/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2011-2014, Willow Garage, Inc.
 *  Copyright (c) 2014-2015, Open Source Robotics Foundation
 *  All rights reserved.
 *
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 *
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 *     notice, this list of conditions and the following disclaimer.
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 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Open Source Robotics Foundation nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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// This code is based on code developed by Stephane Redon at UNC and Inria for the CATCH library: http://graphics.ewha.ac.kr/CATCH/
/** \author Jia Pan */


#ifndef FCL_CCD_INTERVAL_MATRIX_H
#define FCL_CCD_INTERVAL_MATRIX_H

#include "fcl/ccd/interval.h"
#include "fcl/ccd/interval_vector.h"
#include "fcl/math/matrix_3f.h"

namespace fcl
{

struct IMatrix3
{
  IVector3 v_[3];

  IMatrix3();
  IMatrix3(FCL_REAL v);
  IMatrix3(const Matrix3f& m);
  IMatrix3(FCL_REAL m[3][3][2]);
  IMatrix3(FCL_REAL m[3][3]);
  IMatrix3(Interval m[3][3]);
  IMatrix3(const IVector3& v1, const IVector3& v2, const IVector3& v3);

  void setIdentity();

  IVector3 getColumn(size_t i) const;
  const IVector3& getRow(size_t i) const;

  Vec3f getColumnLow(size_t i) const;
  Vec3f getRowLow(size_t i) const;

  Vec3f getColumnHigh(size_t i) const;
  Vec3f getRowHigh(size_t i) const;

  Matrix3f getLow() const;
  Matrix3f getHigh() const;

  inline const Interval& operator () (size_t i, size_t j) const
  {
    return v_[i][j];
  }

  inline Interval& operator () (size_t i, size_t j)
  {
    return v_[i][j];
  }

  IMatrix3 operator + (const IMatrix3& m) const;
  IMatrix3& operator += (const IMatrix3& m);

  IMatrix3 operator - (const IMatrix3& m) const;
  IMatrix3& operator -= (const IMatrix3& m);

  IVector3 operator * (const Vec3f& v) const;
  IVector3 operator * (const IVector3& v) const;
  IMatrix3 operator * (const IMatrix3& m) const;
  IMatrix3 operator * (const Matrix3f& m) const;

  IMatrix3& operator *= (const IMatrix3& m);
  IMatrix3& operator *= (const Matrix3f& m);

  IMatrix3& rotationConstrain();

  void print() const;
};

IMatrix3 rotationConstrain(const IMatrix3& m);

}

#endif
