/********************************************************************************
*                                                                               *
*            S i n g l e - P r e c i s i o n   3 x 3   M a t r i x              *
*                                                                               *
*********************************************************************************
* Copyright (C) 2003,2024 by Jeroen van der Zijp.   All Rights Reserved.        *
*********************************************************************************
* This library is free software; you can redistribute it and/or modify          *
* it under the terms of the GNU Lesser General Public License as published by   *
* the Free Software Foundation; either version 3 of the License, or             *
* (at your option) any later version.                                           *
*                                                                               *
* This library is distributed in the hope that it will be useful,               *
* but WITHOUT ANY WARRANTY; without even the implied warranty of                *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the                 *
* GNU Lesser General Public License for more details.                           *
*                                                                               *
* You should have received a copy of the GNU Lesser General Public License      *
* along with this program.  If not, see <http://www.gnu.org/licenses/>          *
********************************************************************************/
#ifndef FXMAT3F_H
#define FXMAT3F_H

namespace FX {


class FXQuatf;
class FXMat2f;
class FXMat4f;


/// Single-precision 3x3 matrix
class FXAPI FXMat3f {
protected:
  FXVec3f m[3];
public:

  /// Default constructor; value is not initialized
  FXMat3f(){}

  /// Initialize matrix from scalar
  FXMat3f(FXfloat s);

  /// Initialize with 2x2 rotation and scale matrix
  FXMat3f(const FXMat2f& s);

  /// Initialize matrix from another matrix
  FXMat3f(const FXMat3f& s);

  /// Initialize from rotation and scaling part of 4x4 matrix
  FXMat3f(const FXMat4f& s);

  /// Initialize matrix from array
  FXMat3f(const FXfloat s[]);

  /// Initialize diagonal matrix
  FXMat3f(FXfloat a,FXfloat b,FXfloat c);

  /// Initialize matrix from components
  FXMat3f(FXfloat a00,FXfloat a01,FXfloat a02,
          FXfloat a10,FXfloat a11,FXfloat a12,
          FXfloat a20,FXfloat a21,FXfloat a22);

  /// Initialize matrix from three vectors
  FXMat3f(const FXVec3f& a,const FXVec3f& b,const FXVec3f& c);

  /// Initialize matrix from quaternion
  FXMat3f(const FXQuatf& quat);

  /// Assignment from scalar
  FXMat3f& operator=(FXfloat s);

  /// Assignment
  FXMat3f& operator=(const FXMat2f& s);
  FXMat3f& operator=(const FXMat3f& s);
  FXMat3f& operator=(const FXMat4f& s);

  /// Assignment from quaternion
  FXMat3f& operator=(const FXQuatf& quat);

  /// Assignment from array
  FXMat3f& operator=(const FXfloat s[]);

  /// Set value from scalar
  FXMat3f& set(FXfloat s);

  /// Set value from 2x2 rotation and scale matrix
  FXMat3f& set(const FXMat2f& s);

  /// Set value from another matrix
  FXMat3f& set(const FXMat3f& s);

  /// Set from rotation and scaling part of 4x4 matrix
  FXMat3f& set(const FXMat4f& s);

  /// Set value from array
  FXMat3f& set(const FXfloat s[]);

  /// Set diagonal matrix
  FXMat3f& set(FXfloat a,FXfloat b,FXfloat c);

  /// Set value from components
  FXMat3f& set(FXfloat a00,FXfloat a01,FXfloat a02,
               FXfloat a10,FXfloat a11,FXfloat a12,
               FXfloat a20,FXfloat a21,FXfloat a22);

  /// Set value from three vectors
  FXMat3f& set(const FXVec3f& a,const FXVec3f& b,const FXVec3f& c);

  /// Set value from quaternion
  FXMat3f& set(const FXQuatf& quat);

  /// Assignment operators
  FXMat3f& operator+=(const FXMat3f& w);
  FXMat3f& operator-=(const FXMat3f& w);
  FXMat3f& operator*=(const FXMat3f& w);
  FXMat3f& operator*=(FXfloat w);
  FXMat3f& operator/=(FXfloat w);

