/*
 * Copyright (C) 2002  Terence M. Welsh
 * Ported to Linux by Tugrul Galatali <tugrul@galatali.com>
 *
 * rsMath is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as 
 * published by the Free Software Foundation.
 *
 * rsMath is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, write to the Free Software
 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 */

#ifndef RSMATRIX_H
#define RSMATRIX_H

#include "rsVec.h"
#include "rsQuat.h"

class rsMatrix;
class rsQuat;
class rsVec;

class rsMatrix {
      public:
	float m[16];
	// 1 0 0 x   0 4 8  12  <-- Column order matrix just like OpenGL
	// 0 1 0 y   1 5 9  13
	// 0 0 1 z   2 6 10 14
	// 0 0 0 1   3 7 11 15

	  rsMatrix ();
	 ~rsMatrix ();
	void identity ();
	void set (float *mat);
	void get (float *mat);
	void copy (const rsMatrix & mat);
	void preMult (const rsMatrix & postMat);
	void postMult (const rsMatrix & preMat);
	void makeTrans (float x, float y, float z);
	void makeTrans (float *p);
	void makeTrans (const rsVec & vec);
	void makeScale (float s);
	void makeScale (float x, float y, float z);
	void makeScale (float *s);
	void makeScale (const rsVec & vec);
	void makeRot (float a, float x, float y, float z);	// angle, axis
	void makeRot (float a, const rsVec & v);	// angle, axis
	void makeRot (rsQuat & q);
	float determinant ();
	int invert (const rsMatrix & mat);	// general matrix inversion
	void rotationInvert (const rsMatrix & mat);	// rotation matrix inversion
	void fromQuat (const rsQuat & q);

	const float &operator [] (int i)const {
		return m[i];
	} rsMatrix & operator = (const rsMatrix & mat);
};

#endif // RSMATRIX_H
