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#ifndef __CGLA_MAT4X4D_H__
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#define __CGLA_MAT4X4D_H__
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#include "ExceptionStandard.h"
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#include "CGLA.h"
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#include "Vec3d.h"
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#include "Vec3Hf.h"
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#include "Vec4d.h"
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#include "ArithSqMat4x4Float.h"
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namespace CGLA {
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  /** \brief 4x4 double matrix.
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      This class is useful for transformations such as perspective projections
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      or translation where 3x3 matrices do not suffice. */
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  class Mat4x4d: public ArithSqMat4x4Float<Vec4d, Mat4x4d>
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    {
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    public:
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      /// Construct a Mat4x4d from four Vec4d vectors
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      Mat4x4d(Vec4d _a, Vec4d _b, Vec4d _c, Vec4d _d):
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	ArithSqMat4x4Float<Vec4d, Mat4x4d> (_a,_b,_c,_d) {}
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      /// Construct the nan matrix
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      Mat4x4d() {}
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      /// Construct a matrix with identical elements.
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      explicit Mat4x4d(double a): ArithSqMat4x4Float<Vec4d, Mat4x4d> (a) {}
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    };
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  /// Create a rotation _matrix. Rotates about one of the major axes.
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  Mat4x4d rotation_Mat4x4d(CGLA::Axis axis, float angle);
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  /// Create a translation matrix
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  Mat4x4d translation_Mat4x4d(const Vec3d&);
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  /// Create a scaling matrix.
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  Mat4x4d scaling_Mat4x4d(const Vec3d&);
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  /// Create an identity matrix.
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  inline Mat4x4d identity_Mat4x4d()
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    {
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      return Mat4x4d(Vec4d(1.0,0.0,0.0,0.0),
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		     Vec4d(0.0,1.0,0.0,0.0),
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		     Vec4d(0.0,0.0,1.0,0.0),
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		     Vec4d(0.0,0.0,0.0,1.0));
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    }
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  /** Compute inverse assuming that the upper-left 3x3 sub-matrix is
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      orthonormal (which is the case if the transformation is only
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      a concatenation of rotations and translations).
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  */
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  inline Mat4x4d invert_ortho(const Mat4x4d& m)
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  {
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    Vec3d rx(m[0][0], m[1][0], m[2][0]);
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    Vec3d ry(m[0][1], m[1][1], m[2][1]);
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    Vec3d rz(m[0][2], m[1][2], m[2][2]);
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    Vec3d t(m[0][3], m[1][3], m[2][3]);
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    return Mat4x4d(Vec4d(rx, -dot(t, rx)),
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		   Vec4d(ry, -dot(t, ry)),
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		   Vec4d(rz, -dot(t, rz)),
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		   Vec4d(0.0, 0.0, 0.0, 1.0));
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  }
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}
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#endif
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