OAG Library (OpenGL) Part 1 - Setting Up the Library for an MFC Application

#pragma once

#include <math.h>
#include "VectorFloat.h"
#include "OAGMatrix4x4.h"
#include "..\..\OpenGL\include\rglModel\aiQuaternion.h"

// ----------------------------------------------------------------------------------------
inline void Matrix4x4Decompose (const oag::Matrix4x4& matSource, oag::CVectorFloat& scaling, aiQuaternion& rotation,
	oag::CVectorFloat& position)
{
	//const oag::Matrix4x4& _this = *this;

	// extract translation
	//position.x = _this[0][3];
	//position.y = _this[1][3];
	//position.z = _this[2][3];

	//// extract the rows of the matrix
	//aiVector3D vRows[3] = {
	//	aiVector3D(_this[0][0],_this[1][0],_this[2][0]),
	//	aiVector3D(_this[0][1],_this[1][1],_this[2][1]),
	//	aiVector3D(_this[0][2],_this[1][2],_this[2][2])
	//};

	//// extract the scaling factors
	//scaling.x = vRows[0].Length();
	//scaling.y = vRows[1].Length();
	//scaling.z = vRows[2].Length();

	//// and remove all scaling from the matrix
	//if(scaling.x)
	//{
	//	vRows[0] /= scaling.x;
	//}
	//if(scaling.y)
	//{
	//	vRows[1] /= scaling.y;
	//}
	//if(scaling.z)
	//{
	//	vRows[2] /= scaling.z;
	//}

	//// build a 3x3 rotation matrix
	//aiMatrix3x3 m(vRows[0].x,vRows[1].x,vRows[2].x,
	//	vRows[0].y,vRows[1].y,vRows[2].y,
	//	vRows[0].z,vRows[1].z,vRows[2].z);

	//// and generate the rotation quaternion from it
	//rotation = aiQuaternion(m);
}

inline oag::Matrix4x4 RotationZ(float a, oag::Matrix4x4& out)
{
	/*
	     |  cos(A)  -sin(A)   0   0 |
     M = |  sin(A)   cos(A)   0   0 |
         |  0        0        1   0 |
         |  0        0        0   1 |	*/
	oag::Matrix4x4 localMat;
	out = localMat;
	out.MakeIdentity();

	out.m00 = out.m11 = cos(a); //out.a1 = out.b2 = cos(a);
	out.m01 = -(out.m10 = sin(a) ); //out.a2 = -(out.b1 = sin(a));
	return out;
}

/** Transformation of a vector by a 3x3 matrix */
inline oag::CVectorFloat MultiplyMatrix3x3ByVector(const oag::Matrix3x3& pMatrix, const oag::CVectorFloat& pVector)
{
	oag::CVectorFloat res;
	res.m_X = (pMatrix.m00 * pVector.m_X) + (pMatrix.m01 * pVector.m_Y) + (pMatrix.m02 * pVector.m_Z);
	res.m_Y = (pMatrix.m10 * pVector.m_X) + (pMatrix.m11 * pVector.m_Y) + (pMatrix.m12 * pVector.m_Z);
	res.m_Z = (pMatrix.m20 * pVector.m_X) + (pMatrix.m21 * pVector.m_Y) + (pMatrix.m22 * pVector.m_Z);
	return res;
}

inline oag::CVectorFloat MultiplyMatrix4x4ByVectorFloat(const oag::Matrix4x4* pMatrix, const oag::CVectorFloat pVector)
{
	oag::CVectorFloat res;
	res.m_X = (pMatrix->m00 * pVector.m_X) + (pMatrix->m01 * pVector.m_Y) + (pMatrix->m02 * pVector.m_Z + pMatrix->m03);
	res.m_Y = (pMatrix->m10 * pVector.m_X) + (pMatrix->m11 * pVector.m_Y) + (pMatrix->m12 * pVector.m_Z + pMatrix->m13);
	res.m_Z = (pMatrix->m20 * pVector.m_X) + (pMatrix->m21 * pVector.m_Y) + (pMatrix->m22 * pVector.m_Z + pMatrix->m23);
	return res;
}