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/* ----------------------------------------------------------------------- *
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* This file is part of GEL, http://www.imm.dtu.dk/GEL
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* Copyright (C) the authors and DTU Informatics
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* For license and list of authors, see ../../doc/intro.pdf
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* ----------------------------------------------------------------------- */
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/** @file Mat3x3d.h
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* @brief 3x3 double matrix class
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*/
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#ifndef __CGLA_MAT3X3D_H__
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#define __CGLA_MAT3X3D_H__
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#include "CGLA.h"
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#include "Vec3d.h"
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#include "ArithSqMat3x3Float.h"
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namespace CGLA {
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/** \brief 3 by 3 double matrix.
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This class will typically be used for rotation or
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scaling matrices for 3D vectors. */
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class Mat3x3d: public ArithSqMat3x3Float<Vec3d, Mat3x3d>
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{
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public:
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/// Construct matrix from 3 Vec3d vectors.
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Mat3x3d(Vec3d _a, Vec3d _b, Vec3d _c):
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ArithSqMat3x3Float<Vec3d, Mat3x3d> (_a,_b,_c) {}
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/// Construct the 0 matrix
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Mat3x3d() {}
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/// Construct a matrix from a single scalar value.
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explicit Mat3x3d(float a): ArithSqMat3x3Float<Vec3d, Mat3x3d>(a) {}
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};
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/// Create a rotation _matrix. Rotates about one of the major axes.
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Mat3x3d rotation_Mat3x3d(CGLA::Axis axis, double angle);
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/// Create a scaling matrix.
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Mat3x3d scaling_Mat3x3d(const Vec3d&);
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/// Create an identity matrix.
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inline Mat3x3d identity_Mat3x3d()
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{
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return Mat3x3d(Vec3d(1.0,0.0,0.0), Vec3d(0.0,1.0,0.0), Vec3d(0.0,0.0,1.0));
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}
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}
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#endif
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