matrix.hpp

/*
 Copyright (c) 2026 ETIB Corporation
 
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 this software and associated documentation files (the "Software"), to deal in
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 use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies
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 */
 
#pragma once
 
#include <cmath>
#include <stdexcept>
#include <string>
#include <type_traits>
#include <utility>
#include <ostream>
 
#include <glm/matrix.hpp>
 
#include <glm/ext/matrix_clip_space.hpp>
#include <glm/ext/matrix_transform.hpp>
 
#include <glm/mat2x2.hpp>
#include <glm/mat2x3.hpp>
#include <glm/mat2x4.hpp>
#include <glm/mat3x2.hpp>
#include <glm/mat3x3.hpp>
#include <glm/mat3x4.hpp>
#include <glm/mat4x2.hpp>
#include <glm/mat4x3.hpp>
#include <glm/mat4x4.hpp>
 
namespace utility::math
{
 
    using glm::determinant;
    using glm::inverse;
    using glm::matrixCompMult;
    using glm::outerProduct;
    using glm::transpose;
 
    using glm::frustum;
    using glm::infinitePerspective;
    using glm::ortho;
    using glm::perspective;
    using glm::perspectiveFov;
    using glm::perspectiveLH;
    using glm::perspectiveRH;
    using glm::tweakedInfinitePerspective;
 
    using glm::identity;
    using glm::lookAt;
    using glm::lookAtLH;
    using glm::lookAtRH;
    using glm::rotate;
    using glm::scale;
    using glm::translate;
 
    template<typename Type>
    concept CanBeMatrixComponent = std::is_floating_point_v<Type>;
 
    template<CanBeMatrixComponent MatrixComponentType, std::size_t Cols,
             std::size_t Rows,
             typename = std::enable_if_t<(Cols >= 2) && (Cols <= 4)
                                         && (Rows >= 2) && (Rows <= 4)>>
    class Matrix: public glm::mat<Cols, Rows, MatrixComponentType>
    {
        public:
        Matrix(void)
            : glm::mat<Cols, Rows, MatrixComponentType>(
                  MatrixComponentType { 0 })
        {
            if constexpr (Cols == Rows) {
                *static_cast<glm::mat<Cols, Rows, MatrixComponentType> *>(
                    this) =
                    glm::mat<Cols, Rows, MatrixComponentType>(
                        MatrixComponentType { 1 });
            }
        }
 
        Matrix(std::initializer_list<MatrixComponentType> values)
        {
            if (values.size() != Cols * Rows) {
                throw std::invalid_argument("Matrix requires exactly "
                                            + std::to_string(Cols * Rows)
                                            + " components");
            }
            const auto it = values.begin();
            for (std::size_t row = 0; row < Rows; ++row) {
                for (std::size_t col = 0; col < Cols; ++col) {
                    (*this)[col][row] = *(it + row * Cols + col);
                }
            }
        }
 
        explicit Matrix(MatrixComponentType value)
            : glm::mat<Cols, Rows, MatrixComponentType>(value)
        {
        }
 
        explicit Matrix(const glm::mat<Cols, Rows, MatrixComponentType> &value)
            : glm::mat<Cols, Rows, MatrixComponentType>(value)
        {
        }
 
        Matrix(const Matrix &other) = default;
 
        Matrix(Matrix &&other) noexcept = default;
 
        ~Matrix(void) = default;
 
        Matrix &operator=(const Matrix &other) = default;
 
        Matrix &operator=(Matrix &&other) noexcept = default;
 
        Matrix operator+(const Matrix &rhs) const noexcept
        {
            return Matrix(
                static_cast<const glm::mat<Cols, Rows, MatrixComponentType> &>(
                    *this)
                + static_cast<
                    const glm::mat<Cols, Rows, MatrixComponentType> &>(rhs));
        }
 
        Matrix &operator+=(const Matrix &rhs) noexcept
        {
            *static_cast<glm::mat<Cols, Rows, MatrixComponentType> *>(this) +=
                static_cast<const glm::mat<Cols, Rows, MatrixComponentType> &>(
                    rhs);
            return *this;
        }
 
        Matrix operator-(const Matrix &rhs) const noexcept
        {
            return Matrix(
                static_cast<const glm::mat<Cols, Rows, MatrixComponentType> &>(
                    *this)
                - static_cast<
                    const glm::mat<Cols, Rows, MatrixComponentType> &>(rhs));
        }
 
        Matrix &operator-=(const Matrix &rhs) noexcept
        {
            *static_cast<glm::mat<Cols, Rows, MatrixComponentType> *>(this) -=
                static_cast<const glm::mat<Cols, Rows, MatrixComponentType> &>(
                    rhs);
            return *this;
        }
 
        Matrix operator*(MatrixComponentType scalar) const noexcept
        {
            return Matrix(
                static_cast<const glm::mat<Cols, Rows, MatrixComponentType> &>(
                    *this)
                * scalar);
        }
 
        Matrix &operator*=(MatrixComponentType scalar) noexcept
        {
            *static_cast<glm::mat<Cols, Rows, MatrixComponentType> *>(this) *=
                scalar;
            return *this;
        }
 
        Matrix operator/(MatrixComponentType scalar) const
        {
            if (scalar == MatrixComponentType { 0 }) {
                throw std::invalid_argument("Matrix division by zero");
            }
            return Matrix(
                static_cast<const glm::mat<Cols, Rows, MatrixComponentType> &>(
                    *this)
                / scalar);
        }
 
