/***************************************************************************
 *   Copyright (C) 2007 by Abderrahman Taha                                *
 *                                                                         *
 *                                                                         *
 *   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.,                                       *
 *   51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA            *
 ***************************************************************************/


#include <math.h>

class IsoMatrix3D {
public:
    double xx, xy, xz, xo;
    double yx, yy, yz, yo;
    double zx, zy, zz, zo;
    double wx, wy, wz, wo;
    double pi;
    public:
    IsoMatrix3D();
  inline  void scale(double );
  inline  void scale_2(double, double, double);
  inline  void translate(double, double, double);
  inline  void yrot(double);
  inline  void xrot(double);
  inline  void zrot(double);
  inline  void mult(IsoMatrix3D);
  inline  void unit();
    void transform(double*, double*, int);
    void CalcProdVect(double*, double*, double*);
    double  prodscalaire(double*, double*);
};
 inline   void IsoMatrix3D::mult(IsoMatrix3D rhs) {
	double lxx = xx * rhs.xx + yx * rhs.xy + zx * rhs.xz;
	double lxy = xy * rhs.xx + yy * rhs.xy + zy * rhs.xz;
	double lxz = xz * rhs.xx + yz * rhs.xy + zz * rhs.xz;
	double lxo = xo * rhs.xx + yo * rhs.xy + zo * rhs.xz + rhs.xo;

	double lyx = xx * rhs.yx + yx * rhs.yy + zx * rhs.yz;
	double lyy = xy * rhs.yx + yy * rhs.yy + zy * rhs.yz;
	double lyz = xz * rhs.yx + yz * rhs.yy + zz * rhs.yz;
	double lyo = xo * rhs.yx + yo * rhs.yy + zo * rhs.yz + rhs.yo;

	double lzx = xx * rhs.zx + yx * rhs.zy + zx * rhs.zz;
	double lzy = xy * rhs.zx + yy * rhs.zy + zy * rhs.zz;
	double lzz = xz * rhs.zx + yz * rhs.zy + zz * rhs.zz;
	double lzo = xo * rhs.zx + yo * rhs.zy + zo * rhs.zz + rhs.zo;

	xx = lxx;
	xy = lxy;
	xz = lxz;
	xo = lxo;

	yx = lyx;
	yy = lyy;
	yz = lyz;
	yo = lyo;

	zx = lzx;
	zy = lzy;
	zz = lzz;
	zo = lzo;
    }

    /** Scale by f in all dimensions */
   inline void IsoMatrix3D::scale(double f) {
	xx *= f;
	xy *= f;
	xz *= f;
	xo *= f;
	yx *= f;
	yy *= f;
	yz *= f;
	yo *= f;
	zx *= f;
	zy *= f;
	zz *= f;
	zo *= f;
    }
    /** Scale along each axis independently */
   inline void IsoMatrix3D::scale_2(double xf, double yf, double zf) {
	xx *= xf;
	xy *= xf;
	xz *= xf;
	xo *= xf;
	yx *= yf;
	yy *= yf;
	yz *= yf;
	yo *= yf;
	zx *= zf;
	zy *= zf;
	zz *= zf;
	zo *= zf;
    }
    /** Translate the origin */
   inline void IsoMatrix3D::translate(double x, double y, double z) {
	xo += x;
	yo += y;
	zo += z;
    }
    /** rotate theta degrees about the y axis */
   inline void IsoMatrix3D::yrot(double theta) {
	theta *= (pi / 180);
	double ct = cos(theta);
	double st = sin(theta);

	double Nxx = (double) (xx * ct + zx * st);
	double Nxy = (double) (xy * ct + zy * st);
	double Nxz = (double) (xz * ct + zz * st);
	double Nxo = (double) (xo * ct + zo * st);

	double Nzx = (double) (zx * ct - xx * st);
	double Nzy = (double) (zy * ct - xy * st);
	double Nzz = (double) (zz * ct - xz * st);
	double Nzo = (double) (zo * ct - xo * st);

	xo = Nxo;
	xx = Nxx;
	xy = Nxy;
	xz = Nxz;
	zo = Nzo;
	zx = Nzx;
	zy = Nzy;
	zz = Nzz;
    }
    /** rotate theta degrees about the x axis */
   inline void IsoMatrix3D::xrot(double theta) {
	theta *= (pi / 180);
	double ct = cos(theta);
	double st = sin(theta);

	double Nyx = (double) (yx * ct + zx * st);
	double Nyy = (double) (yy * ct + zy * st);
	double Nyz = (double) (yz * ct + zz * st);
	double Nyo = (double) (yo * ct + zo * st);

	double Nzx = (double) (zx * ct - yx * st);
	double Nzy = (double) (zy * ct - yy * st);
	double Nzz = (double) (zz * ct - yz * st);
	double Nzo = (double) (zo * ct - yo * st);

	yo = Nyo;
	yx = Nyx;
	yy = Nyy;
	yz = Nyz;
	zo = Nzo;
	zx = Nzx;
	zy = Nzy;
	zz = Nzz;
    }
    /** rotate theta degrees about the z axis */
   inline void IsoMatrix3D::zrot(double theta) {
	theta *= (pi / 180);
	double ct = cos(theta);
	double st = sin(theta);

	double Nyx = (double) (yx * ct + xx * st);
	double Nyy = (double) (yy * ct + xy * st);
	double Nyz = (double) (yz * ct + xz * st);
	double Nyo = (double) (yo * ct + xo * st);

	double Nxx = (double) (xx * ct - yx * st);
	double Nxy = (double) (xy * ct - yy * st);
	double Nxz = (double) (xz * ct - yz * st);
	double Nxo = (double) (xo * ct - yo * st);

	yo = Nyo;
	yx = Nyx;
	yy = Nyy;
	yz = Nyz;
	xo = Nxo;
	xx = Nxx;
	xy = Nxy;
	xz = Nxz;
    }
    /** Multiply this matrix by a second: M = M*R */


    /** Reinitialize to the unit matrix */
   inline void IsoMatrix3D::unit() {
	xo = 0;
	xx = 1;
	xy = 0;
	xz = 0;
	yo = 0;
	yx = 0;
	yy = 1;
	yz = 0;
	zo = 0;
	zx = 0;
	zy = 0;
	zz = 1;
	wx = 0;
	wy = 0;
	wz = 0;
	wo = 1;
    }


   inline  void IsoMatrix3D::transform(double* v,double*  tv, int nvert) {
	double lxx = xx, lxy = xy, lxz = xz, lxo = xo;
	double lyx = yx, lyy = yy, lyz = yz, lyo = yo;
	double lzx = zx, lzy = zy, lzz = zz, lzo = zo;
	for (int i = nvert * 3; (i -= 3) >= 0;) {
	    double x = v[i];
	    double y = v[i + 1];
	    double z = v[i + 2];
	    tv[i    ] = (x * lxx + y * lxy + z * lxz + lxo);
	    tv[i + 1] = (x * lyx + y * lyy + z * lyz + lyo);
	    tv[i + 2] = (x * lzx + y * lzy + z * lzz + lzo);
	}
    }