matrix3.h

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/* ResidualVM - A 3D game interpreter
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#ifndef MATH_MATRIX3_H
#define MATH_MATRIX3_H

#include "math/rotation3d.h"
#include "math/squarematrix.h"
#include "math/vector3d.h"

namespace Math {

template<>
class Matrix<3, 3> : public MatrixType<3, 3>, public Rotation3D<Matrix<3, 3> > {
public:
    Matrix();
    Matrix(const MatrixBase<3, 3> &m);

    void transpose();

    
    void buildFromTargetDir(const Math::Vector3d &modelForward, const Math::Vector3d &targetDirection, 
                           const Math::Vector3d &modelUp, const Math::Vector3d &worldUp);

    inline Matrix<3, 3> operator*(const Matrix<3, 3> &m2) const {
        Matrix<3, 3> result;
        const float *d1 = getData();
        const float *d2 = m2.getData();
        float *r = result.getData();

        for (int i = 0; i < 9; i += 3) {
            for (int j = 0; j < 3; ++j) {
                r[i + j] = (d1[i + 0] * d2[j + 0])
                    + (d1[i + 1] * d2[j + 3])
                    + (d1[i + 2] * d2[j + 6]);
            }
        }

        return result;
    }
};

typedef Matrix<3, 3> Matrix3;

} // end of namespace Math

#endif