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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 Mat3x3f.h
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 * @brief 3x3 float matrix class
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 */
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#ifndef __CGLA_MAT3X3F_H__
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#define __CGLA_MAT3X3F_H__
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#include "CGLA.h"
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#include "Vec3f.h"
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#include "ArithSqMat3x3Float.h"
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namespace CGLA
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{
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  /** \brief 3 by 3 float 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 Mat3x3f: public ArithSqMat3x3Float<Vec3f, Mat3x3f>
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    {
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    public:
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      /// Construct matrix from 3 Vec3f vectors.
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      Mat3x3f(Vec3f _a, Vec3f _b, Vec3f _c):
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	ArithSqMat3x3Float<Vec3f, Mat3x3f> (_a,_b,_c) {}
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      /// Construct the 0 matrix
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      Mat3x3f() {}
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      /// Construct a matrix from a single scalar value.
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      explicit Mat3x3f(float a): ArithSqMat3x3Float<Vec3f, Mat3x3f>(a) {}
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    };
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  /// Create a rotation _matrix. Rotates about one of the major axes.
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  Mat3x3f rotation_Mat3x3f(CGLA::Axis axis, float angle);
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  /// Create a scaling matrix.
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  Mat3x3f scaling_Mat3x3f(const Vec3f&);
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  /// Create an identity matrix.
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  inline Mat3x3f identity_Mat3x3f()
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    {
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      return Mat3x3f(Vec3f(1.0f,0.0f,0.0f), Vec3f(0.0f,1.0f,0.0f), Vec3f(0.0f,0.0f,1.0f));
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    }
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}
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#endif
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