using System;
using System.Runtime.InteropServices;

namespace OpenTK.Math
{
    [Serializable]
    [StructLayout(LayoutKind.Sequential)]
    public struct Matrix3d : IEquatable<Matrix3d>
    {
        #region Fields & Access

        /// <summary>Row 0, Column 0</summary>
        public double R0C0;

        /// <summary>Row 0, Column 1</summary>
        public double R0C1;

        /// <summary>Row 0, Column 2</summary>
        public double R0C2;

        /// <summary>Row 1, Column 0</summary>
        public double R1C0;

        /// <summary>Row 1, Column 1</summary>
        public double R1C1;

        /// <summary>Row 1, Column 2</summary>
        public double R1C2;

        /// <summary>Row 2, Column 0</summary>
        public double R2C0;

        /// <summary>Row 2, Column 1</summary>
        public double R2C1;

        /// <summary>Row 2, Column 2</summary>
        public double R2C2;

        /// <summary>Gets the component at the given row and column in the matrix.</summary>
        /// <param name="row">The row of the matrix.</param>
        /// <param name="column">The column of the matrix.</param>
        /// <returns>The component at the given row and column in the matrix.</returns>
        public double this[int row, int column]
        {
            get
            {
                switch( row )
                {
                    case 0:
                        switch (column)
                        {
                            case 0: return R0C0;
                            case 1: return R0C1;
                            case 2: return R0C2;
                        }
                        break;

                    case 1:
                        switch (column)
                        {
                            case 0: return R1C0;
                            case 1: return R1C1;
                            case 2: return R1C2;
                        }
                        break;

                    case 2:
                        switch (column)
                        {
                            case 0: return R2C0;
                            case 1: return R2C1;
                            case 2: return R2C2;
                        }
                        break;
                }

                throw new IndexOutOfRangeException();
            }
            set
            {
                switch( row )
                {
                    case 0:
                        switch (column)
                        {
                            case 0: R0C0 = value; return;
                            case 1: R0C1 = value; return;
                            case 2: R0C2 = value; return;
                        }
                        break;

                    case 1:
                        switch (column)
                        {
                            case 0: R1C0 = value; return;
                            case 1: R1C1 = value; return;
                            case 2: R1C2 = value; return;
                        }
                        break;

                    case 2:
                        switch (column)
                        {
                            case 0: R2C0 = value; return;
                            case 1: R2C1 = value; return;
                            case 2: R2C2 = value; return;
                        }
                        break;
                }

                throw new IndexOutOfRangeException();
            }
        }

        /// <summary>Gets the component at the index into the matrix.</summary>
        /// <param name="index">The index into the components of the matrix.</param>
        /// <returns>The component at the given index into the matrix.</returns>
        public double this[int index]
        {
            get
            {
                switch (index)
                {
                    case 0: return R0C0;
                    case 1: return R0C1;
                    case 2: return R0C2;
                    case 3: return R1C0;
                    case 4: return R1C1;
                    case 5: return R1C2;
                    case 6: return R2C0;
                    case 7: return R2C1;
                    case 8: return R2C2;
                    default: throw new IndexOutOfRangeException();
                }
            }
            set
            {
                switch (index)
                {
                    case 0: R0C0 = value; return;
                    case 1: R0C1 = value; return;
                    case 2: R0C2 = value; return;
                    case 3: R1C0 = value; return;
                    case 4: R1C1 = value; return;
                    case 5: R1C2 = value; return;
                    case 6: R2C0 = value; return;
                    case 7: R2C1 = value; return;
                    case 8: R2C2 = value; return;
                    default: throw new IndexOutOfRangeException();
                }
            }
        }

        /// <summary>Converts the matrix into an IntPtr.</summary>
        /// <param name="matrix">The matrix to convert.</param>
        /// <returns>An IntPtr for the matrix.</returns>
        public static explicit operator IntPtr(Matrix3d matrix)
        {
            unsafe
            {
                return (IntPtr)(&matrix.R0C0);
            }
        }

        /// <summary>Converts the matrix into left double*.</summary>
        /// <param name="matrix">The matrix to convert.</param>
        /// <returns>A double* for the matrix.</returns>
        [CLSCompliant(false)]
        unsafe public static explicit operator double*(Matrix3d matrix)
        {
            return &matrix.R0C0;
        }

