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

Copyright (c) 2006-2008, ASSIMP Development Team

All rights reserved.

Redistribution and use of this software in source and binary forms, 
with or without modification, are permitted provided that the following 
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* Redistributions of source code must retain the above
  copyright notice, this list of conditions and the
  following disclaimer.

* Redistributions in binary form must reproduce the above
  copyright notice, this list of conditions and the
  following disclaimer in the documentation and/or other
  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 
LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 
OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT 
LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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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;

// Set packing to 4
#if defined(_MSC_VER) ||  defined(__BORLANDC__) ||	defined (__BCPLUSPLUS__)
	#pragma pack(push,4)
	#define PACK_STRUCT
#elif defined( __GNUC__ )
	#define PACK_STRUCT	__attribute__((packed))
#else
	#error Compiler not supported
#endif

// ---------------------------------------------------------------------------
/** 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 FromEulerAngles(float x, float y, float z);


	/** \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);


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


// Reset packing
#if defined(_MSC_VER) ||  defined(__BORLANDC__) || defined (__BCPLUSPLUS__)
#pragma pack( pop )
#endif
#undef PACK_STRUCT

#ifdef __cplusplus
} // end extern "C"


#endif // __cplusplus
#endif // AI_MATRIX4X4_H_INC