/***********************************************************************
 *	c:/users/wata/src/csmash-0.3.8.new/affine
 *	$Id: affine,v 1.2 2002/03/05 14:21:21 yotsuya Exp $
 *
 *	Copyright by ESESoft.
 *
 *	Redistribution and use in source and binary forms, with or without
 *	modification, are permitted provided that the following conditions
 *	are met:
 *
 *	Redistributions of source code must retain the above copyright
 *	notice, this list of conditions and the following disclaimer. 
 *
 *	Redistributions in binary form must reproduce the above copyright
 *	notice, this list of conditions and the following disclaimer
 *	in the documentation and/or other materials provided with the
 *	distribution. 
 *
 *	The name of the author may not be used to endorse or promote
 *	products derived from this software without specific prior written
 *	permission. 
 *
 *	THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS
 *	OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
 *	WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 *	ARE DISCLAIMED. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY
 *	DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
 *	DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE
 *	GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 *	INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
 *	WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
 *	NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
 *	SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *
 ***********************************************************************/
#ifndef __ESESoft_wata_0296__affine__INCLUDED__
#define __ESESoft_wata_0296__affine__INCLUDED__
/***********************************************************************/
#include "matrix"

/* __BEGIN__BEGIN__ */
#if 0
typedef ese::Matrix<4, Float> affine4F;
typedef ese::Vector<4, Float> vector4F;
typedef ese::Vector<3, Float> vector3F;
#else
typedef Matrix<4,Float> affine4F;
typedef Vector<4,Float> vector4F;
typedef Vector<3,Float> vector3F;
#endif

inline vector4F operator ^(const vector4F &a, const vector4F &b)
{
    vector4F v;
    v[0] = a[1]*b[2] - a[2]*b[1];
    v[1] = a[2]*b[0] - a[0]*b[2];
    v[2] = a[0]*b[1] - a[1]*b[0];
    v[3] = 0;
    return v;
}

inline vector3F operator ^(const vector3F &a, const vector3F &b)
{
    vector3F v;
    v[0] = a[1]*b[2] - a[2]*b[1];
    v[1] = a[2]*b[0] - a[0]*b[2];
    v[2] = a[0]*b[1] - a[1]*b[0];
    return v;
}

inline vector3F operator *(const vector3F &a, const affine4F &t)
{
    vector3F v(0);
    for (int i = 0; 3 > i; i++) {
	int j;
	for (j = 0; 3 > j; j++) {
	    v[i] += a[j] * t[j][i];
	}
	v[i] += t[j][i];
    }
    return v;
}

inline affine4F translate(const vector4F &v)
{
    affine4F t(1);
    for (int i = 0; 3 > i; i++) {
	t[3][i] = v[i];
    }
    return t;
}

inline affine4F translate(const vector3F &v)
{
    affine4F t(1);
    for (int i = 0; 3 > i; i++) {
	t[3][i] = v[i];
    }
    return t;
}

inline affine4F rotateX(Float r)
{
    affine4F t(1);

    t[1][1] =  cosF(r);	t[1][2] = sinF(r);
    t[2][1] = -sinF(r);	t[2][2] = cosF(r);
    return t;
}

inline affine4F rotateY(Float r)
{
    affine4F t(1);

    t[2][2] =  cosF(r);	t[2][0] = sinF(r);
    t[0][2] = -sinF(r);	t[0][0] = cosF(r);
    return t;
}

inline affine4F rotateZ(Float r)
{
    affine4F t(1);

    t[0][0] =  cosF(r);	t[0][1] = sinF(r);
    t[1][0] = -sinF(r);	t[1][1] = cosF(r);
    return t;
}

/* __END__END__ */
/***********************************************************************/
#endif
/***********************************************************************
 *	END OF affine
 ***********************************************************************/