/********************************************************************************
* ReactPhysics3D physics library, http://www.reactphysics3d.com                 *
* Copyright (c) 2010-2015 Daniel Chappuis                                       *
*********************************************************************************
*                                                                               *
* This software is provided 'as-is', without any express or implied warranty.   *
* In no event will the authors be held liable for any damages arising from the  *
* use of this software.                                                         *
*                                                                               *
* Permission is granted to anyone to use this software for any purpose,         *
* including commercial applications, and to alter it and redistribute it        *
* freely, subject to the following restrictions:                                *
*                                                                               *
* 1. The origin of this software must not be misrepresented; you must not claim *
*    that you wrote the original software. If you use this software in a        *
*    product, an acknowledgment in the product documentation would be           *
*    appreciated but is not required.                                           *
*                                                                               *
* 2. Altered source versions must be plainly marked as such, and must not be    *
*    misrepresented as being the original software.                             *
*                                                                               *
* 3. This notice may not be removed or altered from any source distribution.    *
*                                                                               *
********************************************************************************/

// Libraries
#include <iostream>
#include "Matrix3x3.h"

// Namespaces
using namespace reactphysics3d;

// Constructor of the class Matrix3x3
Matrix3x3::Matrix3x3() {
    // Initialize all values in the matrix to zero
    setAllValues(0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0);
}

// Constructor
Matrix3x3::Matrix3x3(decimal value) {
    setAllValues(value, value, value, value, value, value, value, value, value);
}

// Constructor with arguments
Matrix3x3::Matrix3x3(decimal a1, decimal a2, decimal a3,
                     decimal b1, decimal b2, decimal b3,
                     decimal c1, decimal c2, decimal c3) {
    // Initialize the matrix with the values
    setAllValues(a1, a2, a3, b1, b2, b3, c1, c2, c3);
}

// Destructor
Matrix3x3::~Matrix3x3() {

}

// Copy-constructor
Matrix3x3::Matrix3x3(const Matrix3x3& matrix) {
    setAllValues(matrix.mRows[0][0], matrix.mRows[0][1], matrix.mRows[0][2],
                 matrix.mRows[1][0], matrix.mRows[1][1], matrix.mRows[1][2],
                 matrix.mRows[2][0], matrix.mRows[2][1], matrix.mRows[2][2]);
}

// Assignment operator
Matrix3x3& Matrix3x3::operator=(const Matrix3x3& matrix) {

    // Check for self-assignment
    if (&matrix != this) {
        setAllValues(matrix.mRows[0][0], matrix.mRows[0][1], matrix.mRows[0][2],
                     matrix.mRows[1][0], matrix.mRows[1][1], matrix.mRows[1][2],
                     matrix.mRows[2][0], matrix.mRows[2][1], matrix.mRows[2][2]);
    }
    return *this;
}

// Return the inverse matrix
Matrix3x3 Matrix3x3::getInverse() const {

    // Compute the determinant of the matrix
    decimal determinant = getDeterminant();

    // Check if the determinant is equal to zero
    assert(std::abs(determinant) > MACHINE_EPSILON);

    decimal invDeterminant = decimal(1.0) / determinant;

    Matrix3x3 tempMatrix((mRows[1][1]*mRows[2][2]-mRows[2][1]*mRows[1][2]),
                         -(mRows[0][1]*mRows[2][2]-mRows[2][1]*mRows[0][2]),
                         (mRows[0][1]*mRows[1][2]-mRows[0][2]*mRows[1][1]),
                            -(mRows[1][0]*mRows[2][2]-mRows[2][0]*mRows[1][2]),
                         (mRows[0][0]*mRows[2][2]-mRows[2][0]*mRows[0][2]),
                         -(mRows[0][0]*mRows[1][2]-mRows[1][0]*mRows[0][2]),
                            (mRows[1][0]*mRows[2][1]-mRows[2][0]*mRows[1][1]),
                         -(mRows[0][0]*mRows[2][1]-mRows[2][0]*mRows[0][1]),
                         (mRows[0][0]*mRows[1][1]-mRows[0][1]*mRows[1][0]));

    // Return the inverse matrix
    return (invDeterminant * tempMatrix);
}



