/* 
 * PROJECT: NyARToolkit(Extension)
 * --------------------------------------------------------------------------------
 * The NyARToolkit is Java edition ARToolKit class library.
 * Copyright (C)2008-2009 Ryo Iizuka
 *
 * 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 3 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, see <http://www.gnu.org/licenses/>.
 * 
 * For further information please contact.
 *	http://nyatla.jp/nyatoolkit/
 *	<airmail(at)ebony.plala.or.jp> or <nyatla(at)nyatla.jp>
 * 
 */
package jp.nyatla.nyartoolkit.core.types.matrix;

import jp.nyatla.nyartoolkit.*;
import jp.nyatla.nyartoolkit.core.types.NyARDoublePoint3d;

public class NyARDoubleMatrix33 implements INyARDoubleMatrix
{
	public double m00;
	public double m01;
	public double m02;
	public double m10;
	public double m11;
	public double m12;
	public double m20;
	public double m21;
	public double m22;
	public static NyARDoubleMatrix33[] createArray(int i_number)
	{
		NyARDoubleMatrix33[] ret=new NyARDoubleMatrix33[i_number];
		for(int i=0;i<i_number;i++)
		{
			ret[i]=new NyARDoubleMatrix33();
		}
		return ret;
	}
	/**
	 * 遅いからあんまり使わないでね。
	 */
	public void setValue(double[] i_value)
	{
		this.m00=i_value[0];
		this.m01=i_value[1];
		this.m02=i_value[2];
		this.m10=i_value[3];
		this.m11=i_value[4];
		this.m12=i_value[5];
		this.m20=i_value[6];
		this.m21=i_value[7];
		this.m22=i_value[8];
		return;
	}
	public void setValue(NyARDoubleMatrix33 i_value)
	{
		this.m00=i_value.m00;
		this.m01=i_value.m01;
		this.m02=i_value.m02;
		this.m10=i_value.m10;
		this.m11=i_value.m11;
		this.m12=i_value.m12;
		this.m20=i_value.m20;
		this.m21=i_value.m21;
		this.m22=i_value.m22;
		return;
	}	
	/**
	 * 遅いからあんまり使わないでね。
	 */
	public void getValue(double[] o_value)
	{
		o_value[0]=this.m00;
		o_value[1]=this.m01;
		o_value[2]=this.m02;
		o_value[3]=this.m10;
		o_value[4]=this.m11;
		o_value[5]=this.m12;
		o_value[6]=this.m20;
		o_value[7]=this.m21;
		o_value[8]=this.m22;
		return;
	}
	public boolean inverse(NyARDoubleMatrix33 i_src)
	{
		final double a11,a12,a13,a21,a22,a23,a31,a32,a33;
		final double b11,b12,b13,b21,b22,b23,b31,b32,b33;	
		a11=i_src.m00;a12=i_src.m01;a13=i_src.m02;
		a21=i_src.m10;a22=i_src.m11;a23=i_src.m12;
		a31=i_src.m20;a32=i_src.m21;a33=i_src.m22;
		
		b11=a22*a33-a23*a32;
		b12=a32*a13-a33*a12;
		b13=a12*a23-a13*a22;
		
		b21=a23*a31-a21*a33;
		b22=a33*a11-a31*a13;
		b23=a13*a21-a11*a23;
		
		b31=a21*a32-a22*a31;
		b32=a31*a12-a32*a11;
		b33=a11*a22-a12*a21;
				
		double det_1=a11*b11+a21*b12+a31*b13;
		if(det_1==0){
			return false;
		}
		det_1=1/det_1;

		this.m00=b11*det_1;
		this.m01=b12*det_1;
		this.m02=b13*det_1;
		
		this.m10=b21*det_1;
		this.m11=b22*det_1;
		this.m12=b23*det_1;
		
		this.m20=b31*det_1;
		this.m21=b32*det_1;
		this.m22=b33*det_1;
		
		return true;
	}
	/**
	 * この関数は、0-PIの間で値を返します。
	 * @param o_out
	 */
	public final void getZXYAngle(NyARDoublePoint3d o_out)
	{
		double sina = this.m21;
		if (sina >= 1.0) {
			o_out.x = Math.PI / 2;
			o_out.y = 0;
			o_out.z = Math.atan2(-this.m10, this.m00);
		} else if (sina <= -1.0) {
			o_out.x = -Math.PI / 2;
			o_out.y = 0;
			o_out.z = Math.atan2(-this.m10, this.m00);
		} else {
			o_out.x = Math.asin(sina);
			o_out.z = Math.atan2(-this.m01, this.m11);
			o_out.y = Math.atan2(-this.m20, this.m22);
		}
	}
	public final void setZXYAngle(NyARDoublePoint3d i_angle)
	{
		setZXYAngle(i_angle.x,i_angle.y,i_angle.z);
		return;
	}
	public final void setZXYAngle(final double i_x, final double i_y, final double i_z)
	{
		final double sina = Math.sin(i_x);
		final double cosa = Math.cos(i_x);
		final double sinb = Math.sin(i_y);
		final double cosb = Math.cos(i_y);
		final double sinc = Math.sin(i_z);
		final double cosc = Math.cos(i_z);
		this.m00 = cosc * cosb - sinc * sina * sinb;
		this.m01 = -sinc * cosa;
		this.m02 = cosc * sinb + sinc * sina * cosb;
		this.m10 = sinc * cosb + cosc * sina * sinb;
		this.m11 = cosc * cosa;
		this.m12 = sinc * sinb - cosc * sina * cosb;
		this.m20 = -cosa * sinb;
		this.m21 = sina;
		this.m22 = cosb * cosa;
		return;
	}
	/**
	 * 回転行列を適応して座標変換します。
	 * @param i_angle
	 * @param o_out
	 */
	public final void transformVertex(NyARDoublePoint3d i_position,NyARDoublePoint3d o_out)
	{
		transformVertex(i_position.x,i_position.y,i_position.z,o_out);
		return;
	}
	
	public final void transformVertex(double i_x,double i_y,double i_z,NyARDoublePoint3d o_out)
	{
		o_out.x=this.m00*i_x+this.m01*i_y+this.m02*i_z;
		o_out.y=this.m10*i_x+this.m11*i_y+this.m12*i_z;
		o_out.z=this.m20*i_x+this.m21*i_y+this.m22*i_z;
		return;
	}
}
