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matrix3x3.h

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/*
  svas_server -- virtual World Server of Svas
  Copyright (c) 2001, 2002 David Moreno Montero
 
 
  This program is free software; you can redistribute it and/or modify
  it under the terms of the GNU General Public License as published by
  the Free Software Foundation; either version 2 of the License, or
  (at your option) any later version.
 
  This program 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
  General Public License for more details.
 
  You should have received a copy of the GNU General Public License
  along with this program; if not, write to the Free Software
  Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA
  02111-1307, USA.  

*/


/// Adapted from 
///
/// Physics for Game Developers
/// David M. Bourg
/// O'Reilly
/// ISBN 0-596-00006-5


#ifndef __MATRIX_3x3_H__
#define __MATRIX_3x3_H__

#include <string>
#include <stdio.h>
#include "vector3d.h"

/**
 * A 3x3 matrix and operations
 */
class Matrix3x3{
 protected:
  double e11,e12,e13,e21,e22,e23,e31,e32,e33;
 public:
  Matrix3x3(void);
  Matrix3x3(double aa, double ab, double ac,
        double ba, double bb, double bc,
        double ca, double cb, double cc);

  string toString();

  double Determinant();
  Matrix3x3 Transpose();
  Matrix3x3 Inverse();

  Matrix3x3 &operator+=(const Matrix3x3 &);
  Matrix3x3 &operator-=(const Matrix3x3 &);
  Matrix3x3 &operator*=(double);
  Matrix3x3 &operator/=(double);

  friend inline Matrix3x3 operator*(const Matrix3x3 &A, const Matrix3x3 &B);
  friend inline Vector3d operator*(const Matrix3x3 &A, const Vector3d &v);
  friend inline Vector3d operator*(const Vector3d &v,const Matrix3x3 &A);

};

#include "matrix3x3.cc"

#endif

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