deMatrix6.h

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/* Copyright (c) 2005 Arachi, Inc. and Stanford University.
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 * permit persons to whom the Software is furnished to do so, subject
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#ifndef _deMatrix6_h
#define _deMatrix6_h

class deMatrix6
{
public:
        deMatrix3* operator[](const deInt row) { return (_mat3 + row * 2); }
        const deMatrix3* operator[](const deInt row) const { return (_mat3 + row * 2); }
        DE_MATH_API deFloat& elementAt(const deInt i, const deInt j);
        DE_MATH_API const deFloat& elementAt(const deInt i, const deInt j) const;
        DE_MATH_API void operator=(const deMatrix6& m);
        DE_MATH_API void zero();
        DE_MATH_API void identity();
        DE_MATH_API void negate(const deMatrix6& m);
        DE_MATH_API void add(const deMatrix6& m1, const deMatrix6& m2);
        DE_MATH_API void subtract(const deMatrix6& m1, const deMatrix6& m2);
        DE_MATH_API void multiply(const deMatrix6& m, const deFloat s);
        DE_MATH_API void operator+=(const deMatrix6& m);
        DE_MATH_API void operator-=(const deMatrix6& m);
        DE_MATH_API void operator*=(const deFloat s);
        DE_MATH_API void transpose(const deMatrix6& m);
        void inverse(const deMatrix6& m);
        void inverseSPD(const deMatrix6& m);
        void ludecomp(const deMatrix6& m);
        void ludecompSPD(const deMatrix6& m);
        void multiply(const deMatrix6& m1, const deMatrix6& m2);
        void transposedMultiply(const deMatrix6& m1, const deMatrix6& m2);
        void multiplyTransposed(const deMatrix6& m1, const deMatrix6& m2);
        void multiplyTransposed(const deVector6& v1, const deVector6& v2);
        void similarityXform(const deMatrix6& L, const deMatrix6& I);
        void similarityXformT(const deMatrix6& L, const deMatrix6& I);
        //      @{
        DE_MATH_API void set(const deTransform& t);
        void xform(const deTransform& t, const deMatrix6& m);
        void similarityRform(const deTransform& t, const deMatrix6& L);
        void similarityXform(const deTransform& t, const deMatrix6& I);
        void similarityXformT(const deTransform& t, const deMatrix6& I);
        void similarityXformInv(const deTransform& t, const deMatrix6& I);
        //      @}

private:
        deMatrix3 _mat3[4];
};

#endif // _deMatrix6_h

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