 0,
                2*(rx*ry+rz*rw), 1-2*(rx*rx+rz*rz), 2*(ry*rz-rx*rw), 0,
                2*(rx*rz-ry*rw), 2*(ry*rz+rx*rw), 1-2*(rx*rx+ry*ry), 0,
                0, 0, 0, 1
        }

        local rsm = rm * sm

        rsm[13] = trans.x
        rsm[14] = trans.y
        rsm[15] = trans.z

        return rsm
end

--- Create matrix from orthogonal.
-- @tparam number left
-- @tparam number right
-- @tparam number top
-- @tparam number bottom
-- @tparam number near
-- @tparam number far
-- @treturn mat4 out
function mat4.from_ortho(left, right, top, bottom, near, far)
        local out = new()
        out[1]    =  2 / (right - left)
        out[6]    =  2 / (top - bottom)
        out[11]   = -2 / (far - near)
        out[13]   = -((right + left) / (right - left))
        out[14]   = -((top + bottom) / (top - bottom))
        out[15]   = -((far + near) / (far - near))
        out[16]   =  1

        return out
end

--- Create matrix from perspective.
-- @tparam number fovy Field of view
-- @tparam number aspect Aspect ratio
-- @tparam number near Near plane
-- @tparam number far Far plane
-- @treturn mat4 out
function mat4.from_perspective(fovy, aspect, near, far)
        assert(aspect ~= 0)
        assert(near   ~= far)

        local t   = tan(rad(fovy) / 2)
        local out = new()
        out[1]    =  1 / (t * aspect)
        out[6]    =  1 / t
        out[11]   = -(far + near) / (far - near)
        out[12]   = -1
        out[15]   = -(2 * far * near) / (far - near)
        out[16]   =  0

        return out
end

-- Adapted from the Oculus SDK.
--- Create matrix from HMD perspective.
-- @tparam number tanHalfFov Tangent of half of the field of view
-- @tparam number zNear Near plane
-- @tparam number zFar Far plane
-- @tparam boolean flipZ Z axis is flipped or not
-- @tparam boolean farAtInfinity Far plane is infinite or not
-- @treturn mat4 out
function mat4.from_hmd_perspective(tanHalfFov, zNear, zFar, flipZ, farAtInfinity)
        -- CPML is right-handed and intended for GL, so these don't need to be arguments.
        local rightHanded = true
        local isOpenGL    = true

        local function CreateNDCScaleAndOffsetFromFov(tanHalfFov)
                local x_scale  = 2 / (tanHalfFov.LeftTan + tanHalfFov.RightTan)
                local x_offset =     (tanHalfFov.LeftTan - tanHalfFov.RightTan) * x_scale * 0.5
                local y_scale  = 2 / (tanHalfFov.UpTan   + tanHalfFov.DownTan )
                local y_offset =     (tanHalfFov.UpTan   - tanHalfFov.DownTan ) * y_scale * 0.5

                local result = {
                        Scale  = vec2(x_scale, y_scale),
                        Offset = vec2(x_offset, y_offset)
                }

                -- Hey - why is that Y.Offset negated?
                -- It's because a projection matrix transforms from world coords with Y=up,
                -- whereas this is from NDC which is Y=down.
                 return result
        end

        if not flipZ and farAtInfinity then
                print("Error: Cannot push Far Clip to Infinity when Z-order is not flipped")
                farAtInfinity = false
        end

         -- A projection matrix is very like a scaling from NDC, so we can start with that.
        local scaleAndOffset  = CreateNDCScaleAndOffsetFromFov(tanHalfFov)
        local handednessScale = rightHanded and -1.0 or 1.0
        local projection      = new()

        -- Produces X result, mapping clip edges to [-w,+w]
        projection[1] = scaleAndOffset.Scale.x
        projection[2] = 0
        projection[3] = handednessScale * scaleAndOffset.Offset.x
        projection[4] = 0

