Matrix3.hh

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#ifndef RIVET_MATH_MATRIX3
#define RIVET_MATH_MATRIX3

#include "Rivet/Math/MathHeader.hh"
#include "Rivet/Math/MathUtils.hh"
#include "Rivet/Math/MatrixN.hh"
#include "Rivet/Math/Vector3.hh"

namespace Rivet {


class Matrix3 : public Matrix<3> {
public:
  Matrix3() { }

  Matrix3(const Matrix<3>& m3) :  Matrix<3>::Matrix<3>(m3) { }

  Matrix3(const Vector3& axis, const double angle) {
    const Vector3 normaxis = axis.unit();
    _matrix.loadRotation3(angle, normaxis._vec);
  }

  Matrix3(const Vector3& from, const Vector3& to) {
    setAsRotation(from, to);
  }

public:
  static Matrix3 mkXRotation(const double angle) {
    return Matrix3(Vector3(1,0,0), angle);
  }

  static Matrix3 mkYRotation(const double angle) {
    return Matrix3(Vector3(0,1,0), angle);
  }

  static Matrix3 mkZRotation(const double angle) {
    return Matrix3(Vector3(0,0,1), angle);
  }

public:
  Matrix3& setAsRotation(const Vector3& from, const Vector3& to) {
    const double theta = angle(from, to);
    if (Rivet::isZero(theta)) {
      _matrix.loadIdentity();
    } else {
      const Vector3 normaxis = cross(from, to).unit();
      _matrix.loadRotation3(theta, normaxis._vec);
    }
    return *this;
  }

};


}

#endif