//// File: Matrix.h//#ifndef _MATRIX_H_#define _MATRIX_H_// This class MATRIX comes from an article about rigid body// animation published on www.gamasutra.com so it may // follow its own license. Please check gamasutra at // http://www.gamasutra.com/features/19990702/data_structures_01.htm// or just write your own to replace it.class MATRIX{public:	VECTOR C[3]; //column vectorspublic:	MATRIX();	MATRIX( const VECTOR& c0, const VECTOR& c1, const VECTOR& c2 );	//index a column, allow assignment	//NOTE: using this index operator along with the vector index	//gives you M[column][row], not the standard M[row][column]	VECTOR& operator [] ( long i );	//compare	const bool operator == ( const MATRIX& m ) const;	const bool operator != ( const MATRIX& m ) const;	//assign	const MATRIX& operator = ( const MATRIX& m );	//increment	const MATRIX& operator +=( const MATRIX& m );	//decrement	const MATRIX& operator -=( const MATRIX& m );	//self-multiply by a scalar	const MATRIX& operator *= ( const SCALAR& s );	//self-multiply by a matrix	const MATRIX& operator *= ( const MATRIX& m );	//add	const MATRIX operator + ( const MATRIX& m ) const;	//subtract	const MATRIX operator - ( const MATRIX& m ) const;	//post-multiply by a scalar	const MATRIX operator * ( const SCALAR& s ) const;	//pre-multiply by a scalar	friend inline const MATRIX operator * ( const SCALAR& s, const MATRIX& m )	{		return m * s;	}	//post-multiply by a vector	const VECTOR operator * ( const VECTOR& v ) const;	//pre-multiply by a vector	inline friend const VECTOR operator * ( const VECTOR& v, const MATRIX& m )	{		return VECTOR( m.C[0].dot(v), m.C[1].dot(v), m.C[2].dot(v) );	}	//post-multiply by a matrix	const MATRIX operator * ( const MATRIX& m ) const;	//transpose	MATRIX transpose() const;	//scalar determinant	const SCALAR determinant() const;	//matrix inverse	const MATRIX inverse() const;};#endif	//_MATRIX_H_