/**
 * @file llmatrix3a.h
 * @brief LLMatrix3a class header file - memory aligned and vectorized 3x3 matrix
 *
 * $LicenseInfo:firstyear=2010&license=viewerlgpl$
 * Second Life Viewer Source Code
 * Copyright (C) 2010, Linden Research, Inc.
 *
 * This library is free software; you can redistribute it and/or
 * modify it under the terms of the GNU Lesser General Public
 * License as published by the Free Software Foundation;
 * version 2.1 of the License only.
 *
 * This library 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
 * Lesser General Public License for more details.
 *
 * You should have received a copy of the GNU Lesser General Public
 * License along with this library; if not, write to the Free Software
 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 *
 * Linden Research, Inc., 945 Battery Street, San Francisco, CA  94111  USA
 * $/LicenseInfo$
 */

#ifndef LL_LLMATRIX3A_H
#define LL_LLMATRIX3A_H

/////////////////////////////
// LLMatrix3a, LLRotation
/////////////////////////////
// This class stores a 3x3 (technically 4x3) matrix in column-major order
/////////////////////////////
/////////////////////////////
// These classes are intentionally minimal right now. If you need additional
// functionality, please contact someone with SSE experience (e.g., Falcon or
// Huseby).
/////////////////////////////

// LLMatrix3a is the base class for LLRotation, which should be used instead any time you're dealing with a
// rotation matrix.
class LLMatrix3a
{
public:

    // Utility function for quickly transforming an array of LLVector4a's
    // For transforming a single LLVector4a, see LLVector4a::setRotated
    static void batchTransform( const LLMatrix3a& xform, const LLVector4a* src, int numVectors, LLVector4a* dst );

    // Utility function to obtain the identity matrix
    static inline const LLMatrix3a& getIdentity();

    //////////////////////////
    // Ctors
    //////////////////////////

    // Ctor
    LLMatrix3a() {}

    // Ctor for setting by columns
    inline LLMatrix3a( const LLVector4a& c0, const LLVector4a& c1, const LLVector4a& c2 );

    //////////////////////////
    // Get/Set
    //////////////////////////

    // Loads from an LLMatrix3
    inline void loadu(const LLMatrix3& src);

    // Set rows
    inline void setRows(const LLVector4a& r0, const LLVector4a& r1, const LLVector4a& r2);

    // Set columns
    inline void setColumns(const LLVector4a& c0, const LLVector4a& c1, const LLVector4a& c2);

    // Get the read-only access to a specified column. Valid columns are 0-2, but the
    // function is unchecked. You've been warned.
    inline const LLVector4a& getColumn(const U32 column) const;

    /////////////////////////
    // Matrix modification
    /////////////////////////

    // Set this matrix to the product of lhs and rhs ( this = lhs * rhs )
    void setMul( const LLMatrix3a& lhs, const LLMatrix3a& rhs );

    // Set this matrix to the transpose of src
    inline void setTranspose(const LLMatrix3a& src);

    // Set this matrix to a*w + b*(1-w)
    inline void setLerp(const LLMatrix3a& a, const LLMatrix3a& b, F32 w);

    /////////////////////////
    // Matrix inspection
    /////////////////////////

    // Sets all 4 elements in 'dest' to the determinant of this matrix.
    // If you will be using the determinant in subsequent ops with LLVector4a, use this version
    inline void getDeterminant( LLVector4a& dest ) const;

    // Returns the determinant as an LLSimdScalar. Use this if you will be using the determinant
    // primary for scalar operations.
    inline LLSimdScalar getDeterminant() const;

    // Returns nonzero if rows 0-2 and colums 0-2 contain no NaN or INF values. Row 3 is ignored
    inline LLBool32 isFinite() const;

    // Returns true if this matrix is equal to 'rhs' up to 'tolerance'
    inline bool isApproximatelyEqual( const LLMatrix3a& rhs, F32 tolerance = F_APPROXIMATELY_ZERO ) const;

protected:

    LL_ALIGN_16(LLVector4a mColumns[3]);

};

class LLRotation : public LLMatrix3a
{
public:

    LLRotation() {}

    // Returns true if this rotation is orthonormal with det ~= 1
    inline bool isOkRotation() const;
};

#endif