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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 ArithSqMat3x3Float.h
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 * @brief Abstract 3x3 floating point matrix class
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 */
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#ifndef __CGLA_ARITHSQMAT3X3FLOAT_H__
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#define __CGLA_ARITHSQMAT3X3FLOAT_H__
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#include "ExceptionStandard.h"
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#include "CGLA.h"
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#include "Vec3f.h"
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#include "ArithSqMatFloat.h"
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namespace CGLA
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{
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  CGLA_DERIVEEXCEPTION(Mat3x3fException)
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    CGLA_DERIVEEXCEPTION(Mat3x3fSingular)
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    /** \brief 3 by 3 float matrix template.
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		This class template will typically be used for rotation or
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		scaling matrices for 3D vectors. */
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    template<class V, class M>
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    class ArithSqMat3x3Float: public ArithSqMatFloat<V, M, 3>
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    {
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    public:
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      /// Vector type
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      typedef V VectorType;
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      /// The type of a matrix element
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      typedef typename V::ScalarType ScalarType;
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    public:
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      /// Construct matrix from 3 Vec3f vectors.
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      ArithSqMat3x3Float(V _a, V _b, V _c):
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	ArithSqMatFloat<V, M, 3> (_a,_b,_c) {}
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      /// Construct the 0 matrix
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      ArithSqMat3x3Float() {}
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      /// Construct a matrix from a single scalar value.
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      explicit ArithSqMat3x3Float(ScalarType a):
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	ArithSqMatFloat<V, M, 3>(a) {}
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    };
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  /// Invert 3x3 matrix
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  template<class V, class M>
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    M invert(const ArithSqMat3x3Float<V,M>&);
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  /** Compute determinant. There is a more generic function for
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      computing determinants of square matrices (ArithSqMat). This one
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      is faster but works only on Mat3x3f */
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  template<class V, class M>
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    inline
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    typename ArithSqMat3x3Float<V,M>::ScalarType
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    determinant(const ArithSqMat3x3Float<V,M>& m)
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    {
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      return
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	m[0][0]*m[1][1]*m[2][2] +
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	m[0][1]*m[1][2]*m[2][0] +
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	m[0][2]*m[1][0]*m[2][1] -
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	m[0][2]*m[1][1]*m[2][0] -
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	m[0][0]*m[1][2]*m[2][1] -
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	m[0][1]*m[1][0]*m[2][2] ;
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    }
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}
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#endif
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