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/** @file matrix4x4.h
 *  @brief 4x4 matrix structure, including operators when compiling in C++
 */
#ifndef AI_MATRIX4X4_H_INC
#define AI_MATRIX4X4_H_INC

#include "./Compiler/pushpack1.h"

#ifdef __cplusplus

template<typename TReal> class aiMatrix3x3t;
template<typename TReal> class aiQuaterniont;

// ---------------------------------------------------------------------------
/** @brief Represents a row-major 4x4 matrix, use this for homogeneous
 *   coordinates.
 *
 *  There's much confusion about matrix layouts (column vs. row order). 
 *  This is *always* a row-major matrix. Not even with the
 *  #aiProcess_ConvertToLeftHanded flag, which absolutely does not affect
 *  matrix order - it just affects the handedness of the coordinate system
 *  defined thereby.
 */
template<typename TReal>
class aiMatrix4x4t
{
public:
	
	/** set to identity */
	aiMatrix4x4t ();

	/** construction from single values */
	aiMatrix4x4t (	TReal _a1, TReal _a2, TReal _a3, TReal _a4,
					TReal _b1, TReal _b2, TReal _b3, TReal _b4,
					TReal _c1, TReal _c2, TReal _c3, TReal _c4,
					TReal _d1, TReal _d2, TReal _d3, TReal _d4);


	/** construction from 3x3 matrix, remaining elements are set to identity */
	explicit aiMatrix4x4t( const aiMatrix3x3t<TReal>& m);
	
	/** construction from position, rotation and scaling components
	 * @param scaling The scaling for the x,y,z axes
	 * @param rotation The rotation as a hamilton quaternion 
	 * @param position The position for the x,y,z axes
	 */
	aiMatrix4x4t(aiVector3t<TReal>& scaling, aiQuaterniont<TReal>& rotation,
		aiVector3t<TReal>& position);

public:

	// array access operators
	TReal* operator[]       (unsigned int p_iIndex);
	const TReal* operator[] (unsigned int p_iIndex) const;

	// comparison operators
	bool operator== (const aiMatrix4x4t& m) const;
	bool operator!= (const aiMatrix4x4t& m) const;

	bool Equal(const aiMatrix4x4t& m, TReal epsilon = 1e-6) const;

	// matrix multiplication. 
	aiMatrix4x4t& operator *= (const aiMatrix4x4t& m);
	aiMatrix4x4t  operator *  (const aiMatrix4x4t& m) const;

	template <typename TOther>
	operator aiMatrix4x4t<TOther> () const;

public:

	// -------------------------------------------------------------------
	/** @brief Transpose the matrix */
	aiMatrix4x4t& Transpose();

	// -------------------------------------------------------------------
	/** @brief Invert the matrix.
	 *  If the matrix is not invertible all elements are set to qnan.
	 *  Beware, use (f != f) to check whether a TReal f is qnan.
	 */
	aiMatrix4x4t& Inverse();
	TReal Determinant() const;


	// -------------------------------------------------------------------
	/** @brief Returns true of the matrix is the identity matrix.
	 *  The check is performed against a not so small epsilon.
	 */
	inline bool IsIdentity() 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
	 */
	void Decompose (aiVector3t<TReal>& scaling, aiQuaterniont<TReal>& rotation,
		aiVector3t<TReal>& 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
	 */
	void DecomposeNoScaling (aiQuaterniont<TReal>& rotation,
		aiVector3t<TReal>& 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
	 */
	aiMatrix4x4t& FromEulerAnglesXYZ(TReal x, TReal y, TReal z);
	aiMatrix4x4t& FromEulerAnglesXYZ(const aiVector3t<TReal>& blubb);

public:
	// -------------------------------------------------------------------
	/** @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 aiMatrix4x4t& RotationX(TReal a, aiMatrix4x4t& 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 aiMatrix4x4t& RotationY(TReal a, aiMatrix4x4t& 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 aiMatrix4x4t& RotationZ(TReal a, aiMatrix4x4t& 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 aiMatrix4x4t& Rotation(TReal a, const aiVector3t<TReal>& axis, 
		aiMatrix4x4t& out);

	// -------------------------------------------------------------------
	/** @brief Returns a translation matrix 
	 *  @param v Translation vector
	 *  @param out Receives the output matrix
	 *  @return Reference to the output matrix
	 */
	static aiMatrix4x4t& Translation( const aiVector3t<TReal>& v, aiMatrix4x4t& out);

	// -------------------------------------------------------------------
	/** @brief Returns a scaling matrix 
	 *  @param v Scaling vector
	 *  @param out Receives the output matrix
	 *  @return Reference to the output matrix
	 */
	static aiMatrix4x4t& Scaling( const aiVector3t<TReal>& v, aiMatrix4x4t& out);

	// -------------------------------------------------------------------
	/** @brief 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 aiMatrix4x4t& FromToMatrix(const aiVector3t<TReal>& from, 
		const aiVector3t<TReal>& to, aiMatrix4x4t& out);

public:

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

} PACK_STRUCT; 

typedef aiMatrix4x4t<float> aiMatrix4x4;

#else

struct aiMatrix4x4 {
	float a1, a2, a3, a4;
	float b1, b2, b3, b4;
	float c1, c2, c3, c4;
	float d1, d2, d3, d4;
};


#endif // __cplusplus

#include "./Compiler/poppack1.h"

#endif // AI_MATRIX4X4_H_INC
