/*
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Open Asset Import Library (ASSIMP)
---------------------------------------------------------------------------

Copyright (c) 2006-2008, ASSIMP Development Team

All rights reserved.

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  following disclaimer.

* Redistributions in binary form must reproduce the above
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  materials provided with the distribution.

* Neither the name of the ASSIMP team, nor the names of its
  contributors may be used to endorse or promote products
  derived from this software without specific prior
  written permission of the ASSIMP Development Team.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 
"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 
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OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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*/
/** @file 4x4 matrix structure, including operators when compiling in C++ */
#ifndef AI_MATRIX4X4_H_INC
#define AI_MATRIX4X4_H_INC

#ifdef __cplusplus
extern "C" {
#endif

struct aiMatrix3x3;
struct aiQuaternion;

#include "./Compiler/pushpack1.h"

// ---------------------------------------------------------------------------
/** Represents a row-major 4x4 matrix, 
*  use this for homogenious coordinates 
*/
// ---------------------------------------------------------------------------
struct aiMatrix4x4
{
#ifdef __cplusplus
	aiMatrix4x4 () :	
		a1(1.0f), a2(0.0f), a3(0.0f), a4(0.0f), 
		b1(0.0f), b2(1.0f), b3(0.0f), b4(0.0f), 
		c1(0.0f), c2(0.0f), c3(1.0f), c4(0.0f),
		d1(0.0f), d2(0.0f), d3(0.0f), d4(1.0f){}

	aiMatrix4x4 (	float _a1, float _a2, float _a3, float _a4,
					float _b1, float _b2, float _b3, float _b4,
					float _c1, float _c2, float _c3, float _c4,
					float _d1, float _d2, float _d3, float _d4) :	
		a1(_a1), a2(_a2), a3(_a3), a4(_a4),  
		b1(_b1), b2(_b2), b3(_b3), b4(_b4), 
		c1(_c1), c2(_c2), c3(_c3), c4(_c4),
		d1(_d1), d2(_d2), d3(_d3), d4(_d4)
		{}

	/** Constructor from 3x3 matrix. The remaining elements are set to identity. */
	explicit aiMatrix4x4( const aiMatrix3x3& m);

	aiMatrix4x4& operator *= (const aiMatrix4x4& m);
	aiMatrix4x4 operator* (const aiMatrix4x4& m) const;
	aiMatrix4x4& Transpose();
	aiMatrix4x4& Inverse();
	float Determinant() const;

	inline bool IsIdentity() const;

	float* operator[](unsigned int p_iIndex);
	const float* operator[](unsigned int p_iIndex) const;

	inline bool operator== (const aiMatrix4x4 m) const;
	inline bool operator!= (const aiMatrix4x4 m) const;


	/** \brief Decompose a trafo matrix into its original components
	 * \param scaling Receives the output scaling for the x,y,z axes
	 * \param rotation Receives the output rotation as a hamilton
	 *   quaternion 
	 * \param position Receives the output position for the x,y,z axes
	 */
	inline void Decompose (aiVector3D& scaling, aiQuaternion& rotation,
		aiVector3D& position) const;


	/** \brief Decompose a trafo matrix with no scaling into its 
	 *  original components
	 *  \param rotation Receives the output rotation as a hamilton
	 *  quaternion 
	 *  \param position Receives the output position for the x,y,z axes
	 */
	inline void DecomposeNoScaling (aiQuaternion& rotation,
		aiVector3D& position) const;


	/** \brief Creates a trafo matrix from a set of euler angles
	 *  \param x Rotation angle for the x-axis, in radians
	 *  \param y Rotation angle for the y-axis, in radians
	 *  \param z Rotation angle for the z-axis, in radians
	 */
	inline void FromEulerAnglesXYZ(float x, float y, float z);
	inline void FromEulerAnglesXYZ(const aiVector3D& blubb);


	/** \brief Returns a rotation matrix for a rotation around the x axis
	 *  \param a Rotation angle, in radians
	 *  \param out Receives the output matrix
	 *  \return Reference to the output matrix
	 */
	static aiMatrix4x4& RotationX(float a, aiMatrix4x4& out);

	/** \brief Returns a rotation matrix for a rotation around the y axis
	 *  \param a Rotation angle, in radians
	 *  \param out Receives the output matrix
	 *  \return Reference to the output matrix
	 */
	static aiMatrix4x4& RotationY(float a, aiMatrix4x4& out);

	/** \brief Returns a rotation matrix for a rotation around the z axis
	 *  \param a Rotation angle, in radians
	 *  \param out Receives the output matrix
	 *  \return Reference to the output matrix
	 */
	static aiMatrix4x4& RotationZ(float a, aiMatrix4x4& out);

	/** Returns a rotation matrix for a rotation around an arbitrary axis.
	 *  @param a Rotation angle, in radians
	 *  @param axis Rotation axis, should be a normalized vector.
	 *  @param out Receives the output matrix
	 *  \return Reference to the output matrix
	 */
	static aiMatrix4x4& Rotation(float a, const aiVector3D& axis, aiMatrix4x4& out);

	/** \brief Returns a translation matrix 
	 *  \param v Translation vector
	 *  \param out Receives the output matrix
	 *  \return Reference to the output matrix
	 */
	static aiMatrix4x4& Translation( const aiVector3D& v, aiMatrix4x4& out);


	/** A function for creating a rotation matrix that rotates a vector called
	* "from" into another vector called "to".
	* Input : from[3], to[3] which both must be *normalized* non-zero vectors
	* Output: mtx[3][3] -- a 3x3 matrix in colum-major form
	* Authors: Tomas Möller, John Hughes
	*          "Efficiently Building a Matrix to Rotate One Vector to Another"
	*          Journal of Graphics Tools, 4(4):1-4, 1999
	*/
	static aiMatrix4x4& FromToMatrix(const aiVector3D& from, 
		const aiVector3D& to, aiMatrix4x4& out);

#endif // __cplusplus

	float a1, a2, a3, a4;
	float b1, b2, b3, b4;
	float c1, c2, c3, c4;
	float d1, d2, d3, d4;

} PACK_STRUCT;


#include "./Compiler/poppack1.h"

#ifdef __cplusplus
} // end extern "C"


#endif // __cplusplus
#endif // AI_MATRIX4X4_H_INC