TaoDeMatrix6.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
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 */

#ifndef _deMatrix6_h
#define _deMatrix6_h

class deMatrix6
{
public:
  deMatrix3* operator[](const deInt row) { return (_mat3 + row * 2); }
  const deMatrix3* operator[](const deInt row) const { return (_mat3 + row * 2); }
  DE_MATH_API deFloat& elementAt(const deInt i, const deInt j);
  DE_MATH_API const deFloat& elementAt(const deInt i, const deInt j) const;
  DE_MATH_API void operator=(const deMatrix6& m);
  DE_MATH_API void zero();
  DE_MATH_API void identity();
  DE_MATH_API void negate(const deMatrix6& m);
  DE_MATH_API void add(const deMatrix6& m1, const deMatrix6& m2);
  DE_MATH_API void subtract(const deMatrix6& m1, const deMatrix6& m2);
  DE_MATH_API void multiply(const deMatrix6& m, const deFloat s);
  DE_MATH_API void operator+=(const deMatrix6& m);
  DE_MATH_API void operator-=(const deMatrix6& m);
  DE_MATH_API void operator*=(const deFloat s);
  DE_MATH_API void transpose(const deMatrix6& m);
  void inverse(const deMatrix6& m);
  void inverseSPD(const deMatrix6& m);
  void ludecomp(const deMatrix6& m);
  void ludecompSPD(const deMatrix6& m);
  void multiply(const deMatrix6& m1, const deMatrix6& m2);
  void transposedMultiply(const deMatrix6& m1, const deMatrix6& m2);
  void multiplyTransposed(const deMatrix6& m1, const deMatrix6& m2);
  void multiplyTransposed(const deVector6& v1, const deVector6& v2);
  void similarityXform(const deMatrix6& L, const deMatrix6& I);
  void similarityXformT(const deMatrix6& L, const deMatrix6& I);
  //  @{
  DE_MATH_API void set(const deTransform& t);
  void xform(const deTransform& t, const deMatrix6& m);
  void similarityRform(const deTransform& t, const deMatrix6& L);
  void similarityXform(const deTransform& t, const deMatrix6& I);
  void similarityXformT(const deTransform& t, const deMatrix6& I);
  void similarityXformInv(const deTransform& t, const deMatrix6& I);
  //  @}

private:
  deMatrix3 _mat3[4];
};

#endif // _deMatrix6_h