TaoDeMatrix3.h

/* Copyright (c) 2005 Arachi, Inc. and Stanford University. All rights reserved.
 *
 * Permission is hereby granted, free of charge, to any person obtaining
 * a copy of this software and associated documentation files (the
 * "Software"), to deal in the Software without restriction, including
 * without limitation the rights to use, copy, modify, merge, publish,
 * distribute, sublicense, and/or sell copies of the Software, and to
 * permit persons to whom the Software is furnished to do so, subject
 * to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included
 * in all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
 * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
 * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
 * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
 * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
 * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */

#ifndef _deMatrix3_h
#define _deMatrix3_h

class deMatrix3
{
public:
  inline deMatrix3() { zero(); }
  
  operator deFloat*() { return _data[0]; }

  operator const deFloat*() const { return _data[0]; }

  deFloat* operator[](const deInt row) { return _data[row]; }
  const deFloat* operator[](const deInt row) const { return _data[row]; }
  deFloat& elementAt(const deInt i, const deInt j) { return _data[i][j]; }
  const deFloat& elementAt(const deInt i, const deInt j) const { return _data[i][j]; }
  DE_MATH_API void operator=(const deMatrix3& m);
  DE_MATH_API void zero();
  DE_MATH_API void identity();
  DE_MATH_API void negate(const deMatrix3& m);
  DE_MATH_API void add(const deMatrix3& m1, const deMatrix3& m2);
  DE_MATH_API void subtract(const deMatrix3& m1, const deMatrix3& m2);
  DE_MATH_API void multiply(const deMatrix3& m1, const deMatrix3& m2);
  DE_MATH_API void transposedMultiply(const deMatrix3& m1, const deMatrix3& m2);
  DE_MATH_API void multiplyTransposed(const deMatrix3& m1, const deMatrix3& m2);
  DE_MATH_API void multiply(const deMatrix3& m, const deFloat s);
  DE_MATH_API void operator+=(const deMatrix3& m);
  DE_MATH_API void operator-=(const deMatrix3& m);
  DE_MATH_API void operator*=(const deFloat s);
  DE_MATH_API void diagonal(const deFloat x, const deFloat y, const deFloat z);
  DE_MATH_API void diagonal(const deVector3& v);

  // @{
  DE_MATH_API void eulerXYZ(const deFloat x, const deFloat y, const deFloat z);
  DE_MATH_API void eulerZYX(const deFloat x, const deFloat y, const deFloat z);
  DE_MATH_API void set(const deQuaternion& q);
  DE_MATH_API void set(const deInt axis, const deFloat angle); 
  DE_MATH_API void set(const deVector3& axis, const deFloat angle);
  DE_MATH_API void set(const deFloat a0, const deFloat a1, const deFloat a2,
      const deFloat a3, const deFloat a4, const deFloat a5,
      const deFloat a6, const deFloat a7, const deFloat a8);
  // @}

  DE_MATH_API deFloat det() const;
  DE_MATH_API void inverseDet(const deMatrix3& m);
  DE_MATH_API void inverseDetSPD(const deMatrix3& m);
  DE_MATH_API void ludecomp(const deMatrix3& m);
  DE_MATH_API void transpose(const deMatrix3& m);
  DE_MATH_API void multiplyTransposed(const deVector3& v1, const deVector3& v2);
  DE_MATH_API void crossMultiply(const deVector3& v, const deMatrix3& m);
  DE_MATH_API void cross(const deVector3& v);
  DE_MATH_API void multiplyCross(const deMatrix3& m, const deVector3& v);

  friend class deVector3;
  friend class deQuaternion;

private:
  deFloat _data[DE_MATRIX3_ROW][DE_MATRIX3_COL];
};

#endif // _deMatrix3_h