INTERFACE R4x4;

(*
  Operations on 4x4 matrices: linear maps of R^4.
  Created 93-04-31 by Marcos C. Carrard.
  Based on R4x4.pas by J. Stolfi.
  Last edited by stolfi *)
  
IMPORT R4, Wr;
     
TYPE T = ARRAY [0..3], [0..3] OF REAL;
 
CONST
  Null = T{R4.Zero, ..};
  Identity = T{
    R4.T{1.0, 0.0, 0.0, 0.0},
    R4.T{0.0, 1.0, 0.0, 0.0},
    R4.T{0.0, 0.0, 1.0, 0.0},
    R4.T{0.0, 0.0, 0.0, 1.0} 
  };

PROCEDURE MapRow(READONLY x: R4.T; READONLY m: T): R4.T;        
  (*
    Returns the product of row vector "x" by matrix "m". *)

PROCEDURE MapCol(READONLY m: T; READONLY x: R4.T): R4.T;        
  (* 
    Returns the product of matrix "m" by column vector "x". *)

PROCEDURE Mul(READONLY m, n: T): T;                     
  (*
    Returns the product OF matrices "m" and "n", in that order. *)

PROCEDURE Det(READONLY m: T): LONGREAL;                     
  (*
    Returns the determinant of matrix "m". *)

PROCEDURE Inv(READONLY m: T): T;
  (*
    Returns the inverse of matrix "m".
    Assumes the determinant is non-zero. *)
                                                       
PROCEDURE Adj(READONLY m: T): T;
  (*
    Returns the adjoint of matrix "m", 
    such that "m * result = I * Det(m)" *)
                                                       
PROCEDURE Print(wr: Wr.T; READONLY m: T);
  (*
    Prints the matrix to the given writer. *)

END R4x4.