magnum/src/Math/Matrix.h

#ifndef Magnum_Math_Matrix_h
#define Magnum_Math_Matrix_h
/*
    Copyright © 2010, 2011, 2012 Vladimír Vondruš <mosra@centrum.cz>

    This file is part of Magnum.

    Magnum is free software: you can redistribute it and/or modify
    it under the terms of the GNU Lesser General Public License version 3
    only, as published by the Free Software Foundation.

    Magnum is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
    GNU Lesser General Public License version 3 for more details.
*/

/** @file
 * @brief Class Magnum::Math::Matrix
 */

#include "RectangularMatrix.h"

namespace Magnum { namespace Math {

#ifndef DOXYGEN_GENERATING_OUTPUT
namespace Implementation {
    template<std::size_t size, class T> class MatrixDeterminant;
}
#endif

/**
@brief Square matrix
@tparam size    %Matrix size
@tparam T       Data type

See @ref matrix-vector for brief introduction.

@configurationvalueref{Magnum::Math::Matrix}
@see Magnum::Matrix2, Magnum::Matrix2d
 */
template<std::size_t size, class T> class Matrix: public RectangularMatrix<size, size, T> {
    public:
        const static std::size_t Size = size; /**< @brief %Matrix size */

        /** @brief Pass to constructor to create zero-filled matrix */
        enum ZeroType { Zero };

        /**
         * @brief Zero-filled matrix constructor
         *
         * Use this constructor by calling `Matrix m(Matrix::Zero);`.
         */
        inline constexpr explicit Matrix(ZeroType) {}

        /** @brief Pass to constructor to create identity matrix */
        enum IdentityType { Identity };

        /**
         * @brief Default constructor
         *
         * You can also explicitly call this constructor with
         * `Matrix m(Matrix::Identity);`. Optional parameter @p value allows
         * you to specify value on diagonal.
         * @todo use constexpr fromDiagonal() for this when it's done
         */
        inline /*implicit*/ Matrix(IdentityType = Identity, T value = T(1)) {
            for(std::size_t i = 0; i != size; ++i)
                (*this)[i][i] = value;
        }

        /**
         * @brief %Matrix from column vectors
         * @param first First column vector
         * @param next  Next column vectors
         */
        template<class ...U> inline constexpr /*implicit*/ Matrix(const Vector<size, T>& first, const U&... next): RectangularMatrix<size, size, T>(first, next...) {}

        /**
         * @brief Construct matrix from another of different type
         *
         * Performs only default casting on the values, no rounding or
         * anything else. Example usage:
         * @code
         * Matrix<2, Float> floatingPoint({1.3f, 2.7f},
         *                                {-15.0f, 7.0f});
         * Matrix<2, Byte> integral(floatingPoint);
         * // integral == {{1, 2}, {-15, 7}}
         * @endcode
         */
        template<class U> inline constexpr explicit Matrix(const RectangularMatrix<size, size, U>& other): RectangularMatrix<size, size, T>(other) {}

        /** @brief Copy constructor */
        inline constexpr Matrix(const RectangularMatrix<size, size, T>& other): RectangularMatrix<size, size, T>(other) {}

        /**
         * @brief Trace of the matrix
         *
         * @f[
         * tr(A) = \sum_{i=1}^n a_{i,i}
         * @f]
         */
        T trace() const {
            return this->diagonal().sum();
        }

        /** @brief %Matrix without given column and row */
        Matrix<size-1, T> ij(std::size_t skipCol, std::size_t skipRow) const {
            Matrix<size-1, T> out(Matrix<size-1, T>::Zero);

            for(std::size_t col = 0; col != size-1; ++col)
                for(std::size_t row = 0; row != size-1; ++row)
                    out[col][row] = (*this)[col + (col >= skipCol)]
                                           [row + (row >= skipRow)];

            return out;
        }

        /**
         * @brief Determinant
         *
         * Computed recursively using Laplace's formula: @f[
         *      \det(A) = \sum_{j=1}^n (-1)^{i+j} a_{i,j} \det(A^{i,j})
         * @f] @f$ A^{i, j} @f$ is matrix without i-th row and j-th column, see
         * ij(). The formula is expanded down to 2x2 matrix, where the
         * determinant is computed directly: @f[
         *      \det(A) = a_{0, 0} a_{1, 1} - a_{1, 0} a_{0, 1}
         * @f]
         */
        inline T determinant() const { return Implementation::MatrixDeterminant<size, T>()(*this); }

        /**
         * @brief Inverted matrix
         *
         * Computed using Cramer's rule: @f[
         *      A^{-1} = \frac{1}{\det(A)} Adj(A)
         * @f]
         *
         * See Matrix3::invertedEuclidean() and Matrix4::invertedEuclidean()
         * which are faster alternatives for particular matrix types.
         */
        Matrix<size, T> inverted() const {
            Matrix<size, T> out(Zero);