        /// <summary>Converts the matrix into an array of doubles.</summary>
        /// <param name="matrix">The matrix to convert.</param>
        /// <returns>An array of doubles for the matrix.</returns>
        public static explicit operator double[](Matrix3d matrix)
        {
            return new double[9]
            {
                matrix.R0C0,
                matrix.R0C1,
                matrix.R0C2,
                matrix.R1C0,
                matrix.R1C1,
                matrix.R1C2,
                matrix.R2C0,
                matrix.R2C1,
                matrix.R2C2
            };
        }

        #endregion

        #region Constructors

        /// <summary>Constructs left matrix with the same components as the given matrix.</summary>
        /// <param name="vector">The matrix whose components to copy.</param>
        public Matrix3d(ref Matrix3d matrix)
        {
            this.R0C0 = matrix.R0C0;
            this.R0C1 = matrix.R0C1;
            this.R0C2 = matrix.R0C2;
            this.R1C0 = matrix.R1C0;
            this.R1C1 = matrix.R1C1;
            this.R1C2 = matrix.R1C2;
            this.R2C0 = matrix.R2C0;
            this.R2C1 = matrix.R2C1;
            this.R2C2 = matrix.R2C2;
        }

        /// <summary>Constructs left matrix with the given values.</summary>
        /// <param name="r0c0">The value for row 0 column 0.</param>
        /// <param name="r0c1">The value for row 0 column 1.</param>
        /// <param name="r0c2">The value for row 0 column 2.</param>
        /// <param name="r1c0">The value for row 1 column 0.</param>
        /// <param name="r1c1">The value for row 1 column 1.</param>
        /// <param name="r1c2">The value for row 1 column 2.</param>
        /// <param name="r2c0">The value for row 2 column 0.</param>
        /// <param name="r2c1">The value for row 2 column 1.</param>
        /// <param name="r2c2">The value for row 2 column 2.</param>
        public Matrix3d
        (
            double r0c0,
            double r0c1,
            double r0c2,
            double r1c0,
            double r1c1,
            double r1c2,
            double r2c0,
            double r2c1,
            double r2c2
        )
        {
            this.R0C0 = r0c0;
            this.R0C1 = r0c1;
            this.R0C2 = r0c2;
            this.R1C0 = r1c0;
            this.R1C1 = r1c1;
            this.R1C2 = r1c2;
            this.R2C0 = r2c0;
            this.R2C1 = r2c1;
            this.R2C2 = r2c2;
        }

        /// <summary>Constructs left matrix from the given array of double-precision floating point numbers.</summary>
        /// <param name="doubleArray">The array of doubles for the components of the matrix.</param>
        public Matrix3d(double[] doubleArray)
        {
            if (doubleArray == null || doubleArray.GetLength(0) < 9) throw new MissingFieldException();

            this.R0C0 = doubleArray[0];
            this.R0C1 = doubleArray[1];
            this.R0C2 = doubleArray[2];
            this.R1C0 = doubleArray[3];
            this.R1C1 = doubleArray[4];
            this.R1C2 = doubleArray[5];
            this.R2C0 = doubleArray[6];
            this.R2C1 = doubleArray[7];
            this.R2C2 = doubleArray[8];
        }

        /// <summary>Constructs left matrix from the given quaternion.</summary>
        /// <param name="quaternion">The quaternion to use to construct the martix.</param>
        public Matrix3d(ref Quaterniond quaternion)
        {
            Quaterniond quaternionNormalized;
            quaternion.Normalize(out quaternionNormalized);

            double xx = quaternionNormalized.X * quaternionNormalized.X;
            double yy = quaternionNormalized.Y * quaternionNormalized.Y;
            double zz = quaternionNormalized.Z * quaternionNormalized.Z;
            double xy = quaternionNormalized.X * quaternionNormalized.Y;
            double xz = quaternionNormalized.X * quaternionNormalized.Z;
            double yz = quaternionNormalized.Y * quaternionNormalized.Z;
            double wx = quaternionNormalized.W * quaternionNormalized.X;
            double wy = quaternionNormalized.W * quaternionNormalized.Y;
            double wz = quaternionNormalized.W * quaternionNormalized.Z;

