/*==LICENSE==*

CyanWorlds.com Engine - MMOG client, server and tools
Copyright (C) 2011  Cyan Worlds, Inc.

This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.

This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU General Public License for more details.

You should have received a copy of the GNU General Public License
along with this program.  If not, see <http://www.gnu.org/licenses/>.

You can contact Cyan Worlds, Inc. by email legal@cyan.com
 or by snail mail at:
      Cyan Worlds, Inc.
      14617 N Newport Hwy
      Mead, WA   99021

*==LICENSE==*/
#ifndef MATDECOMP_inc
#define MATDECOMP_inc

//
// Types
//
typedef struct {float x, y, z, w;} gemQuat; /* Quaternion */

enum QuatPart {X, Y, Z, W};
 
typedef gemQuat HVect; /* Homogeneous 3D vector */

typedef float HMatrix[4][4]; /* Right-handed, for column vectors */

typedef struct {
    HVect t;    /* Translation components */
    gemQuat  q; /* Essential rotation     */
    gemQuat  u; /* Stretch rotation   */
    HVect k;    /* Stretch factors    */
    float f;    /* Sign of determinant    */
} gemAffineParts;

//
// Funcs
//
float polar_decomp(const HMatrix M, HMatrix Q, HMatrix S);
HVect spect_decomp(const HMatrix S, HMatrix U);
gemQuat snuggle(gemQuat q, HVect *k);
void decomp_affine(const HMatrix A, gemAffineParts *parts);
void invert_affine(gemAffineParts *parts, gemAffineParts *inverse);

#endif