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/* ----------------------------------------------------------------------- *

 * This file is part of GEL, http://www.imm.dtu.dk/GEL

 * Copyright (C) the authors and DTU Informatics

 * For license and list of authors, see ../../doc/intro.pdf

 * ----------------------------------------------------------------------- */

/** @file Mat3x3d.h

 * @brief 3x3 double matrix class

 */

#ifndef __CGLA_MAT3X3D_H__

#define __CGLA_MAT3X3D_H__

#include "CGLA.h"

#include "Vec3d.h"

#include "ArithSqMat3x3Float.h"

namespace CGLA {

	/** \brief 3 by 3 double matrix.

			This class will typically be used for rotation or

			scaling matrices for 3D vectors. */

	class Mat3x3d: public ArithSqMat3x3Float<Vec3d, Mat3x3d>

	{

	public:

		/// Construct matrix from 3 Vec3d vectors.

		Mat3x3d(Vec3d _a, Vec3d _b, Vec3d _c): 

			ArithSqMat3x3Float<Vec3d, Mat3x3d> (_a,_b,_c) {}

		/// Construct the 0 matrix

		Mat3x3d() {}

		/// Construct a matrix from a single scalar value.

		explicit Mat3x3d(float a): ArithSqMat3x3Float<Vec3d, Mat3x3d>(a) {}

	};

  /// Create a rotation _matrix. Rotates about one of the major axes.

  Mat3x3d rotation_Mat3x3d(CGLA::Axis axis, double angle);

  /// Create a scaling matrix.

  Mat3x3d scaling_Mat3x3d(const Vec3d&);

	/// Create an identity matrix.

	inline Mat3x3d identity_Mat3x3d()

	{

		return Mat3x3d(Vec3d(1.0,0.0,0.0), Vec3d(0.0,1.0,0.0), Vec3d(0.0,0.0,1.0));

	}

}

#endif