            R0C0 = 1 - 2 * (yy + zz);
            R0C1 = 2 * (xy - wz);
            R0C2 = 2 * (xz + wy);

            R1C0 = 2 * (xy + wz);
            R1C1 = 1 - 2 * (xx + zz);
            R1C2 = 2 * (yz - wx);

            R2C0 = 2 * (xz - wy);
            R2C1 = 2 * (yz + wx);
            R2C2 = 1 - 2 * (xx + yy);
        }

        #endregion

        #region Equality

        /// <summary>Indicates whether the current matrix is equal to another matrix.</summary>
        /// <param name="matrix">The OpenTK.Math.Matrix3d structure to compare with.</param>
        /// <returns>true if the current matrix is equal to the matrix parameter; otherwise, false.</returns>
        [CLSCompliant(false)]
        public bool Equals(Matrix3d matrix)
        {
            return
                R0C0 == matrix.R0C0 &&
                R0C1 == matrix.R0C1 &&
                R0C2 == matrix.R0C2 &&
                R1C0 == matrix.R1C0 &&
                R1C1 == matrix.R1C1 &&
                R1C2 == matrix.R1C2 &&
                R2C0 == matrix.R2C0 &&
                R2C1 == matrix.R2C1 &&
                R2C2 == matrix.R2C2;
        }

        /// <summary>Indicates whether the current matrix is equal to another matrix.</summary>
        /// <param name="matrix">The OpenTK.Math.Matrix3d structure to compare to.</param>
        /// <returns>true if the current matrix is equal to the matrix parameter; otherwise, false.</returns>
        public bool Equals(ref Matrix3d matrix)
        {
            return
                R0C0 == matrix.R0C0 &&
                R0C1 == matrix.R0C1 &&
                R0C2 == matrix.R0C2 &&
                R1C0 == matrix.R1C0 &&
                R1C1 == matrix.R1C1 &&
                R1C2 == matrix.R1C2 &&
                R2C0 == matrix.R2C0 &&
                R2C1 == matrix.R2C1 &&
                R2C2 == matrix.R2C2;
        }

        /// <summary>Indicates whether the current matrix is equal to another matrix.</summary>
        /// <param name="left">The left-hand operand.</param>
        /// <param name="right">The right-hand operand.</param>
        /// <returns>true if the current matrix is equal to the matrix parameter; otherwise, false.</returns>
        public static bool Equals(ref Matrix3d left, ref Matrix3d right)
        {
            return
                left.R0C0 == right.R0C0 &&
                left.R0C1 == right.R0C1 &&
                left.R0C2 == right.R0C2 &&
                left.R1C0 == right.R1C0 &&
                left.R1C1 == right.R1C1 &&
                left.R1C2 == right.R1C2 &&
                left.R2C0 == right.R2C0 &&
                left.R2C1 == right.R2C1 &&
                left.R2C2 == right.R2C2;
        }

        /// <summary>Indicates whether the current matrix is approximately equal to another matrix.</summary>
        /// <param name="matrix">The OpenTK.Math.Matrix3d structure to compare with.</param>
        /// <param name="tolerance">The limit below which the matrices are considered equal.</param>
        /// <returns>true if the current matrix is approximately equal to the matrix parameter; otherwise, false.</returns>
        public bool EqualsApprox(ref Matrix3d matrix, double tolerance)
        {
            return
                System.Math.Abs(R0C0 - matrix.R0C0) <= tolerance &&
                System.Math.Abs(R0C1 - matrix.R0C1) <= tolerance &&
                System.Math.Abs(R0C2 - matrix.R0C2) <= tolerance &&
                System.Math.Abs(R1C0 - matrix.R1C0) <= tolerance &&
                System.Math.Abs(R1C1 - matrix.R1C1) <= tolerance &&
                System.Math.Abs(R1C2 - matrix.R1C2) <= tolerance &&
                System.Math.Abs(R2C0 - matrix.R2C0) <= tolerance &&
                System.Math.Abs(R2C1 - matrix.R2C1) <= tolerance &&
                System.Math.Abs(R2C2 - matrix.R2C2) <= tolerance;
        }