        -- Produces Y result, mapping clip edges to [-w,+w]
        -- Hey - why is that YOffset negated?
        -- It's because a projection matrix transforms from world coords with Y=up,
        -- whereas this is derived from an NDC scaling, which is Y=down.
        projection[5] = 0
        projection[6] = scaleAndOffset.Scale.y
        projection[7] = handednessScale * -scaleAndOffset.Offset.y
        projection[8] = 0

        -- Produces Z-buffer result - app needs to fill this in with whatever Z range it wants.
        -- We'll just use some defaults for now.
        projection[9]  = 0
        projection[10] = 0

        if farAtInfinity then
                if isOpenGL then
                        -- It's not clear this makes sense for OpenGL - you don't get the same precision benefits you do in D3D.
                        projection[11] = -handednessScale
                        projection[12] = 2.0 * zNear
                else
                        projection[11] = 0
                        projection[12] = zNear
                end
        else
                if isOpenGL then
                        -- Clip range is [-w,+w], so 0 is at the middle of the range.
                        projection[11] = -handednessScale * (flipZ and -1.0 or 1.0) * (zNear + zFar) / (zNear - zFar)
                        projection[12] = 2.0 * ((flipZ and -zFar or zFar) * zNear) / (zNear - zFar)
                else
                        -- Clip range is [0,+w], so 0 is at the start of the range.
                        projection[11] = -handednessScale * (flipZ and -zNear or zFar) / (zNear - zFar)
                        projection[12] = ((flipZ and -zFar or zFar) * zNear) / (zNear - zFar)
                end
        end

        -- Produces W result (= Z in)
        projection[13] = 0
        projection[14] = 0
        projection[15] = handednessScale
        projection[16] = 0

        return projection:transpose(projection)
end

--- Clone a matrix.
-- @tparam mat4 a Matrix to clone
-- @treturn mat4 out
function mat4.clone(a)
        return new(a)
end

function mul_internal(out, a, b)
        tm4[1]  = b[1]  * a[1] + b[2]  * a[5] + b[3]  * a[9]  + b[4]  * a[13]
        tm4[2]  = b[1]  * a[2] + b[2]  * a[6] + b[3]  * a[10] + b[4]  * a[14]
        tm4[3]  = b[1]  * a[3] + b[2]  * a[7] + b[3]  * a[11] + b[4]  * a[15]
        tm4[4]  = b[1]  * a[4] + b[2]  * a[8] + b[3]  * a[12] + b[4]  * a[16]
        tm4[5]  = b[5]  * a[1] + b[6]  * a[5] + b[7]  * a[9]  + b[8]  * a[13]
        tm4[6]  = b[5]  * a[2] + b[6]  * a[6] + b[7]  * a[10] + b[8]  * a[14]
        tm4[7]  = b[5]  * a[3] + b[6]  * a[7] + b[7]  * a[11] + b[8]  * a[15]
        tm4[8]  = b[5]  * a[4] + b[6]  * a[8] + b[7]  * a[12] + b[8]  * a[16]
        tm4[9]  = b[9]  * a[1] + b[10] * a[5] + b[11] * a[9]  + b[12] * a[13]
        tm4[10] = b[9]  * a[2] + b[10] * a[6] + b[11] * a[10] + b[12] * a[14]
        tm4[11] = b[9]  * a[3] + b[10] * a[7] + b[11] * a[11] + b[12] * a[15]
        tm4[12] = b[9]  * a[4] + b[10] * a[8] + b[11] * a[12] + b[12] * a[16]
        tm4[13] = b[13] * a[1] + b[14] * a[5] + b[15] * a[9]  + b[16] * a[13]
        tm4[14] = b[13] * a[2] + b[14] * a[6] + b[15] * a[10] + b[16] * a[14]
        tm4[15] = b[13] * a[3] + b[14] * a[7] + b[15] * a[11] + b[16] * a[15]
        tm4[16] = b[13] * a[4] + b[14] * a[8] + b[15] * a[12] + b[16] * a[16]

