mat3.h

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/*******************************************************************************
 *  mat3.h
 *
 *  (C) 2007 AG Aktives Sehen <agas@uni-koblenz.de>
 *           Universitaet Koblenz-Landau
 *
 * Author: Frank Neuhaus, Susanne Maur
 *******************************************************************************/
#ifndef MAT3_H
#define MAT3_H

#include <iostream>
#include <sstream>
#include <assert.h>
#include "Vector3D.h"

class CMat3 {
  public:
          CMat3();
    CMat3( float xx, float xy, float xz, float yx, float yy, float yz, float zx, float zy, float zz );
          ~CMat3();
  
          CMat3 operator *(const CMat3 &mat) const;  
    CMat3 operator *(float f) const;  
    CMat3& operator *=(float f);  
    Vector3D operator *(const Vector3D& v) const;      
    float& operator [](const unsigned value);    
    CMat3 operator +(const CMat3& mat1);
    
    float valueAt(unsigned i) const;
   
    void setValue(unsigned line, unsigned column, float value);
  
    float determinant() const;
      
          void transpose();
    void reverse();

          void loadIdentity();
  
          void makeRotationX(float fA);
          void makeRotationY(float fA);
          void makeRotationZ(float fA);

          void makeScale(const Vector3D& vScale);
          //void BuildRPY(float fRoll, float fPitch, float fYaw);
      
          std::string toString() const;

  private:
          union
          {
                  float fMatrix[9];
                  float m[3][3];
                  struct
                  {
                          float xx, xy, xz;
                          float yx, yy, yz;
                          float zx, zy, zz;
                  };
          };
};

#include "mat3.inl"

#endif