        /// <summary>Indicates whether the current matrix is approximately equal to another matrix.</summary>
        /// <param name="left">The left-hand operand.</param>
        /// <param name="right">The right-hand operand.</param>
        /// <param name="tolerance">The limit below which the matrices are considered equal.</param>
        /// <returns>true if the current matrix is approximately equal to the matrix parameter; otherwise, false.</returns>
        public static bool EqualsApprox(ref Matrix3d left, ref Matrix3d right, double tolerance)
        {
            return
                System.Math.Abs(left.R0C0 - right.R0C0) <= tolerance &&
                System.Math.Abs(left.R0C1 - right.R0C1) <= tolerance &&
                System.Math.Abs(left.R0C2 - right.R0C2) <= tolerance &&
                System.Math.Abs(left.R1C0 - right.R1C0) <= tolerance &&
                System.Math.Abs(left.R1C1 - right.R1C1) <= tolerance &&
                System.Math.Abs(left.R1C2 - right.R1C2) <= tolerance &&
                System.Math.Abs(left.R2C0 - right.R2C0) <= tolerance &&
                System.Math.Abs(left.R2C1 - right.R2C1) <= tolerance &&
                System.Math.Abs(left.R2C2 - right.R2C2) <= tolerance;
        }

        #endregion

        #region Arithmetic Operators


        /// <summary>Add left matrix to this matrix.</summary>
        /// <param name="matrix">The matrix to add.</param>
        public void Add(ref Matrix3d matrix)
        {
            R0C0 = R0C0 + matrix.R0C0;
            R0C1 = R0C1 + matrix.R0C1;
            R0C2 = R0C2 + matrix.R0C2;
            R1C0 = R1C0 + matrix.R1C0;
            R1C1 = R1C1 + matrix.R1C1;
            R1C2 = R1C2 + matrix.R1C2;
            R2C0 = R2C0 + matrix.R2C0;
            R2C1 = R2C1 + matrix.R2C1;
            R2C2 = R2C2 + matrix.R2C2;
        }

        /// <summary>Add left matrix to this matrix.</summary>
        /// <param name="matrix">The matrix to add.</param>
        /// <param name="result">The resulting matrix of the addition.</param>
        public void Add(ref Matrix3d matrix, out Matrix3d result)
        {
            result.R0C0 = R0C0 + matrix.R0C0;
            result.R0C1 = R0C1 + matrix.R0C1;
            result.R0C2 = R0C2 + matrix.R0C2;
            result.R1C0 = R1C0 + matrix.R1C0;
            result.R1C1 = R1C1 + matrix.R1C1;
            result.R1C2 = R1C2 + matrix.R1C2;
            result.R2C0 = R2C0 + matrix.R2C0;
            result.R2C1 = R2C1 + matrix.R2C1;
            result.R2C2 = R2C2 + matrix.R2C2;
        }

        /// <summary>Add left matrix to left matrix.</summary>
        /// <param name="matrix">The matrix on the matrix side of the equation.</param>
        /// <param name="right">The matrix on the right side of the equation</param>
        /// <param name="result">The resulting matrix of the addition.</param>
        public static void Add(ref Matrix3d left, ref Matrix3d right, out Matrix3d result)
        {
            result.R0C0 = left.R0C0 + right.R0C0;
            result.R0C1 = left.R0C1 + right.R0C1;
            result.R0C2 = left.R0C2 + right.R0C2;
            result.R1C0 = left.R1C0 + right.R1C0;
            result.R1C1 = left.R1C1 + right.R1C1;
            result.R1C2 = left.R1C2 + right.R1C2;
            result.R2C0 = left.R2C0 + right.R2C0;
            result.R2C1 = left.R2C1 + right.R2C1;
            result.R2C2 = left.R2C2 + right.R2C2;
        }


        /// <summary>Subtract left matrix from this matrix.</summary>
        /// <param name="matrix">The matrix to subtract.</param>
        public void Subtract(ref Matrix3d matrix)
        {
            R0C0 = R0C0 + matrix.R0C0;
            R0C1 = R0C1 + matrix.R0C1;
            R0C2 = R0C2 + matrix.R0C2;
            R1C0 = R1C0 + matrix.R1C0;
            R1C1 = R1C1 + matrix.R1C1;
            R1C2 = R1C2 + matrix.R1C2;
            R2C0 = R2C0 + matrix.R2C0;
            R2C1 = R2C1 + matrix.R2C1;
            R2C2 = R2C2 + matrix.R2C2;
        }

