Matrix33.h

/***************************************************************************
 *   This file is part of OpenCAL: Open Computer Animation Library         *
 *   I created OpenCAL as my master's thesis Computer Science (multimedia) *
 *   at the tUL university in Diepenbeek, Belgium                          *
 *                                                                         *
 *   Copyright (C) 2003-2004 by Jeroen Dierckx                             *
 *   jeroen.dierckx@student.luc.ac.be                                      *
 *                                                                         *
 ***************************************************************************/

#ifndef OPENCAL_UTILS_MATRIX33_H
#define OPENCAL_UTILS_MATRIX33_H

// Includes
#include <OpenCAL/global.h>

namespace OpenCAL
{
    namespace Utils
    {
        // Forward declarations
        class Vector3;

        class OPENCAL_API Matrix33
        {
        protected:
            // Member variables
            float m_values[9];

        public:
            // Static member variables
            static const Matrix33 zero;
            static const Matrix33 unity;

        public:
            // Constructors and destructor
            Matrix33();
            Matrix33(
                float m11, float m12, float m13,
                float m21, float m22, float m23,
                float m31, float m32, float m33);
            Matrix33(const Matrix33 &source);
            virtual ~Matrix33();

            // Get functions
            const float *get() const { return m_values; }
            float get(int index) const { return m_values[index]; }
            float get(int row, int col) const { return m_values[3 * row + col]; }

            // Set functions
            void set(float *values);
            void set(int index, float value) { m_values[index] = value; }
            void set(int row, int col, float value) { m_values[3 * row + col] = value; }

            // Operator functions
            void operator=(const Matrix33 &m); // Assignment
            Matrix33 operator*(const Matrix33 &m) const; // Matrix product
            Matrix33 operator*(float factor) const; // Scalar product
            Vector3 operator*(const Vector3 &v) const; // Vector product
            Matrix33 operator+(const Matrix33 &m) const; // Matrix addition
            Matrix33 operator-() const; // Negation

            void operator*=(float factor);

            bool operator==(const Matrix33 &m) const; // Equality
            bool operator!=(const Matrix33 &m) const // Not equality
                {return !(*this == m);}

            // Transform functions
            void rotateX(float angle);
            void rotateY(float angle);
            void rotateZ(float angle);

            // Other functions
            void identity(); // Creates the identity matrix
            void clear(); // Clears the matrix
            void transpose(); // Transposes the matrix
            Matrix33 transposed(); // Returns the transposed of this matrix
            void fill(float value); // Fills the matrix with a value

            void print(); // Prints out the matrix

        protected:
        // Friend functions
        friend Matrix33 operator*(float factor, const Matrix33 &m); // Scalar product
        friend Matrix33 operator/(float factor, const Matrix33 &m);
        };
    }
}

#endif // OPENCAL_UTILS_MATRIX33_H

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