sapphire/src/tools/pcb_reader/matrix4.h

#ifndef _MATRIX4_H
#define _MATRIX4_H

#include <cstdint>

// https://github.com/jpd002/Play--Framework/tree/master/include/math
struct matrix4
{
   // 4x4
   float grid[16];
   matrix4()
   {
      memset(&grid[0], 0, sizeof(grid));
   }

   float operator()(int row, int col) const
	{
		return grid[(row * 4) + col];
	}

	float& operator()(int row, int col)
	{
		return grid[(row * 4) + col];
	}
	static matrix4 rotateX(float angle)
	{
		matrix4 ret = matrix4();
		ret(0, 0) = 1.000000000f;
		ret(1, 1) = cos(angle);
		ret(1, 2) = -sin(angle);
		ret(2, 1) = sin(angle);
		ret(2, 2) = cos(angle);
		ret(3, 3) = 1.000000000f;
		return ret;
	}

	static matrix4 rotateY(float angle)
	{
		matrix4 ret = matrix4();
		ret(0, 0) = cos(angle);
		ret(0, 2) = sin(angle);
		ret(1, 1) = 1.000000000f;
		ret(2, 0) = -sin(angle);
		ret(2, 2) = cos(angle);
		ret(3, 3) = 1.000000000f;
		return ret;
	}

	static matrix4 rotateZ(float angle)
	{
		matrix4 ret = matrix4();
		ret(0, 0) = cos(angle);
		ret(0, 1) = -sin(angle);
		ret(1, 0) = sin(angle);
		ret(1, 1) = cos(angle);
		ret(2, 2) = 1.000000000f;
		ret(3, 3) = 1.000000000f;
		return ret;
   }

   static matrix4 scale(float x, float y, float z)
	{
		matrix4 ret = matrix4();
		ret(0, 0) = x;
		ret(1, 1) = y;
		ret(2, 2) = z;
		ret(3, 3) = 1;

		return ret;
	}

	static matrix4 translate(float x, float y, float z)
	{
		matrix4 ret = matrix4();
		ret(0, 0) = 1;
		ret(1, 1) = 1;
		ret(2, 2) = 1;
		ret(3, 3) = 1;

		ret(3, 0) = x;
		ret(3, 1) = y;
		ret(3, 2) = z;
		return ret;
	}
};
#endif