        /// <summary>Subtract left matrix from this matrix.</summary>
        /// <param name="matrix">The matrix to subtract.</param>
        /// <param name="result">The resulting matrix of the subtraction.</param>
        public void Subtract(ref Matrix3d matrix, out Matrix3d result)
        {
            result.R0C0 = R0C0 + matrix.R0C0;
            result.R0C1 = R0C1 + matrix.R0C1;
            result.R0C2 = R0C2 + matrix.R0C2;
            result.R1C0 = R1C0 + matrix.R1C0;
            result.R1C1 = R1C1 + matrix.R1C1;
            result.R1C2 = R1C2 + matrix.R1C2;
            result.R2C0 = R2C0 + matrix.R2C0;
            result.R2C1 = R2C1 + matrix.R2C1;
            result.R2C2 = R2C2 + matrix.R2C2;
        }

        /// <summary>Subtract left matrix from left matrix.</summary>
        /// <param name="matrix">The matrix on the matrix side of the equation.</param>
        /// <param name="right">The matrix on the right side of the equation</param>
        /// <param name="result">The resulting matrix of the subtraction.</param>
        public static void Subtract(ref Matrix3d left, ref Matrix3d right, out Matrix3d result)
        {
            result.R0C0 = left.R0C0 + right.R0C0;
            result.R0C1 = left.R0C1 + right.R0C1;
            result.R0C2 = left.R0C2 + right.R0C2;
            result.R1C0 = left.R1C0 + right.R1C0;
            result.R1C1 = left.R1C1 + right.R1C1;
            result.R1C2 = left.R1C2 + right.R1C2;
            result.R2C0 = left.R2C0 + right.R2C0;
            result.R2C1 = left.R2C1 + right.R2C1;
            result.R2C2 = left.R2C2 + right.R2C2;
        }


        /// <summary>Multiply left martix times this matrix.</summary>
        /// <param name="matrix">The matrix to multiply.</param>
        public void Multiply(ref Matrix3d matrix)
        {
            double r0c0 = matrix.R0C0 * R0C0 + matrix.R0C1 * R1C0 + matrix.R0C2 * R2C0;
            double r0c1 = matrix.R0C0 * R0C1 + matrix.R0C1 * R1C1 + matrix.R0C2 * R2C1;
            double r0c2 = matrix.R0C0 * R0C2 + matrix.R0C1 * R1C2 + matrix.R0C2 * R2C2;

            double r1c0 = matrix.R1C0 * R0C0 + matrix.R1C1 * R1C0 + matrix.R1C2 * R2C0;
            double r1c1 = matrix.R1C0 * R0C1 + matrix.R1C1 * R1C1 + matrix.R1C2 * R2C1;
            double r1c2 = matrix.R1C0 * R0C2 + matrix.R1C1 * R1C2 + matrix.R1C2 * R2C2;

            R2C0 = matrix.R2C0 * R0C0 + matrix.R2C1 * R1C0 + matrix.R2C2 * R2C0;
            R2C1 = matrix.R2C0 * R0C1 + matrix.R2C1 * R1C1 + matrix.R2C2 * R2C1;
            R2C2 = matrix.R2C0 * R0C2 + matrix.R2C1 * R1C2 + matrix.R2C2 * R2C2;


            R0C0 = r0c0;
            R0C1 = r0c1;
            R0C2 = r0c2;