        for i = 1, 16 do
                out[i] = tm4[i]
        end
end

--- Multiply N matrices.
-- @tparam mat4 out Matrix to store the result
-- @tparam mat4 or {mat4, ...} left hand operand(s)
-- @tparam mat4 right hand operand if a is not table
-- @treturn mat4 out multiplied matrix result
function mat4.mul(out, a, b)
        if mat4.is_mat4(a) then
                mul_internal(out, a, b)
                return out
        end
        if #a == 0 then
                identity(out)
        elseif #a == 1 then
                -- only one matrix, just copy
                for i = 1, 16 do
                        out[i] = a[1][i]
                end
        else
                local ma = a[1]
                local mb = a[2]
                for i = 2, #a do
                        mul_internal(out, ma, mb)
                        ma = out
                end
        end
        return out
end

--- Multiply a matrix and a vec3, with perspective division.
-- This function uses an implicit 1 for the fourth component.
-- @tparam vec3 out vec3 to store the result
-- @tparam mat4 a Left hand operand
-- @tparam vec3 b Right hand operand
-- @treturn vec3 out
function mat4.mul_vec3_perspective(out, a, b)
        local v4x = b.x * a[1] + b.y * a[5] + b.z * a[9]  + a[13]
        local v4y = b.x * a[2] + b.y * a[6] + b.z * a[10] + a[14]
        local v4z = b.x * a[3] + b.y * a[7] + b.z * a[11] + a[15]
        local v4w = b.x * a[4] + b.y * a[8] + b.z * a[12] + a[16]
        local inv_w = 0
        if v4w ~= 0 then
                inv_w = utils.sign(v4w) / v4w
        end
        out.x = v4x * inv_w
        out.y = v4y * inv_w
        out.z = v4z * inv_w
        return out
end

--- Multiply a matrix and a vec4.
-- @tparam table out table to store the result
-- @tparam mat4 a Left hand operand
-- @tparam table b Right hand operand
-- @treturn vec4 out
function mat4.mul_vec4(out, a, b)
        tv4[1] = b[1] * a[1] + b[2] * a[5] + b [3] * a[9]  + b[4] * a[13]
        tv4[2] = b[1] * a[2] + b[2] * a[6] + b [3] * a[10] + b[4] * a[14]
        tv4[3] = b[1] * a[3] + b[2] * a[7] + b [3] * a[11] + b[4] * a[15]
        tv4[4] = b[1] * a[4] + b[2] * a[8] + b [3] * a[12] + b[4] * a[16]

