Matrix4d.h

//
// This file is released under the terms of the NASA Open Source Agreement (NOSA)
// version 1.3 as detailed in the LICENSE file which accompanies this software.
//
 
 
#ifndef __MATRIX_H_
#define __MATRIX_H_
 
#include "Defines.h"
#include <cmath>
#include <cstring>
#include "Vec3d.h"
 
 
class Matrix4d
{
public:
 
    Matrix4d();
 
    void loadIdentity();
 
    static void setIdentity( double* m );
    void translatef( const double &x, const double &y, const double &z );
 
    void translatev( const vec3d &v );
    void rotateX( const double &ang );
 
    void rotateY( const double &ang );
 
    void rotateZ( const double &ang );
 
    void rotate( const double &angle, const vec3d & axis );
 
 
    void rotatealongX( const vec3d & dir1 );
 
    void zeroTranslations();
    void affineInverse();
 
    void scale( const double &scale );
 
    void scalex( const double &scalex );
    void scaley( const double &scaley );
    void scalez( const double &scalez );
 
    void flipx();
 
    void getMat( double* m ) const;
    void matMult( const double* m );
    void postMult( const double* m );
    void matMult( const Matrix4d &m );
    void postMult( const Matrix4d & m );
 
 
    void initMat( const double* m );
    void initMat( const Matrix4d & m );
    void mult( const double in[4], double out[4] ) const;
    double * data()
    {
        return mat;
    }
 
    void loadXZRef();
 
    void loadXYRef();
 
    void loadYZRef();
 
 
    vec3d xform( const vec3d & in ) const;
 
    void xformvec( std::vector < vec3d > & in ) const;
    void xformmat( std::vector < std::vector < vec3d > > & in ) const;
    vec3d xformnorm( const vec3d & in ) const;
    void xformnormvec( std::vector < vec3d > & in ) const;
    void xformnormmat( std::vector < std::vector < vec3d > > & in ) const;
 
    vec3d getAngles() const;
 
    vec3d getTranslation() const;
 
    void buildXForm( const vec3d & pos, const vec3d & rot, const vec3d & cent_rot );
 
 
    void getBasis( vec3d &xdir, vec3d &ydir, vec3d &zdir );
    void setBasis( const vec3d &xdir, const vec3d &ydir, const vec3d &zdir );
 
    void toQuat( double &qw, double &qx, double &qy, double &qz, double &tx, double &ty, double &tz ) const;
 
private:
 
    double mat[16];
};
 
#endif