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/*
* 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
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