        for i = 1, 4 do
                out[i] = tv4[i]
        end

        return out
end

--- Invert a matrix.
-- @tparam mat4 out Matrix to store the result
-- @tparam mat4 a Matrix to invert
-- @treturn mat4 out
function mat4.invert(out, a)
        tm4[1]  =  a[6] * a[11] * a[16] - a[6] * a[12] * a[15] - a[10] * a[7] * a[16] + a[10] * a[8] * a[15] + a[14] * a[7] * a[12] - a[14] * a[8] * a[11]
        tm4[2]  = -a[2] * a[11] * a[16] + a[2] * a[12] * a[15] + a[10] * a[3] * a[16] - a[10] * a[4] * a[15] - a[14] * a[3] * a[12] + a[14] * a[4] * a[11]
        tm4[3]  =  a[2] * a[7]  * a[16] - a[2] * a[8]  * a[15] - a[6]  * a[3] * a[16] + a[6]  * a[4] * a[15] + a[14] * a[3] * a[8]  - a[14] * a[4] * a[7]
        tm4[4]  = -a[2] * a[7]  * a[12] + a[2] * a[8]  * a[11] + a[6]  * a[3] * a[12] - a[6]  * a[4] * a[11] - a[10] * a[3] * a[8]  + a[10] * a[4] * a[7]
        tm4[5]  = -a[5] * a[11] * a[16] + a[5] * a[12] * a[15] + a[9]  * a[7] * a[16] - a[9]  * a[8] * a[15] - a[13] * a[7] * a[12] + a[13] * a[8] * a[11]
        tm4[6]  =  a[1] * a[11] * a[16] - a[1] * a[12] * a[15] - a[9]  * a[3] * a[16] + a[9]  * a[4] * a[15] + a[13] * a[3] * a[12] - a[13] * a[4] * a[11]
        tm4[7]  = -a[1] * a[7]  * a[16] + a[1] * a[8]  * a[15] + a[5]  * a[3] * a[16] - a[5]  * a[4] * a[15] - a[13] * a[3] * a[8]  + a[13] * a[4] * a[7]
        tm4[8]  =  a[1] * a[7]  * a[12] - a[1] * a[8]  * a[11] - a[5]  * a[3] * a[12] + a[5]  * a[4] * a[11] + a[9]  * a[3] * a[8]  - a[9]  * a[4] * a[7]
        tm4[9]  =  a[5] * a[10] * a[16] - a[5] * a[12] * a[14] - a[9]  * a[6] * a[16] + a[9]  * a[8] * a[14] + a[13] * a[6] * a[12] - a[13] * a[8] * a[10]
        tm4[10] = -a[1] * a[10] * a[16] + a[1] * a[12] * a[14] + a[9]  * a[2] * a[16] - a[9]  * a[4] * a[14] - a[13] * a[2] * a[12] + a[13] * a[4] * a[10]
        tm4[11] =  a[1] * a[6]  * a[16] - a[1] * a[8]  * a[14] - a[5]  * a[2] * a[16] + a[5]  * a[4] * a[14] + a[13] * a[2] * a[8]  - a[13] * a[4] * a[6]
        tm4[12] = -a[1] * a[6]  * a[12] + a[1] * a[8]  * a[10] + a[5]  * a[2] * a[12] - a[5]  * a[4] * a[10] - a[9]  * a[2] * a[8]  + a[9]  * a[4] * a[6]
        tm4[13] = -a[5] * a[10] * a[15] + a[5] * a[11] * a[14] + a[9]  * a[6] * a[15] - a[9]  * a[7] * a[14] - a[13] * a[6] * a[11] + a[13] * a[7] * a[10]
        tm4[14] =  a[1] * a[10] * a[15] - a[1] * a[11] * a[14] - a[9]  * a[2] * a[15] + a[9]  * a[3] * a[14] + a[13] * a[2] * a[11] - a[13] * a[3] * a[10]
        tm4[15] = -a[1] * a[6]  * a[15] + a[1] * a[7]  * a[14] + a[5]  * a[2] * a[15] - a[5]  * a[3] * a[14] - a[13] * a[2] * a[7]  + a[13] * a[3] * a[6]
        tm4[16] =  a[1] * a[6]  * a[11] - a[1] * a[7]  * a[10] - a[5]  * a[2] * a[11] + a[5]  * a[3] * a[10] + a[9]  * a[2] * a[7]  - a[9]  * a[3] * a[6]

        local det = a[1] * tm4[1] + a[2] * tm4[5] + a[3] * tm4[9] + a[4] * tm4[13]

        if det == 0 then return a end

        det = 1 / det

        for i = 1, 16 do
                out[i] = tm4[i] * det
        end

        return out
end

--- Scale a matrix.
-- @tparam mat4 out Matrix to store the result
-- @tparam mat4 a Matrix to scale
-- @tparam vec3 s Scalar
-- @treturn mat4 out
function mat4.scale(out, a, s)
        identity(tmp)
        tmp[1]  = s.x
        tmp[6]  = s.y
        tmp[11] = s.z

        return out:mul(tmp, a)
end

--- Rotate a matrix.
-- @tparam mat4 out Matrix to store the result
-- @tparam mat4 a Matrix to rotate
-- @tparam number angle Angle to rotate by (in radians)
-- @tparam vec3 axis Axis to rotate on
-- @treturn mat4 out
function mat4.rotate(out, a, angle, axis)
        if type(angle) == "table" or type(angle) == "cdata" then
                angle, axis = angle:to_angle_axis()
        end

