Transform3x3.h

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#pragma once
#include "Quat.h"
#include "Matrix3x3.h"
namespace dyno {
 
    template <typename T, int Dim> class Vector;
 
    /*
     * SquareMatrix<T,3> are defined for C++ fundamental integers types and floating-point types
     */
    template <typename T>
    class Transform<T, 3>
    {
    public:
        typedef T VarType;
 
        DYN_FUNC Transform();
        DYN_FUNC Transform(const Vector<T, 3>& t, const SquareMatrix<T, 3>& M, const Vector<T, 3>& s = Vector<T, 3>(1));
 
        DYN_FUNC Transform(const Transform<T, 3>&);
        DYN_FUNC ~Transform();
 
        DYN_FUNC  static unsigned int rows() { return 3; }
        DYN_FUNC  static unsigned int cols() { return 3; }
 
        DYN_FUNC inline SquareMatrix<T, 3>& rotation() { return mRotation; }
        DYN_FUNC inline const SquareMatrix<T, 3> rotation() const { return mRotation; }
 
        DYN_FUNC inline Vector<T, 3>& translation() { return mTranslation; }
        DYN_FUNC inline const Vector<T, 3> translation() const { return mTranslation; }
 
        DYN_FUNC inline Vector<T, 3>& scale() { return mScale; }
        DYN_FUNC inline const Vector<T, 3> scale() const { return mScale; }
 
        DYN_FUNC const Vector<T, 3> operator* (const Vector<T, 3> &) const;
 
    protected:
        Vector<T, 3> mTranslation; //default: zero matrix
        Vector<T, 3> mScale;
        SquareMatrix<T, 3> mRotation;
    };
 
    template class Transform<float, 3>;
    template class Transform<double, 3>;
    //convenient typedefs
    typedef Transform<float, 3> Transform3f;
    typedef Transform<double, 3> Transform3d;
}  //end of namespace dyno
 
#include "Transform3x3.inl"