  /// Indexing
  FXVec3f& operator[](FXint i){return m[i];}
  const FXVec3f& operator[](FXint i) const {return m[i];}

  /// Conversion
  operator FXfloat*(){return m[0];}
  operator const FXfloat*() const {return m[0];}

  /// Unary minus
  FXMat3f operator-() const;

  /// Set to identity matrix
  FXMat3f& identity();

  /// Return true if identity matrix
  FXbool isIdentity() const;

  /// Multiply by rotation about unit-quaternion
  FXMat3f& rot(const FXQuatf& q);

  /// Multiply by rotation c,s about unit axis
  FXMat3f& rot(const FXVec3f& v,FXfloat c,FXfloat s);

  /// Multiply by rotation of phi about unit axis
  FXMat3f& rot(const FXVec3f& v,FXfloat phi);

  /// Multiply by x-rotation
  FXMat3f& xrot(FXfloat c,FXfloat s);
  FXMat3f& xrot(FXfloat phi);

  /// Multiply by y-rotation
  FXMat3f& yrot(FXfloat c,FXfloat s);
  FXMat3f& yrot(FXfloat phi);

  /// Multiply by z-rotation
  FXMat3f& zrot(FXfloat c,FXfloat s);
  FXMat3f& zrot(FXfloat phi);

  /// Multiply by scaling
  FXMat3f& scale(FXfloat sx,FXfloat sy,FXfloat sz);
  FXMat3f& scale(const FXVec3f& v);
  FXMat3f& scale(FXfloat s);

  /// Mirror-matrix with plane normal n
  FXMat3f& mirror(const FXVec3f& n);

  /// Determinant
  FXfloat det() const;

  /// Transpose
  FXMat3f transpose() const;

  /// Invert
  FXMat3f invert() const;

  /// Destructor
 ~FXMat3f(){}
  };


/// Matrix times vector
extern FXAPI FXVec2f operator*(const FXMat3f& m,const FXVec2f& v);
extern FXAPI FXVec3f operator*(const FXMat3f& m,const FXVec3f& v);

/// Vector times matrix
extern FXAPI FXVec2f operator*(const FXVec2f& v,const FXMat3f& m);
extern FXAPI FXVec3f operator*(const FXVec3f& v,const FXMat3f& m);

/// Matrix and matrix addition
extern FXAPI FXMat3f operator+(const FXMat3f& a,const FXMat3f& b);
extern FXAPI FXMat3f operator-(const FXMat3f& a,const FXMat3f& b);

/// Matrix and matrix multiply
extern FXAPI FXMat3f operator*(const FXMat3f& a,const FXMat3f& b);

/// Scaling
extern FXAPI FXMat3f operator*(FXfloat x,const FXMat3f& a);
extern FXAPI FXMat3f operator*(const FXMat3f& a,FXfloat x);
extern FXAPI FXMat3f operator/(const FXMat3f& a,FXfloat x);
extern FXAPI FXMat3f operator/(FXfloat x,const FXMat3f& a);

/// Equality tests
extern FXAPI FXbool operator==(const FXMat3f& a,const FXMat3f& b);
extern FXAPI FXbool operator!=(const FXMat3f& a,const FXMat3f& b);
extern FXAPI FXbool operator==(const FXMat3f& a,FXfloat n);
extern FXAPI FXbool operator!=(const FXMat3f& a,FXfloat n);
extern FXAPI FXbool operator==(FXfloat n,const FXMat3f& a);
extern FXAPI FXbool operator!=(FXfloat n,const FXMat3f& a);

/// Orthogonalize matrix
extern FXAPI FXMat3f orthogonalize(const FXMat3f& m);

/// Save matrix to a stream
extern FXAPI FXStream& operator<<(FXStream& store,const FXMat3f& m);

/// Load matrix from a stream
extern FXAPI FXStream& operator>>(FXStream& store,FXMat3f& m);

}

#endif