        local l = axis:len()

        if l == 0 then
                return a
        end

        local x, y, z = axis.x / l, axis.y / l, axis.z / l
        local c = cos(angle)
        local s = sin(angle)

        identity(tmp)
        tmp[1]  = x * x * (1 - c) + c
        tmp[2]  = y * x * (1 - c) + z * s
        tmp[3]  = x * z * (1 - c) - y * s
        tmp[5]  = x * y * (1 - c) - z * s
        tmp[6]  = y * y * (1 - c) + c
        tmp[7]  = y * z * (1 - c) + x * s
        tmp[9]  = x * z * (1 - c) + y * s
        tmp[10] = y * z * (1 - c) - x * s
        tmp[11] = z * z * (1 - c) + c

        return out:mul(tmp, a)
end

--- Translate a matrix.
-- @tparam mat4 out Matrix to store the result
-- @tparam mat4 a Matrix to translate
-- @tparam vec3 t Translation vector
-- @treturn mat4 out
function mat4.translate(out, a, t)
        identity(tmp)
        tmp[13] = t.x
        tmp[14] = t.y
        tmp[15] = t.z

        return out:mul(tmp, a)
end

--- Shear a matrix.
-- @tparam mat4 out Matrix to store the result
-- @tparam mat4 a Matrix to translate
-- @tparam number yx
-- @tparam number zx
-- @tparam number xy
-- @tparam number zy
-- @tparam number xz
-- @tparam number yz
-- @treturn mat4 out
function mat4.shear(out, a, yx, zx, xy, zy, xz, yz)
        identity(tmp)
        tmp[2]  = yx or 0
        tmp[3]  = zx or 0
        tmp[5]  = xy or 0
        tmp[7]  = zy or 0
        tmp[9]  = xz or 0
        tmp[10] = yz or 0

        return out:mul(tmp, a)
end

--- Reflect a matrix across a plane.
-- @tparam mat4 Matrix to store the result
-- @tparam a Matrix to reflect
-- @tparam vec3 position A point on the plane
-- @tparam vec3 normal The (normalized!) normal vector of the plane
function mat4.reflect(out, a, position, normal)
        local nx, ny, nz = normal:unpack()
        local d = -position:dot(normal)
        tmp[1] = 1 - 2 * nx ^ 2
        tmp[2] = 2 * nx * ny
        tmp[3] = -2 * nx * nz
        tmp[4] = 0
        tmp[5] = -2 * nx * ny
        tmp[6] = 1 - 2 * ny ^ 2
        tmp[7] = -2 * ny * nz
        tmp[8] = 0
        tmp[9] = -2 * nx * nz
        tmp[10] = -2 * ny * nz
        tmp[11] = 1 - 2 * nz ^ 2
        tmp[12] = 0
        tmp[13] = -2 * nx * d
        tmp[14] = -2 * ny * d
        tmp[15] = -2 * nz * d
        tmp[16] = 1

        return out:mul(tmp, a)
end

--- Transform matrix to look at a point.
-- @tparam mat4 out Matrix to store result
-- @tparam vec3 eye Location of viewer's view plane
-- @tparam vec3 center Location of object to view
-- @tparam vec3 up Up direction
-- @treturn mat4 out
function mat4.look_at(out, eye, look_at, up)
        local z_axis = (eye - look_at):normalize()
        local x_axis = up:cross(z_axis):normalize()
        local y_axis = z_axis:cross(x_axis)
        out[1] = x_axis.x
        out[2] = y_axis.x
        out[3] = z_axis.x
        out[4] = 0
        out[5] = x_axis.y
        out[6] = y_axis.y
        out[7] = z_axis.y
        out[8] = 0
        out[9] = x_axis.z
        out[10] = y_axis.z
        out[11] = z_axis.z
        out[12] = 0
        out[13] = -out[  1]*eye.x - out[4+1]*eye.y - out[8+1]*eye.z
        out[14] = -out[  2]*eye.x - out[4+2]*eye.y - out[8+2]*eye.z
        out[15] = -out[  3]*eye.x - out[4+3]*eye.y - out[8+3]*eye.z
        out[16] = -out[  4]*eye.x - out[4+4]*eye.y - out[8+4]*eye.z + 1
        return out
end

