/* 
 * PROJECT: NyARToolkitCS
 * --------------------------------------------------------------------------------
 * This work is based on the original ARToolKit developed by
 *   Hirokazu Kato
 *   Mark Billinghurst
 *   HITLab, University of Washington, Seattle
 * http://www.hitl.washington.edu/artoolkit/
 *
 * The NyARToolkitCS is C# version NyARToolkit class library.
 * Copyright (C)2008 R.Iizuka
 *
 * 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 2
 * 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 framework; if not, write to the Free Software
 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 * 
 * For further information please contact.
 *	http://nyatla.jp/nyatoolkit/
 *	<airmail(at)ebony.plala.or.jp>
 * 
 */
using System;
using System.Collections.Generic;


namespace jp.nyatla.nyartoolkit.cs.core
{
    /**
     * NyARTransMat戻り値専用のNyARMat
     *
     */
    public class NyARTransMatResult : NyARMat
    {
        private bool has_value=false;
        public NyARTransMatResult():base(3,4)
        {
        }
        /**
         * この関数は使えません。
         * @param i_row
         * @param i_clm
         * @throws NyARException
         */
        public NyARTransMatResult(int i_row,int i_clm):base()
        {
            //ここで例外発生
        }
        /**
         * パラメータで変換行列を更新します。
         * @param i_rot
         * @param i_off
         * @param i_trans
         */
        public void updateMatrixValue(NyARTransRot i_rot,double[] i_off,double[] i_trans)
        {
	        double[] pa;
	        double[] rot=i_rot.getArray();

	        pa=this.m[0];
            pa[0] = rot[0*3+0];
            pa[1] = rot[0 * 3 + 1];
            pa[2] = rot[0 * 3 + 2];
            pa[3] = rot[0 * 3 + 0] * i_off[0] + rot[0 * 3 + 1] * i_off[1] + rot[0 * 3 + 2] * i_off[2] + i_trans[0];

            pa=this.m[1];
            pa[0] = rot[1 * 3 + 0];
            pa[1] = rot[1 * 3 + 1];
            pa[2] = rot[1 * 3 + 2];
            pa[3] = rot[1 * 3 + 0] * i_off[0] + rot[1 * 3 + 1] * i_off[1] + rot[1 * 3 + 2] * i_off[2] + i_trans[1];

            pa=this.m[2];
            pa[0] = rot[2*3+0];
            pa[1] = rot[2 * 3 + 1];
            pa[2] = rot[2 * 3 + 2];
            pa[3] = rot[2 * 3 + 0] * i_off[0] + rot[2 * 3 + 1] * i_off[1] + rot[2 * 3 + 2] * i_off[2] + i_trans[2];


            this.has_value=true;
            return;
        }
        public void copyFrom(NyARTransMatResult i_from)
        {
            base.copyFrom(i_from);
            this.has_value=i_from.has_value;
        }
        public bool hasValue()
        {
    	    return this.has_value;
        }
    }
}
