/**
 * @file llmatrix3a.h
 * @brief LLMatrix3a class header file - memory aligned and vectorized 3x3 matrix
 *
 * $LicenseInfo:firstyear=2010&license=viewergpl$
 *
 * Copyright (C) 2010, Linden Research, Inc.
 *
 * Second Life Viewer Source Code
 * The source code in this file ("Source Code") is provided by Linden Lab
 * to you under the terms of the GNU General Public License, version 2.0
 * ("GPL"), unless you have obtained a separate licensing agreement
 * ("Other License"), formally executed by you and Linden Lab.  Terms of
 * the GPL can be found in doc/GPL-license.txt in this distribution, or
 * online at http://secondlifegrid.net/programs/open_source/licensing/gplv2
 *
 * There are special exceptions to the terms and conditions of the GPL as
 * it is applied to this Source Code. View the full text of the exception
 * in the file doc/FLOSS-exception.txt in this software distribution, or
 * online at
 * http://secondlifegrid.net/programs/open_source/licensing/flossexception
 *
 * By copying, modifying or distributing this software, you acknowledge
 * that you have read and understood your obligations described above,
 * and agree to abide by those obligations.
 *
 * ALL LINDEN LAB SOURCE CODE IS PROVIDED "AS IS." LINDEN LAB MAKES NO
 * WARRANTIES, EXPRESS, IMPLIED OR OTHERWISE, REGARDING ITS ACCURACY,
 * COMPLETENESS OR PERFORMANCE.
 * $/LicenseInfo$
 */

#ifndef	LL_LLMATRIX3A_H
#define	LL_LLMATRIX3A_H

class LLMatrix3;

/////////////////////////////
// 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 alignas(16) 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 LL_INLINE const LLMatrix3a& getIdentity();

	LL_INLINE LLMatrix3a() {}

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

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

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

	// Set columns
	LL_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 have been warned.
	LL_INLINE const LLVector4a& getColumn(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
	LL_INLINE void setTranspose(const LLMatrix3a& src);

	// Set this matrix to a*w + b*(1-w)
	LL_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
	LL_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.
	LL_INLINE LLSimdScalar getDeterminant() const;

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

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

protected:
	alignas(16) LLVector4a mColumns[3];
};

class alignas(16) LLRotation : public LLMatrix3a
{
public:
	LL_INLINE LLRotation() {}

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

#endif