--- Transform matrix to target a point.
-- @tparam mat4 out Matrix to store result
-- @tparam vec3 eye Location of viewer's view plane
-- @tparam vec3 center Location of object to view
-- @tparam vec3 up Up direction
-- @treturn mat4 out
function mat4.target(out, from, to, up)
        local z_axis = (from - to):normalize()
        local x_axis = up:cross(z_axis):normalize()
        local y_axis = z_axis:cross(x_axis)
        out[1] = x_axis.x
        out[2] = x_axis.y
        out[3] = x_axis.z
        out[4] = 0
        out[5] = y_axis.x
        out[6] = y_axis.y
        out[7] = y_axis.z
        out[8] = 0
        out[9] = z_axis.x
        out[10] = z_axis.y
        out[11] = z_axis.z
        out[12] = 0
        out[13] = from.x
        out[14] = from.y
        out[15] = from.z
        out[16] = 1
        return out
end

--- Transpose a matrix.
-- @tparam mat4 out Matrix to store the result
-- @tparam mat4 a Matrix to transpose
-- @treturn mat4 out
function mat4.transpose(out, a)
        tm4[1]  = a[1]
        tm4[2]  = a[5]
        tm4[3]  = a[9]
        tm4[4]  = a[13]
        tm4[5]  = a[2]
        tm4[6]  = a[6]
        tm4[7]  = a[10]
        tm4[8]  = a[14]
        tm4[9]  = a[3]
        tm4[10] = a[7]
        tm4[11] = a[11]
        tm4[12] = a[15]
        tm4[13] = a[4]
        tm4[14] = a[8]
        tm4[15] = a[12]
        tm4[16] = a[16]

        for i = 1, 16 do
                out[i] = tm4[i]
        end

        return out
end

--- Project a point into screen space
-- @tparam vec3 obj Object position in world space
-- @tparam mat4 mvp Projection matrix
-- @tparam table viewport XYWH of viewport
-- @treturn vec3 win
function mat4.project(obj, mvp, viewport)
        local point = mat4.mul_vec3_perspective(vec3(), mvp, obj)
        point.x = point.x * 0.5 + 0.5
        point.y = point.y * 0.5 + 0.5
        point.z = point.z * 0.5 + 0.5
        point.x = point.x * viewport[3] + viewport[1]
        point.y = point.y * viewport[4] + viewport[2]
        return point
end

--- Unproject a point from screen space to world space.
-- @tparam vec3 win Object position in screen space
-- @tparam mat4 mvp Projection matrix
-- @tparam table viewport XYWH of viewport
-- @treturn vec3 obj
function mat4.unproject(win, mvp, viewport)
        local point = vec3.clone(win)

        -- 0..n -> 0..1
        point.x = (point.x - viewport[1]) / viewport[3]
        point.y = (point.y - viewport[2]) / viewport[4]

        -- 0..1 -> -1..1
        point.x = point.x * 2 - 1
        point.y = point.y * 2 - 1
        point.z = point.z * 2 - 1

        return mat4.mul_vec3_perspective(point, tmp:invert(mvp), point)
end

--- Return a boolean showing if a table is or is not a mat4.
-- @tparam mat4 a Matrix to be tested
-- @treturn boolean is_mat4
function mat4.is_mat4(a)
        if type(a) == "cdata" then
                return ffi.istype("cpml_mat4", a)
        end

        if type(a) ~= "table" then
                return false
        end

        for i = 1, 16 do
                if type(a[i]) ~= "number" then
                        return false
                end
        end

        return true
end

--- Return whether any component is NaN
-- @tparam mat4 a Matrix to be tested
-- @treturn boolean if any component is NaN
function vec2.has_nan(a)
        for i = 1, 16 do
                if private.is_nan(a[i]) then
                        return true
                end
        end
        return false
end

