// Copyright (C) 2010, Guy Barrand. All rights reserved.
// See the file tools.license for terms.

#ifndef tools_mat3d
#define tools_mat3d

#include "mat3"
#include <cmath>

namespace tools {

class mat3d : public mat3<double> {
  typedef mat3<double> parent;
public:
  mat3d(){}
  virtual ~mat3d() {}
public:
  mat3d(const mat3d& a_from):parent(a_from){}
  mat3d& operator=(const mat3d& a_from){
    parent::operator=(a_from);
    return *this;
  }
public:
  mat3d(double a_00,double a_01,double a_02, //first  row
        double a_10,double a_11,double a_12, //second row
        double a_20,double a_21,double a_22) //third  row
  :parent(a_00,a_01,a_02,
          a_10,a_11,a_12,
          a_20,a_21,a_22)
  {}
  mat3d(const parent& a_from):parent(a_from){}
  mat3d& operator=(const parent& a_from){
    parent::operator=(a_from);
    return *this;
  }
public:
  mat3d(const mat3<float>& a_from):parent(){
    for(unsigned int index=0;index<9;index++) {
      m_vec[index] = a_from.data()[index];
    }
  }
  mat3d& operator=(const mat3<float>& a_from){
    for(unsigned int index=0;index<9;index++) {
      m_vec[index] = a_from.data()[index];
    }
    return *this;
  }
public:
  void set_rotate(const double& a_x,const double& a_y,const double& a_z,const double& a_angle) {
    parent::set_rotate(a_x,a_y,a_z,a_angle,::sin,::cos);
  }
  void mul_rotate(const double& a_x,const double& a_y,const double& a_z,const double& a_angle) {
    parent::mul_rotate(a_x,a_y,a_z,a_angle,::sin,::cos);
  }
  void left_mul_rotate(const double& a_x,const double& a_y,const double& a_z,const double& a_angle) {
    parent::left_mul_rotate(a_x,a_y,a_z,a_angle,::sin,::cos);
  }
  bool get_rotate(double& a_x,double& a_y,double& a_z,double& a_angle) {
    return parent::get_rotate(a_x,a_y,a_z,a_angle,::acos,::sin,::sqrt); //warning : acos and not cos.
  }
public: //operators
};

}

#endif