+private:
+ typedef LinAl::SquareMatrix<double, 4> Base;
+ typedef Geometry::Angle<double> Angle;
+
+public:
+ Matrix();
+ Matrix(const float *);
+ Matrix(const double *);
+ Matrix(const LinAl::Matrix<double, 4, 4> &);
+
+ const double *data() const { return &Base::operator()(0, 0); }
+
+ void multiply(const Matrix &);
+ void translate(double x, double y, double z) { translate(Vector3(x, y, z)); }
+ void translate(const Vector3 &);
+ void rotate(const Angle &a, double x, double y, double z) { rotate(a, Vector3(x, y, z)); }
+ void rotate(const Angle &, const Vector3 &);
+ void rotate(double a, double x, double y, double z) { rotate(Angle::from_radians(a), Vector3(x, y, z)); }
+ void rotate(double a, const Vector3 &x) { rotate(Angle::from_radians(a), x); }
+ void rotate_deg(double a, double x, double y, double z) { rotate(Angle::from_degrees(a), Vector3(x, y, z)); }
+ void rotate_deg(double a, const Vector3 & x) { rotate(Angle::from_degrees(a), x); }
+ void scale(double s) { scale(Vector3(s, s, s)); }
+ void scale(double x, double y, double z) { scale(Vector3(x, y, z)); }
+ void scale(const Vector3 &);
+
+ Matrix operator*(const Matrix &) const;
+ Matrix &operator*=(const Matrix &);
+ Vector4 operator*(const Vector4 &) const;
+ Vector3 operator*(const Vector3 &) const;
+ double operator[](unsigned) const;
+
+ static Matrix translation(double x, double y, double z) { return translation(Vector3(x, y, z)); }
+ static Matrix translation(const Vector3 &);
+ static Matrix rotation(const Angle &a, double x, double y, double z) { return rotation(a, Vector3(x, y, z)); }
+ static Matrix rotation(const Angle &, const Vector3 &);
+ static Matrix rotation(double a, double x, double y, double z) { return rotation(Angle::from_radians(a), Vector3(x, y, z)); }
+ static Matrix rotation(double a, const Vector3 &x) { return rotation(Angle::from_radians(a), x); }
+ static Matrix rotation_deg(double a, double x, double y, double z) { return rotation(Angle::from_degrees(a), Vector3(x, y, z)); }
+ static Matrix rotation_deg(double a, const Vector3 &x) { return rotation(Angle::from_degrees(a), x); }
+ static Matrix scaling(double s) { return scaling(Vector3(s, s, s)); }
+ static Matrix scaling(double x, double y, double z) { return scaling(Vector3(x, y, z)); }
+ static Matrix scaling(const Vector3 &);
+
+ static Matrix ortho(double, double, double, double, double, double);
+ static Matrix ortho_centered(double, double);
+ static Matrix ortho_bottomleft(double, double);
+ static Matrix ortho_topleft(double, double);
+ static Matrix frustum(double, double, double, double, double, double);
+ static Matrix frustum_centered(double, double, double, double);
+ static Matrix perspective(double, double, double, double);