--- Return a formatted string.
-- @tparam mat4 a Matrix to be turned into a string
-- @treturn string formatted
function mat4.to_string(a)
        local str = "[ "
        for i = 1, 16 do
                str = str .. string.format("%+0.3f", a[i])
                if i < 16 then
                        str = str .. ", "
                end
        end
        str = str .. " ]"
        return str
end

--- Convert a matrix to row vec4s.
-- @tparam mat4 a Matrix to be converted
-- @treturn table vec4s
function mat4.to_vec4s(a)
        return {
                { a[1],  a[2],  a[3],  a[4]  },
                { a[5],  a[6],  a[7],  a[8]  },
                { a[9],  a[10], a[11], a[12] },
                { a[13], a[14], a[15], a[16] }
        }
end

--- Convert a matrix to col vec4s.
-- @tparam mat4 a Matrix to be converted
-- @treturn table vec4s
function mat4.to_vec4s_cols(a)
        return {
                { a[1], a[5], a[9],  a[13] },
                { a[2], a[6], a[10], a[14] },
                { a[3], a[7], a[11], a[15] },
                { a[4], a[8], a[12], a[16] }
        }
end

-- http://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToQuaternion/
--- Convert a matrix to a quaternion.
-- @tparam mat4 a Matrix to be converted
-- @treturn quat out
function mat4.to_quat(a)
        identity(tmp):transpose(a)

        local w     = sqrt(1 + tmp[1] + tmp[6] + tmp[11]) / 2
        local scale = w * 4
        local q     = quat.new(
                tmp[10] - tmp[7] / scale,
                tmp[3]  - tmp[9] / scale,
                tmp[5]  - tmp[2] / scale,
                w
        )

        return q:normalize(q)
end

-- http://www.crownandcutlass.com/features/technicaldetails/frustum.html
--- Convert a matrix to a frustum.
-- @tparam mat4 a Matrix to be converted (projection * view)
-- @tparam boolean infinite Infinite removes the far plane
-- @treturn frustum out
function mat4.to_frustum(a, infinite)
        local t
        local frustum = {}

        -- Extract the LEFT plane
        frustum.left   = {}
        frustum.left.a = a[4]  + a[1]
        frustum.left.b = a[8]  + a[5]
        frustum.left.c = a[12] + a[9]
        frustum.left.d = a[16] + a[13]

        -- Normalize the result
        t = sqrt(frustum.left.a * frustum.left.a + frustum.left.b * frustum.left.b + frustum.left.c * frustum.left.c)
        frustum.left.a = frustum.left.a / t
        frustum.left.b = frustum.left.b / t
        frustum.left.c = frustum.left.c / t
        frustum.left.d = frustum.left.d / t

        -- Extract the RIGHT plane
        frustum.right   = {}
        frustum.right.a = a[4]  - a[1]
        frustum.right.b = a[8]  - a[5]
        frustum.right.c = a[12] - a[9]
        frustum.right.d = a[16] - a[13]

        -- Normalize the result
        t = sqrt(frustum.right.a * frustum.right.a + frustum.right.b * frustum.right.b + frustum.right.c * frustum.right.c)
        frustum.right.a = frustum.right.a / t
        frustum.right.b = frustum.right.b / t
        frustum.right.c = frustum.right.c / t
        frustum.right.d = frustum.right.d / t

        -- Extract the BOTTOM plane
        frustum.bottom   = {}
        frustum.bottom.a = a[4]  + a[2]
        frustum.bottom.b = a[8]  + a[6]
        frustum.bottom.c = a[12] + a[10]
        frustum.bottom.d = a[16] + a[14]

