matrix3x3.h

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#pragma once
#ifndef AI_MATRIX3X3_H_INC
#define AI_MATRIX3X3_H_INC

#include "defs.h"

#ifdef __cplusplus

template <typename T> class aiMatrix4x4t;
template <typename T> class aiVector2t;

// ---------------------------------------------------------------------------
template <typename TReal>
class aiMatrix3x3t
{
public:

    aiMatrix3x3t () :
        a1(static_cast<TReal>(1.0f)), a2(), a3(),
        b1(), b2(static_cast<TReal>(1.0f)), b3(),
        c1(), c2(), c3(static_cast<TReal>(1.0f)) {}

    aiMatrix3x3t (  TReal _a1, TReal _a2, TReal _a3,
                    TReal _b1, TReal _b2, TReal _b3,
                    TReal _c1, TReal _c2, TReal _c3) :
        a1(_a1), a2(_a2), a3(_a3),
        b1(_b1), b2(_b2), b3(_b3),
        c1(_c1), c2(_c2), c3(_c3)
    {}

public:

    // matrix multiplication.
    aiMatrix3x3t& operator *= (const aiMatrix3x3t& m);
    aiMatrix3x3t  operator  * (const aiMatrix3x3t& m) const;

    // array access operators
    TReal* operator[]       (unsigned int p_iIndex);
    const TReal* operator[] (unsigned int p_iIndex) const;

    // comparison operators
    bool operator== (const aiMatrix4x4t<TReal>& m) const;
    bool operator!= (const aiMatrix4x4t<TReal>& m) const;

    bool Equal(const aiMatrix4x4t<TReal>& m, TReal epsilon = 1e-6) const;

    template <typename TOther>
    operator aiMatrix3x3t<TOther> () const;

public:

    // -------------------------------------------------------------------
    explicit aiMatrix3x3t( const aiMatrix4x4t<TReal>& pMatrix);

    // -------------------------------------------------------------------
    aiMatrix3x3t& Transpose();

    // -------------------------------------------------------------------
    aiMatrix3x3t& Inverse();
    TReal Determinant() const;

public:
    // -------------------------------------------------------------------
    static aiMatrix3x3t& RotationZ(TReal a, aiMatrix3x3t& out);

    // -------------------------------------------------------------------
    static aiMatrix3x3t& Rotation( TReal a,
        const aiVector3t<TReal>& axis, aiMatrix3x3t& out);

    // -------------------------------------------------------------------
    static aiMatrix3x3t& Translation( const aiVector2t<TReal>& v, aiMatrix3x3t& out);

    // -------------------------------------------------------------------
    static aiMatrix3x3t& FromToMatrix(const aiVector3t<TReal>& from,
        const aiVector3t<TReal>& to, aiMatrix3x3t& out);

public:
    TReal a1, a2, a3;
    TReal b1, b2, b3;
    TReal c1, c2, c3;
};

typedef aiMatrix3x3t<ai_real> aiMatrix3x3;

#else

struct aiMatrix3x3 {
    ai_real a1, a2, a3;
    ai_real b1, b2, b3;
    ai_real c1, c2, c3;
};

#endif // __cplusplus

#endif // AI_MATRIX3X3_H_INC