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#ifndef PX_FOUNDATION_PX_MAT44_H
#define PX_FOUNDATION_PX_MAT44_H
/** \addtogroup foundation
@{
*/

#include "foundation/PxQuat.h"
#include "foundation/PxVec4.h"
#include "foundation/PxMat33.h"
#include "foundation/PxTransform.h"

#ifndef PX_DOXYGEN
namespace physx
{
#endif

/*!
\brief 4x4 matrix class

This class is layout-compatible with D3D and OpenGL matrices. More notes on layout are given in the PxMat33

@see PxMat33 PxTransform
*/

class PxMat44
{
public:
	//! Default constructor
	PX_CUDA_CALLABLE PX_INLINE PxMat44()
	{}

	//! Construct from four 4-vectors
	PX_CUDA_CALLABLE PxMat44(const PxVec4& col0, const PxVec4& col1, const PxVec4& col2, const PxVec4 &col3)
		: column0(col0), column1(col1), column2(col2), column3(col3)
	{}

	//! Construct from three base vectors and a translation
	PX_CUDA_CALLABLE PxMat44(const PxVec3& column0, const PxVec3& column1, const PxVec3& column2, const PxVec3& column3)
		: column0(column0,0), column1(column1,0), column2(column2,0), column3(column3,1)
	{}

	//! Construct from float[16]
	explicit PX_CUDA_CALLABLE PX_INLINE PxMat44(PxReal values[]):
		column0(values[0],values[1],values[2], values[3]),
		column1(values[4],values[5],values[6], values[7]),
		column2(values[8],values[9],values[10], values[11]),
		column3(values[12], values[13], values[14], values[15])
	{
	}

	//! Construct from a quaternion
	explicit PX_CUDA_CALLABLE PX_INLINE PxMat44(const PxQuat& q)
	{
		const PxReal x = q.x;
		const PxReal y = q.y;
		const PxReal z = q.z;
		const PxReal w = q.w;

		const PxReal x2 = x + x;
		const PxReal y2 = y + y;
		const PxReal z2 = z + z;

		const PxReal xx = x2*x;
		const PxReal yy = y2*y;
		const PxReal zz = z2*z;

		const PxReal xy = x2*y;
		const PxReal xz = x2*z;
		const PxReal xw = x2*w;

		const PxReal yz = y2*z;
		const PxReal yw = y2*w;
		const PxReal zw = z2*w;

		column0 = PxVec4(1.0f - yy - zz, xy + zw, xz - yw, 0.0f);
		column1 = PxVec4(xy - zw, 1.0f - xx - zz, yz + xw, 0.0f);
		column2 = PxVec4(xz + yw, yz - xw, 1.0f - xx - yy, 0.0f);
		column3 = PxVec4(0.0f, 0.0f, 0.0f, 1.0f);
	}

	//! Construct from a diagonal vector
	explicit PX_CUDA_CALLABLE PX_INLINE PxMat44(const PxVec4& diagonal):
		column0(diagonal.x,0.0f,0.0f,0.0f),
		column1(0.0f,diagonal.y,0.0f,0.0f),
		column2(0.0f,0.0f,diagonal.z,0.0f),
		column3(0.0f,0.0f,0.0f,diagonal.w)
	{
	}

	PX_CUDA_CALLABLE PxMat44(const PxMat33& orientation, const PxVec3& position):
		column0(orientation.column0,0.0f),
		column1(orientation.column1,0.0f),
		column2(orientation.column2,0.0f),
		column3(position,1)
	{
	}
		
	PX_CUDA_CALLABLE PxMat44(const PxTransform& t)
	{
		*this = PxMat44(PxMat33(t.q), t.p);
	}

	//! Copy constructor
	PX_CUDA_CALLABLE PX_INLINE PxMat44(const PxMat44& other)
		: column0(other.column0), column1(other.column1), column2(other.column2), column3(other.column3)
	{}

	//! Assignment operator
	PX_CUDA_CALLABLE PX_INLINE const PxMat44& operator=(const PxMat44& other)
	{
		column0 = other.column0;
		column1 = other.column1;
		column2 = other.column2;
		column3 = other.column3;
		return *this;
	}

	PX_CUDA_CALLABLE PX_INLINE static PxMat44 createIdentity()
	{
		return PxMat44(
			PxVec4(1.0f,0.0f,0.0f,0.0f),
			PxVec4(0.0f,1.0f,0.0f,0.0f),
			PxVec4(0.0f,0.0f,1.0f,0.0f),
			PxVec4(0.0f,0.0f,0.0f,1.0f));
	}


	PX_CUDA_CALLABLE PX_INLINE static PxMat44 createZero()
	{
		return PxMat44(PxVec4(0.0f), PxVec4(0.0f), PxVec4(0.0f), PxVec4(0.0f));
	}

	//! Get transposed matrix
	PX_CUDA_CALLABLE PX_INLINE PxMat44 getTranspose() const
	{
		return PxMat44(PxVec4(column0.x, column1.x, column2.x, column3.x),
			         PxVec4(column0.y, column1.y, column2.y, column3.y),
					 PxVec4(column0.z, column1.z, column2.z, column3.z),
				     PxVec4(column0.w, column1.w, column2.w, column3.w));
	}

	//! Unary minus
	PX_CUDA_CALLABLE PX_INLINE PxMat44 operator-() const
	{
		return PxMat44(-column0, -column1, -column2, -column3);
	}

	//! Add
	PX_CUDA_CALLABLE PX_INLINE PxMat44 operator+(const PxMat44& other) const
	{
		return PxMat44( column0+other.column0,
					  column1+other.column1,
					  column2+other.column2,
					  column3+other.column3);
	}