        -- Normalize the result
        t = sqrt(frustum.bottom.a * frustum.bottom.a + frustum.bottom.b * frustum.bottom.b + frustum.bottom.c * frustum.bottom.c)
        frustum.bottom.a = frustum.bottom.a / t
        frustum.bottom.b = frustum.bottom.b / t
        frustum.bottom.c = frustum.bottom.c / t
        frustum.bottom.d = frustum.bottom.d / t

        -- Extract the TOP plane
        frustum.top   = {}
        frustum.top.a = a[4]  - a[2]
        frustum.top.b = a[8]  - a[6]
        frustum.top.c = a[12] - a[10]
        frustum.top.d = a[16] - a[14]

        -- Normalize the result
        t = sqrt(frustum.top.a * frustum.top.a + frustum.top.b * frustum.top.b + frustum.top.c * frustum.top.c)
        frustum.top.a = frustum.top.a / t
        frustum.top.b = frustum.top.b / t
        frustum.top.c = frustum.top.c / t
        frustum.top.d = frustum.top.d / t

        -- Extract the NEAR plane
        frustum.near   = {}
        frustum.near.a = a[4]  + a[3]
        frustum.near.b = a[8]  + a[7]
        frustum.near.c = a[12] + a[11]
        frustum.near.d = a[16] + a[15]

        -- Normalize the result
        t = sqrt(frustum.near.a * frustum.near.a + frustum.near.b * frustum.near.b + frustum.near.c * frustum.near.c)
        frustum.near.a = frustum.near.a / t
        frustum.near.b = frustum.near.b / t
        frustum.near.c = frustum.near.c / t
        frustum.near.d = frustum.near.d / t

        if not infinite then
                -- Extract the FAR plane
                frustum.far   = {}
                frustum.far.a = a[4]  - a[3]
                frustum.far.b = a[8]  - a[7]
                frustum.far.c = a[12] - a[11]
                frustum.far.d = a[16] - a[15]

                -- Normalize the result
                t = sqrt(frustum.far.a * frustum.far.a + frustum.far.b * frustum.far.b + frustum.far.c * frustum.far.c)
                frustum.far.a = frustum.far.a / t
                frustum.far.b = frustum.far.b / t
                frustum.far.c = frustum.far.c / t
                frustum.far.d = frustum.far.d / t
        end

        return frustum
end

function mat4_mt.__index(t, k)
        if type(t) == "cdata" then
                if type(k) == "number" then
                        return t._m[k-1]
                end
        end

        return rawget(mat4, k)
end

function mat4_mt.__newindex(t, k, v)
        if type(t) == "cdata" then
                if type(k) == "number" then
                        t._m[k-1] = v
                end
        end
end

mat4_mt.__tostring = mat4.to_string

function mat4_mt.__call(_, a)
        return mat4.new(a)
end

function mat4_mt.__unm(a)
        return new():invert(a)
end

function mat4_mt.__eq(a, b)
        if not mat4.is_mat4(a) or not mat4.is_mat4(b) then
                return false
        end

        for i = 1, 16 do
                if not utils.tolerance(b[i]-a[i], constants.FLT_EPSILON) then
                        return false
                end
        end

        return true
end

function mat4_mt.__mul(a, b)
        precond.assert(mat4.is_mat4(a), "__mul: Wrong argument type '%s' for left hand operand. (<cpml.mat4> expected)", type(a))

        if vec3.is_vec3(b) then
                return mat4.mul_vec3_perspective(vec3(), a, b)
        end

        assert(mat4.is_mat4(b) or #b == 4, "__mul: Wrong argument type for right hand operand. (<cpml.mat4> or table #4 expected)")

        if mat4.is_mat4(b) then
                return new():mul(a, b)
        end

        return mat4.mul_vec4({}, a, b)
end

if status then
        xpcall(function() -- Allow this to silently fail; assume failure means someone messed with package.loaded
                ffi.metatype(new, mat4_mt)
        end, function() end)
end

return setmetatable({}, mat4_mt)

excessive / cpml / 13079282556

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