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Open Asset Import Library (ASSIMP)
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*/
/** @file aiMatrix4x4.h
 *  @brief 4x4 matrix structure, including operators when compiling in C++
 */
#ifndef AI_MATRIX4X4_H_INC
#define AI_MATRIX4X4_H_INC

#ifdef __cplusplus
extern "C" {
#endif

struct aiMatrix3x3;
struct aiQuaternion;

#include "./Compiler/pushpack1.h"

// ---------------------------------------------------------------------------
/** @brief Represents a row-major 4x4 matrix, use this for homogeneous
 *   coordinates.
 *
 *  There's much confusion about matrix layouts (colum vs. row order). 
 *  This is *always* a row-major matrix. Even with the
 *  aiProcess_ConvertToLeftHanded flag.
 */
struct aiMatrix4x4
{
#ifdef __cplusplus

		// default c'tor, init to zero
	aiMatrix4x4 () :	
		a1(1.0f), a2(0.0f), a3(0.0f), a4(0.0f), 
		b1(0.0f), b2(1.0f), b3(0.0f), b4(0.0f), 
		c1(0.0f), c2(0.0f), c3(1.0f), c4(0.0f),
		d1(0.0f), d2(0.0f), d3(0.0f), d4(1.0f)
	{}

		// from single values
	aiMatrix4x4 (	float _a1, float _a2, float _a3, float _a4,
					float _b1, float _b2, float _b3, float _b4,
					float _c1, float _c2, float _c3, float _c4,
					float _d1, float _d2, float _d3, float _d4) :	
		a1(_a1), a2(_a2), a3(_a3), a4(_a4),  
		b1(_b1), b2(_b2), b3(_b3), b4(_b4), 
		c1(_c1), c2(_c2), c3(_c3), c4(_c4),
		d1(_d1), d2(_d2), d3(_d3), d4(_d4)
	{}


	// -------------------------------------------------------------------
	/** @brief Constructor from 3x3 matrix. 
	 *  The remaining elements are set to identity.
	 */
	explicit aiMatrix4x4( const aiMatrix3x3& m);

public:

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

	// comparison operators
	bool operator== (const aiMatrix4x4 m) const;
	bool operator!= (const aiMatrix4x4 m) const;

	// Matrix multiplication. Not commutative.
	aiMatrix4x4& operator *= (const aiMatrix4x4& m);
	aiMatrix4x4  operator *  (const aiMatrix4x4& m) const;

public:

	// -------------------------------------------------------------------
	/** @brief Transpose the matrix
	 */
	aiMatrix4x4& Transpose();

	// -------------------------------------------------------------------
	/** @brief Invert the matrix.
	 *  If the matrix is not invertible all elements are set to qnan.
	 *  Beware, use (f != f) to check whether a float f is qnan.
	 */
	aiMatrix4x4& Inverse();
	float Determinant() const;


	// -------------------------------------------------------------------
	/** @brief Returns true of the matrix is the identity matrix.
	 *  The check is performed against a not so small epsilon.
	 */
	inline bool IsIdentity() const;

	// -------------------------------------------------------------------
	/** @brief Decompose a trafo matrix into its original components
	 *  @param scaling Receives the output scaling for the x,y,z axes
	 *  @param rotation Receives the output rotation as a hamilton
	 *   quaternion 
	 *  @param position Receives the output position for the x,y,z axes
	 */
	void Decompose (aiVector3D& scaling, aiQuaternion& rotation,
		aiVector3D& position) const;

	// -------------------------------------------------------------------
	/** @brief Decompose a trafo matrix with no scaling into its 
	 *    original components
	 *  @param rotation Receives the output rotation as a hamilton
	 *    quaternion 
	 *  @param position Receives the output position for the x,y,z axes
	 */
	void DecomposeNoScaling (aiQuaternion& rotation,
		aiVector3D& position) const;


	// -------------------------------------------------------------------
	/** @brief Creates a trafo matrix from a set of euler angles
	 *  @param x Rotation angle for the x-axis, in radians
	 *  @param y Rotation angle for the y-axis, in radians
	 *  @param z Rotation angle for the z-axis, in radians
	 */
	aiMatrix4x4& FromEulerAnglesXYZ(float x, float y, float z);
	aiMatrix4x4& FromEulerAnglesXYZ(const aiVector3D& blubb);

public:
	// -------------------------------------------------------------------
	/** @brief Returns a rotation matrix for a rotation around the x axis
	 *  @param a Rotation angle, in radians
	 *  @param out Receives the output matrix
	 *  @return Reference to the output matrix
	 */
	static aiMatrix4x4& RotationX(float a, aiMatrix4x4& out);

	// -------------------------------------------------------------------
	/** @brief Returns a rotation matrix for a rotation around the y axis
	 *  @param a Rotation angle, in radians
	 *  @param out Receives the output matrix
	 *  @return Reference to the output matrix
	 */
	static aiMatrix4x4& RotationY(float a, aiMatrix4x4& out);

	// -------------------------------------------------------------------
	/** @brief Returns a rotation matrix for a rotation around the z axis
	 *  @param a Rotation angle, in radians
	 *  @param out Receives the output matrix
	 *  @return Reference to the output matrix
	 */
	static aiMatrix4x4& RotationZ(float a, aiMatrix4x4& out);

	// -------------------------------------------------------------------
	/** Returns a rotation matrix for a rotation around an arbitrary axis.
	 *  @param a Rotation angle, in radians
	 *  @param axis Rotation axis, should be a normalized vector.
	 *  @param out Receives the output matrix
	 *  @return Reference to the output matrix
	 */
	static aiMatrix4x4& Rotation(float a, const aiVector3D& axis, 
		aiMatrix4x4& out);

	// -------------------------------------------------------------------
	/** @brief Returns a translation matrix 
	 *  @param v Translation vector
	 *  @param out Receives the output matrix
	 *  @return Reference to the output matrix
	 */
	static aiMatrix4x4& Translation( const aiVector3D& v, aiMatrix4x4& out);

	// -------------------------------------------------------------------
	/** @brief Returns a scaling matrix 
	 *  @param v Scaling vector
	 *  @param out Receives the output matrix
	 *  @return Reference to the output matrix
	 */
	static aiMatrix4x4& Scaling( const aiVector3D& v, aiMatrix4x4& out);

	// -------------------------------------------------------------------
	/** @brief A function for creating a rotation matrix that rotates a
	 *  vector called "from" into another vector called "to".
	 * Input : from[3], to[3] which both must be *normalized* non-zero vectors
	 * Output: mtx[3][3] -- a 3x3 matrix in colum-major form
	 * Authors: Tomas Möller, John Hughes
	 *          "Efficiently Building a Matrix to Rotate One Vector to Another"
	 *          Journal of Graphics Tools, 4(4):1-4, 1999
	 */
	static aiMatrix4x4& FromToMatrix(const aiVector3D& from, const aiVector3D& to, aiMatrix4x4& out);

#endif // __cplusplus

	float a1, a2, a3, a4;
	float b1, b2, b3, b4;
	float c1, c2, c3, c4;
	float d1, d2, d3, d4;

} PACK_STRUCT; // !class aiMatrix4x4


#include "./Compiler/poppack1.h"

#ifdef __cplusplus
} // end extern "C"


#endif // __cplusplus
#endif // AI_MATRIX4X4_H_INC