        Matrix &operator/=(MatrixComponentType scalar)
        {
            if (scalar == MatrixComponentType { 0 }) {
                throw std::invalid_argument("Matrix division by zero");
            }
            *static_cast<glm::mat<Cols, Rows, MatrixComponentType> *>(this) /=
                scalar;
            return *this;
        }
 
        template<std::size_t RhsCols, std::size_t RhsRows>
            requires(Cols == RhsRows)
        Matrix<MatrixComponentType, RhsCols, Rows>
            operator*(const Matrix<MatrixComponentType, RhsCols, RhsRows> &rhs)
                const noexcept
        {
            using LhsGlm = glm::mat<Cols, Rows, MatrixComponentType>;
            using RhsGlm = glm::mat<RhsCols, RhsRows, MatrixComponentType>;
            return Matrix<MatrixComponentType, RhsCols, Rows>(
                static_cast<const LhsGlm &>(*this)
                * static_cast<const RhsGlm &>(rhs));
        }
 
        Matrix &operator*=(const Matrix &rhs) noexcept
            requires(Cols == Rows)
        {
            *static_cast<glm::mat<Cols, Rows, MatrixComponentType> *>(this) =
                static_cast<const glm::mat<Cols, Rows, MatrixComponentType> &>(
                    *this)
                * static_cast<
                    const glm::mat<Cols, Rows, MatrixComponentType> &>(rhs);
            return *this;
        }
 
        bool operator==(const Matrix &rhs) const noexcept
        {
            return static_cast<
                       const glm::mat<Cols, Rows, MatrixComponentType> &>(*this)
                == static_cast<
                       const glm::mat<Cols, Rows, MatrixComponentType> &>(rhs);
        }
 
        bool equalsEpsilon(const Matrix &rhs,
                           MatrixComponentType epsilon = MatrixComponentType {
                               1e-5 }) const
        {
            for (std::size_t col = 0; col < Cols; ++col) {
                for (std::size_t row = 0; row < Rows; ++row) {
                    if (std::abs((*this)[col][row] - rhs[col][row]) > epsilon) {
                        return false;
                    }
                }
            }
            return true;
        }
 
        bool operator!=(const Matrix &rhs) const noexcept
        {
            return !(*this == rhs);
        }
 
        Matrix operator-(void) const noexcept
        {
            return Matrix(
                -static_cast<const glm::mat<Cols, Rows, MatrixComponentType> &>(
                    *this));
        }
 
        friend Matrix operator*(MatrixComponentType scalar, const Matrix &mat)
        {
            return mat * scalar;
        }
    };
 
    using Matrix2x2F = Matrix<float, 2, 2>;
 
    using Matrix2x2D = Matrix<double, 2, 2>;
 
    using Matrix2x3F = Matrix<float, 2, 3>;
 
    using Matrix2x3D = Matrix<double, 2, 3>;
 
    using Matrix2x4F = Matrix<float, 2, 4>;
 
    using Matrix2x4D = Matrix<double, 2, 4>;
 
    using Matrix3x2F = Matrix<float, 3, 2>;
 
    using Matrix3x2D = Matrix<double, 3, 2>;
 
    using Matrix3x3F = Matrix<float, 3, 3>;
 
    using Matrix3x3D = Matrix<double, 3, 3>;
 
    using Matrix3x4F = Matrix<float, 3, 4>;
 
    using Matrix3x4D = Matrix<double, 3, 4>;
 
    using Matrix4x2F = Matrix<float, 4, 2>;
 
    using Matrix4x2D = Matrix<double, 4, 2>;
 
    using Matrix4x3F = Matrix<float, 4, 3>;
 
    using Matrix4x3D = Matrix<double, 4, 3>;
 
    using Matrix4x4F = Matrix<float, 4, 4>;
 
    using Matrix4x4D = Matrix<double, 4, 4>;
 
    std::ostream &operator<<(std::ostream &stream, const Matrix2x2F &matrix);
 
    std::ostream &operator<<(std::ostream &stream, const Matrix2x2D &matrix);
 
    std::ostream &operator<<(std::ostream &stream, const Matrix4x4F &matrix);
 
    std::ostream &operator<<(std::ostream &stream, const Matrix4x4D &matrix);
 
    std::ostream &operator<<(std::ostream &stream, const Matrix3x3F &matrix);
 
    std::ostream &operator<<(std::ostream &stream, const Matrix3x3D &matrix);
 
    std::ostream &operator<<(std::ostream &stream, const Matrix3x4F &matrix);
 
    std::ostream &operator<<(std::ostream &stream, const Matrix3x4D &matrix);
 
    std::ostream &operator<<(std::ostream &stream, const Matrix4x3F &matrix);
 
    std::ostream &operator<<(std::ostream &stream, const Matrix4x3D &matrix);
 
    std::ostream &operator<<(std::ostream &stream, const Matrix2x3F &matrix);
 
    std::ostream &operator<<(std::ostream &stream, const Matrix2x3D &matrix);
 
    std::ostream &operator<<(std::ostream &stream, const Matrix2x4F &matrix);
 
    std::ostream &operator<<(std::ostream &stream, const Matrix2x4D &matrix);
 
    std::ostream &operator<<(std::ostream &stream, const Matrix3x2F &matrix);
 
    std::ostream &operator<<(std::ostream &stream, const Matrix3x2D &matrix);
 
    std::ostream &operator<<(std::ostream &stream, const Matrix4x2F &matrix);
 
    std::ostream &operator<<(std::ostream &stream, const Matrix4x2D &matrix);
 
    std::ostream &operator<<(std::ostream &stream, const Matrix4x4F &matrix);
 
    std::ostream &operator<<(std::ostream &stream, const Matrix4x4D &matrix);
 
}    // namespace utility::math