	//! Subtract
	PX_CUDA_CALLABLE PX_INLINE PxMat44 operator-(const PxMat44& other) const
	{
		return PxMat44( column0-other.column0,
					  column1-other.column1,
					  column2-other.column2,
					  column3-other.column3);
	}

	//! Scalar multiplication
	PX_CUDA_CALLABLE PX_INLINE PxMat44 operator*(PxReal scalar) const
	{
		return PxMat44(column0*scalar, column1*scalar, column2*scalar, column3*scalar);
	}

	friend PxMat44 operator*(PxReal, const PxMat44&);

	//! Matrix multiplication
	PX_CUDA_CALLABLE PX_INLINE PxMat44 operator*(const PxMat44& other) const
	{
		//Rows from this <dot> columns from other
		//column0 = transform(other.column0) etc
		return PxMat44(transform(other.column0), transform(other.column1), transform(other.column2), transform(other.column3));
	}

	// a <op>= b operators

	//! Equals-add
	PX_CUDA_CALLABLE PX_INLINE PxMat44& operator+=(const PxMat44& other)
	{
		column0 += other.column0;
		column1 += other.column1;
		column2 += other.column2;
		column3 += other.column3;
		return *this;
	}

	//! Equals-sub
	PX_CUDA_CALLABLE PX_INLINE PxMat44& operator-=(const PxMat44& other)
	{
		column0 -= other.column0;
		column1 -= other.column1;
		column2 -= other.column2;
		column3 -= other.column3;
		return *this;
	}

	//! Equals scalar multiplication
	PX_CUDA_CALLABLE PX_INLINE PxMat44& operator*=(PxReal scalar)
	{
		column0 *= scalar;
		column1 *= scalar;
		column2 *= scalar;
		column3 *= scalar;
		return *this;
	}

	//! Element access, mathematical way!
	PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal operator()(unsigned int row, unsigned int col) const
	{
		return (*this)[col][row];
	}

	//! Element access, mathematical way!
	PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal& operator()(unsigned int row, unsigned int col)
	{
		return (*this)[col][row];
	}
	
	//! Transform vector by matrix, equal to v' = M*v
	PX_CUDA_CALLABLE PX_INLINE PxVec4 transform(const PxVec4& other) const
	{
		return column0*other.x + column1*other.y + column2*other.z + column3*other.w;
	}

	//! Transform vector by matrix, equal to v' = M*v
	PX_CUDA_CALLABLE PX_INLINE PxVec3 transform(const PxVec3& other) const
	{
		return transform(PxVec4(other,1)).getXYZ();
	}

	//! Rotate vector by matrix, equal to v' = M*v
	PX_CUDA_CALLABLE PX_INLINE PxVec4 rotate(const PxVec4& other) const
	{
		return column0*other.x + column1*other.y + column2*other.z;// + column3*0;
	}

	//! Rotate vector by matrix, equal to v' = M*v
	PX_CUDA_CALLABLE PX_INLINE PxVec3 rotate(const PxVec3& other) const
	{
		return rotate(PxVec4(other,1)).getXYZ();
	}


	PX_CUDA_CALLABLE PX_INLINE PxVec3 getBasis(int num) const
	{
		PX_ASSERT(num>=0 && num<3);
		return (&column0)[num].getXYZ();
	}

	PX_CUDA_CALLABLE PX_INLINE PxVec3 getPosition() const
	{
		return column3.getXYZ();
	}

	PX_CUDA_CALLABLE PX_INLINE void setPosition(const PxVec3& position)
	{
		column3.x = position.x;
		column3.y = position.y;
		column3.z = position.z;
	}

	PX_CUDA_CALLABLE PX_FORCE_INLINE const PxReal* front() const
	{
		return &column0.x;
	}

	PX_CUDA_CALLABLE PX_FORCE_INLINE			PxVec4& operator[](int num)			{return (&column0)[num];}
	PX_CUDA_CALLABLE PX_FORCE_INLINE const	PxVec4& operator[](int num)	const	{return (&column0)[num];}

	PX_CUDA_CALLABLE PX_INLINE void	scale(const PxVec4& p)
	{
		column0 *= p.x;
		column1 *= p.y;
		column2 *= p.z;
		column3 *= p.w;
	}

	PX_CUDA_CALLABLE PX_INLINE PxMat44 inverseRT(void) const
	{
		PxVec3 r0(column0.x, column1.x, column2.x),
			r1(column0.y, column1.y, column2.y),
			r2(column0.z, column1.z, column2.z);

		return PxMat44(r0, r1, r2, -(r0 * column3.x + r1 * column3.y + r2 * column3.z));
	}

	PX_CUDA_CALLABLE PX_INLINE bool isFinite() const
	{
		return column0.isFinite() && column1.isFinite() && column2.isFinite() && column3.isFinite();
	}


	//Data, see above for format!

	PxVec4 column0, column1, column2, column3; //the four base vectors
};

// implementation from PxTransform.h
PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform::PxTransform(const PxMat44& m)
{
	PxVec3 column0  = PxVec3(m.column0.x, m.column0.y, m.column0.z);
	PxVec3 column1  = PxVec3(m.column1.x, m.column1.y, m.column1.z);
	PxVec3 column2  = PxVec3(m.column2.x, m.column2.y, m.column2.z);

	q = PxQuat(PxMat33(column0, column1, column2));
	p = PxVec3(m.column3.x, m.column3.y, m.column3.z);
}

#ifndef PX_DOXYGEN
} // namespace physx
#endif

/** @} */
#endif // PX_FOUNDATION_PX_MAT44_H