            R1C0 = r1c0;
            R1C1 = r1c1;
            R1C2 = r1c2;
        }

        /// <summary>Multiply matrix times this matrix.</summary>
        /// <param name="matrix">The matrix to multiply.</param>
        /// <param name="result">The resulting matrix of the multiplication.</param>
        public void Multiply(ref Matrix3d matrix, out Matrix3d result)
        {
            result.R0C0 = matrix.R0C0 * R0C0 + matrix.R0C1 * R1C0 + matrix.R0C2 * R2C0;
            result.R0C1 = matrix.R0C0 * R0C1 + matrix.R0C1 * R1C1 + matrix.R0C2 * R2C1;
            result.R0C2 = matrix.R0C0 * R0C2 + matrix.R0C1 * R1C2 + matrix.R0C2 * R2C2;
            result.R1C0 = matrix.R1C0 * R0C0 + matrix.R1C1 * R1C0 + matrix.R1C2 * R2C0;
            result.R1C1 = matrix.R1C0 * R0C1 + matrix.R1C1 * R1C1 + matrix.R1C2 * R2C1;
            result.R1C2 = matrix.R1C0 * R0C2 + matrix.R1C1 * R1C2 + matrix.R1C2 * R2C2;
            result.R2C0 = matrix.R2C0 * R0C0 + matrix.R2C1 * R1C0 + matrix.R2C2 * R2C0;
            result.R2C1 = matrix.R2C0 * R0C1 + matrix.R2C1 * R1C1 + matrix.R2C2 * R2C1;
            result.R2C2 = matrix.R2C0 * R0C2 + matrix.R2C1 * R1C2 + matrix.R2C2 * R2C2;
        }

        /// <summary>Multiply left matrix times left matrix.</summary>
        /// <param name="matrix">The matrix on the matrix side of the equation.</param>
        /// <param name="right">The matrix on the right side of the equation</param>
        /// <param name="result">The resulting matrix of the multiplication.</param>
        public static void Multiply(ref Matrix3d left, ref Matrix3d right, out Matrix3d result)
        {
            result.R0C0 = right.R0C0 * left.R0C0 + right.R0C1 * left.R1C0 + right.R0C2 * left.R2C0;
            result.R0C1 = right.R0C0 * left.R0C1 + right.R0C1 * left.R1C1 + right.R0C2 * left.R2C1;
            result.R0C2 = right.R0C0 * left.R0C2 + right.R0C1 * left.R1C2 + right.R0C2 * left.R2C2;
            result.R1C0 = right.R1C0 * left.R0C0 + right.R1C1 * left.R1C0 + right.R1C2 * left.R2C0;
            result.R1C1 = right.R1C0 * left.R0C1 + right.R1C1 * left.R1C1 + right.R1C2 * left.R2C1;
            result.R1C2 = right.R1C0 * left.R0C2 + right.R1C1 * left.R1C2 + right.R1C2 * left.R2C2;
            result.R2C0 = right.R2C0 * left.R0C0 + right.R2C1 * left.R1C0 + right.R2C2 * left.R2C0;
            result.R2C1 = right.R2C0 * left.R0C1 + right.R2C1 * left.R1C1 + right.R2C2 * left.R2C1;
            result.R2C2 = right.R2C0 * left.R0C2 + right.R2C1 * left.R1C2 + right.R2C2 * left.R2C2;
        }


        /// <summary>Multiply matrix times this matrix.</summary>
        /// <param name="matrix">The matrix to multiply.</param>
        public void Multiply(double scalar)
        {
            R0C0 = scalar * R0C0;
            R0C1 = scalar * R0C1;
            R0C2 = scalar * R0C2;
            R1C0 = scalar * R1C0;
            R1C1 = scalar * R1C1;
            R1C2 = scalar * R1C2;
            R2C0 = scalar * R2C0;
            R2C1 = scalar * R2C1;
            R2C2 = scalar * R2C2;
        }

        /// <summary>Multiply matrix times this matrix.</summary>
        /// <param name="matrix">The matrix to multiply.</param>
        /// <param name="result">The resulting matrix of the multiplication.</param>
        public void Multiply(double scalar, out Matrix3d result)
        {
            result.R0C0 = scalar * R0C0;
            result.R0C1 = scalar * R0C1;
            result.R0C2 = scalar * R0C2;
            result.R1C0 = scalar * R1C0;
            result.R1C1 = scalar * R1C1;
            result.R1C2 = scalar * R1C2;
            result.R2C0 = scalar * R2C0;
            result.R2C1 = scalar * R2C1;
            result.R2C2 = scalar * R2C2;
        }

        /// <summary>Multiply left matrix times left matrix.</summary>
        /// <param name="matrix">The matrix on the matrix side of the equation.</param>
        /// <param name="right">The matrix on the right side of the equation</param>
        /// <param name="result">The resulting matrix of the multiplication.</param>
        public static void Multiply(ref Matrix3d matrix, double scalar, out Matrix3d result)
        {
            result.R0C0 = scalar * matrix.R0C0;
            result.R0C1 = scalar * matrix.R0C1;
            result.R0C2 = scalar * matrix.R0C2;
            result.R1C0 = scalar * matrix.R1C0;
            result.R1C1 = scalar * matrix.R1C1;
            result.R1C2 = scalar * matrix.R1C2;
            result.R2C0 = scalar * matrix.R2C0;
            result.R2C1 = scalar * matrix.R2C1;
            result.R2C2 = scalar * matrix.R2C2;
        }