            T _determinant = determinant();

            for(std::size_t col = 0; col != size; ++col)
                for(std::size_t row = 0; row != size; ++row)
                    out[col][row] = (((row+col) & 1) ? -1 : 1)*ij(row, col).determinant()/_determinant;

            return out;
        }

        #ifndef DOXYGEN_GENERATING_OUTPUT
        /* Reimplementation of functions to return correct type */
        inline Matrix<size, T> operator*(const Matrix<size, T>& other) const {
            return RectangularMatrix<size, size, T>::operator*(other);
        }
        template<std::size_t otherCols> inline RectangularMatrix<otherCols, size, T> operator*(const RectangularMatrix<otherCols, size, T>& other) const {
            return RectangularMatrix<size, size, T>::operator*(other);
        }
        inline Vector<size, T> operator*(const Vector<size, T>& other) const {
            return RectangularMatrix<size, size, T>::operator*(other);
        }
        MAGNUM_RECTANGULARMATRIX_SUBCLASS_IMPLEMENTATION(size, size, Matrix<size, T>)
        #endif
};

#ifndef DOXYGEN_GENERATING_OUTPUT
template<std::size_t size, class T, class U> inline typename std::enable_if<std::is_arithmetic<U>::value, Matrix<size, T>>::type operator*(U number, const Matrix<size, T>& matrix) {
    return number*RectangularMatrix<size, size, T>(matrix);
}
template<std::size_t size, class T, class U> inline typename std::enable_if<std::is_arithmetic<U>::value, Matrix<size, T>>::type operator/(U number, const Matrix<size, T>& matrix) {
    return number/RectangularMatrix<size, size, T>(matrix);
}
template<std::size_t size, class T> inline Matrix<size, T> operator*(const Vector<size, T>& vector, const RectangularMatrix<size, 1, T>& matrix) {
    return RectangularMatrix<1, size, T>(vector)*matrix;
}
#endif

/** @debugoperator{Magnum::Math::Matrix} */
template<std::size_t size, class T> inline Corrade::Utility::Debug operator<<(Corrade::Utility::Debug debug, const Matrix<size, T>& value) {
    return debug << static_cast<const RectangularMatrix<size, size, T>&>(value);
}

#ifndef DOXYGEN_GENERATING_OUTPUT
#define MAGNUM_MATRIX_SUBCLASS_IMPLEMENTATION(Type, VectorType, size)       \
    inline VectorType<T>& operator[](std::size_t col) {                     \
        return static_cast<VectorType<T>&>(Matrix<size, T>::operator[](col)); \
    }                                                                       \
    inline constexpr const VectorType<T> operator[](std::size_t col) const { \
        return VectorType<T>(Matrix<size, T>::operator[](col));             \
    }                                                                       \
                                                                            \
    inline Type<T> operator*(const Matrix<size, T>& other) const {          \
        return Matrix<size, T>::operator*(other);                           \
    }                                                                       \
    template<std::size_t otherCols> inline RectangularMatrix<otherCols, size, T> operator*(const RectangularMatrix<otherCols, size, T>& other) const { \
        return Matrix<size, T>::operator*(other);                           \
    }                                                                       \
    inline VectorType<T> operator*(const Vector<size, T>& other) const {    \
        return Matrix<size, T>::operator*(other);                           \
    }                                                                       \
                                                                            \
    inline Type<T> transposed() const { return Matrix<size, T>::transposed(); } \
    inline Type<T> inverted() const { return Matrix<size, T>::inverted(); }

#define MAGNUM_MATRIX_SUBCLASS_OPERATOR_IMPLEMENTATION(Type, size)          \
    template<class T, class U> inline typename std::enable_if<std::is_arithmetic<U>::value, Type<T>>::type operator*(U number, const Type<T>& matrix) { \
        return number*Matrix<size, T>(matrix);                              \
    }                                                                       \
    template<class T, class U> inline typename std::enable_if<std::is_arithmetic<U>::value, Type<T>>::type operator/(U number, const Type<T>& matrix) { \
        return number/Matrix<size, T>(matrix);                              \
    }                                                                       \
    template<class T> inline Type<T> operator*(const Vector<size, T>& vector, const RectangularMatrix<size, 1, T>& matrix) { \
        return RectangularMatrix<1, size, T>(vector)*matrix;                \
    }

namespace Implementation {

template<std::size_t size, class T> class MatrixDeterminant {
    public:
        T operator()(const Matrix<size, T>& m) {
            T out(0);

            for(std::size_t col = 0; col != size; ++col)
                out += ((col & 1) ? -1 : 1)*m[col][0]*m.ij(col, 0).determinant();

            return out;
        }
};

template<class T> class MatrixDeterminant<2, T> {
    public:
        inline constexpr T operator()(const Matrix<2, T>& m) {
            return m[0][0]*m[1][1] - m[1][0]*m[0][1];
        }
};

template<class T> class MatrixDeterminant<1, T> {
    public:
        inline constexpr T operator()(const Matrix<1, T>& m) {
            return m[0][0];
        }
};

}
#endif

}}

namespace Corrade { namespace Utility {
    /** @configurationvalue{Magnum::Math::Matrix} */
    template<std::size_t size, class T> struct ConfigurationValue<Magnum::Math::Matrix<size, T>>: public ConfigurationValue<Magnum::Math::RectangularMatrix<size, size, T>> {};
}}

#endif