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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 Mat4x4f.h

 * @brief 4x4 float matrix class

 */

#ifndef __CGLA_MAT4X4_H__

#define __CGLA_MAT4X4_H__

#include "ExceptionStandard.h"

#include "CGLA.h"

#include "Vec3f.h"

#include "Vec3Hf.h"

#include "Vec4f.h"

#include "ArithSqMat4x4Float.h"

namespace CGLA 

{

  /** \brief 4x4 float matrix.

      This class is useful for transformations such as perspective projections 

      or translation where 3x3 matrices do not suffice. */

  class Mat4x4f: public ArithSqMat4x4Float<Vec4f, Mat4x4f>

    {

    public:

      /// Construct a Mat4x4f from four Vec4f vectors

      Mat4x4f(Vec4f _a, Vec4f _b, Vec4f _c, Vec4f _d): 

	ArithSqMat4x4Float<Vec4f, Mat4x4f> (_a,_b,_c,_d) {}

      /// Construct the NaN matrix

      Mat4x4f() {}

      /// Construct a matrix with identical elements.

      explicit Mat4x4f(float a) : ArithSqMat4x4Float<Vec4f, Mat4x4f> (a) {}

    };

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

  Mat4x4f rotation_Mat4x4f(CGLA::Axis axis, float angle);

  /// Create a translation matrix

  Mat4x4f translation_Mat4x4f(const Vec3f&);

  /// Create a scaling matrix.

  Mat4x4f scaling_Mat4x4f(const Vec3f&);

  /// Create an identity matrix.

  inline Mat4x4f identity_Mat4x4f()

    {

      return Mat4x4f(Vec4f(1.0f,0.0f,0.0f,0.0f), 

		     Vec4f(0.0f,1.0f,0.0f,0.0f), 

		     Vec4f(0.0f,0.0f,1.0f,0.0f), 

		     Vec4f(0.0f,0.0f,0.0f,1.0f));

    }

  /** Compute inverse assuming that the upper-left 3x3 sub-matrix is

      orthonormal (which is the case if the transformation is only

      a concatenation of rotations and translations).

  */

  inline Mat4x4f invert_ortho(const Mat4x4f& m)

  {

    Vec3f rx(m[0][0], m[1][0], m[2][0]);

    Vec3f ry(m[0][1], m[1][1], m[2][1]);

    Vec3f rz(m[0][2], m[1][2], m[2][2]);

    Vec3f t(m[0][3], m[1][3], m[2][3]);

    return Mat4x4f(Vec4f(rx, -dot(t, rx)),

		   Vec4f(ry, -dot(t, ry)),

		   Vec4f(rz, -dot(t, rz)),

		   Vec4f(0.0f, 0.0f, 0.0f, 1.0f));

  }   

}

#endif