        #endregion

        #region Functions

        public double Determinant
        {
            get
            {
                return R0C0 * R1C1 * R2C2 - R0C0 * R1C2 * R2C1 - R0C1 * R1C0 * R2C2 + R0C2 * R1C0 * R2C1 + R0C1 * R1C2 * R2C0 - R0C2 * R1C1 * R2C0;
            }
        }

        public void Transpose()
        {
            Functions.Swap(ref R0C1, ref R1C0);
            Functions.Swap(ref R0C2, ref R2C0);
            Functions.Swap(ref R1C2, ref R2C1);
        }
        public void Transpose(out Matrix3d result)
        {
            result.R0C0 = R0C0;
            result.R0C1 = R1C0;
            result.R0C2 = R2C0;
            result.R1C0 = R0C1;
            result.R1C1 = R1C1;
            result.R1C2 = R2C1;
            result.R2C0 = R0C2;
            result.R2C1 = R1C2;
            result.R2C2 = R2C2;
        }
        public static void Transpose(ref Matrix3d matrix, out Matrix3d result)
        {
            result.R0C0 = matrix.R0C0;
            result.R0C1 = matrix.R1C0;
            result.R0C2 = matrix.R2C0;
            result.R1C0 = matrix.R0C1;
            result.R1C1 = matrix.R1C1;
            result.R1C2 = matrix.R2C1;
            result.R2C0 = matrix.R0C2;
            result.R2C1 = matrix.R1C2;
            result.R2C2 = matrix.R2C2;
        }

        #endregion

        #region Transformation Functions

        public void Transform(ref Vector3d vector)
        {
            double x = R0C0 * vector.X + R0C1 * vector.Y + R0C2 * vector.Z;
            double y = R1C0 * vector.X + R1C1 * vector.Y + R1C2 * vector.Z;
            vector.Z = R2C0 * vector.X + R2C1 * vector.Y + R2C2 * vector.Z;
            vector.X = x;
            vector.Y = y;
        }
        public static void Transform(ref Matrix3d matrix, ref Vector3d vector)
        {
            double x = matrix.R0C0 * vector.X + matrix.R0C1 * vector.Y + matrix.R0C2 * vector.Z;
            double y = matrix.R1C0 * vector.X + matrix.R1C1 * vector.Y + matrix.R1C2 * vector.Z;
            vector.Z = matrix.R2C0 * vector.X + matrix.R2C1 * vector.Y + matrix.R2C2 * vector.Z;
            vector.X = x;
            vector.Y = y;
        }
        public void Transform(ref Vector3d vector, out Vector3d result)
        {
            result.X = R0C0 * vector.X + R0C1 * vector.Y + R0C2 * vector.Z;
            result.Y = R1C0 * vector.X + R1C1 * vector.Y + R1C2 * vector.Z;
            result.Z = R2C0 * vector.X + R2C1 * vector.Y + R2C2 * vector.Z;
        }
        public static void Transform(ref Matrix3d matrix, ref Vector3d vector, out Vector3d result)
        {
            result.X = matrix.R0C0 * vector.X + matrix.R0C1 * vector.Y + matrix.R0C2 * vector.Z;
            result.Y = matrix.R1C0 * vector.X + matrix.R1C1 * vector.Y + matrix.R1C2 * vector.Z;
            result.Z = matrix.R2C0 * vector.X + matrix.R2C1 * vector.Y + matrix.R2C2 * vector.Z;
        }

        public void Rotate(double angle)
        {
            double angleRadians = Functions.DTOR * angle;
            double sin = (double)System.Math.Sin(angleRadians);
            double cos = (double)System.Math.Cos(angleRadians);

            double r0c0 = cos * R0C0 + sin * R1C0;
            double r0c1 = cos * R0C1 + sin * R1C1;
            double r0c2 = cos * R0C2 + sin * R1C2;

