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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