            R1C0 = cos * R1C0 - sin * R0C0;
            R1C1 = cos * R1C1 - sin * R0C1;
            R1C2 = cos * R1C2 - sin * R0C2;

            R0C0 = r0c0;
            R0C1 = r0c1;
            R0C2 = r0c2;
        }
        public void Rotate(double angle, out Matrix3d result)
        {
            double angleRadians = Functions.DTOR * angle;
            double sin = (double)System.Math.Sin(angleRadians);
            double cos = (double)System.Math.Cos(angleRadians);

            result.R0C0 = cos * R0C0 + sin * R1C0;
            result.R0C1 = cos * R0C1 + sin * R1C1;
            result.R0C2 = cos * R0C2 + sin * R1C2;
            result.R1C0 = cos * R1C0 - sin * R0C0;
            result.R1C1 = cos * R1C1 - sin * R0C1;
            result.R1C2 = cos * R1C2 - sin * R0C2;
            result.R2C0 = R2C0;
            result.R2C1 = R2C1;
            result.R2C2 = R2C2;
        }
        public static void Rotate(ref Matrix3d matrix, double angle, out Matrix3d result)
        {
            double angleRadians = Functions.DTOR * angle;
            double sin = (double)System.Math.Sin(angleRadians);
            double cos = (double)System.Math.Cos(angleRadians);

            result.R0C0 = cos * matrix.R0C0 + sin * matrix.R1C0;
            result.R0C1 = cos * matrix.R0C1 + sin * matrix.R1C1;
            result.R0C2 = cos * matrix.R0C2 + sin * matrix.R1C2;
            result.R1C0 = cos * matrix.R1C0 - sin * matrix.R0C0;
            result.R1C1 = cos * matrix.R1C1 - sin * matrix.R0C1;
            result.R1C2 = cos * matrix.R1C2 - sin * matrix.R0C2;
            result.R2C0 = matrix.R2C0;
            result.R2C1 = matrix.R2C1;
            result.R2C2 = matrix.R2C2;
        }
        public static void RotateMatrix(double angle, out Matrix3d result)
        {
            double angleRadians = Functions.DTOR * angle;
            double sin = (double)System.Math.Sin(angleRadians);
            double cos = (double)System.Math.Cos(angleRadians);

            result.R0C0 = cos;
            result.R0C1 = sin;
            result.R0C2 = 0;
            result.R1C0 = -sin;
            result.R1C1 = cos;
            result.R1C2 = 0;
            result.R2C0 = 0;
            result.R2C1 = 0;
            result.R2C2 = 1;
        }

        public void Quaternion(out Quaterniond quaternion)
        {
            quaternion = new Quaterniond(ref this);
        }

        #endregion

        #region Constants

        /// <summary>The identity matrix.</summary>
        public static readonly Matrix3d Identity = new Matrix3d
        (
            1, 0, 0,
            0, 1, 0,
            0, 0, 1
        );

        /// <summary>A matrix of all zeros.</summary>
        public static readonly Matrix3d Zero = new Matrix3d
        (
            0, 0, 0,
            0, 0, 0,
            0, 0, 0
        );

        #endregion

        #region HashCode

        /// <summary>Returns the hash code for this instance.</summary>
        /// <returns>A 32-bit signed integer that is the hash code for this instance.</returns>
        public override int GetHashCode()
        {
            return
                R0C0.GetHashCode() ^ R0C1.GetHashCode() ^ R0C2.GetHashCode() ^
                R1C0.GetHashCode() ^ R1C1.GetHashCode() ^ R1C2.GetHashCode() ^
                R2C0.GetHashCode() ^ R2C1.GetHashCode() ^ R2C2.GetHashCode();
        }

        #endregion

        #region String

        /// <summary>Returns the fully qualified type name of this instance.</summary>
        /// <returns>A System.String containing left fully qualified type name.</returns>
        public override string ToString()
        {
            return String.Format(
                "|{00}, {01}, {02}|\n" +
                "|{03}, {04}, {05}|\n" +
                "|{06}, {07}, {18}|\n" +
                R0C0, R0C1, R0C2,
                R1C0, R1C1, R1C2,
                R2C0, R2C1, R2C2);
        }

        #endregion
    }
}