// Copyright (C) 2010, Guy Barrand. All rights reserved.
// See the file tools.license for terms.

#ifndef tools_rotf
#define tools_rotf

// rotation done with quaternion.

#include "qrot"
#include "vec3f"

namespace tools {

class rotf : public qrot<float> {
  rotf(float a_q0,float a_q1,float a_q2,float a_q3)
  :qrot<float>(a_q0,a_q1,a_q2,a_q3)
  {}
public:
  rotf()
  :qrot<float>()   //zero rotation around the positive Z axis.
  {}
  rotf(const vec3f& a_axis,float a_radians)
  :qrot<float>(a_axis,a_radians)
  {}
  rotf(const vec3f& a_from,const vec3f& a_to)
  :qrot<float>(a_from,a_to)
  {}
  virtual ~rotf(){}
public:
  rotf(const rotf& a_from)
  :qrot<float>(a_from)
  {}
  rotf& operator=(const rotf& a_from){
    qrot<float>::operator=(a_from);
    return *this;
  }
public:
  rotf& operator*=(const rotf& a_q) {
    qrot<float>::operator*=(a_q);
    return *this;
  }
  rotf operator*(const rotf& a_r) const {
    rotf tmp(*this);
    tmp *= a_r;
    return tmp;
  }
public:
  bool set_value(const vec3f& a_from,const vec3f& a_to){
    return qrot<float>::set_value(a_from,a_to);
  }
  bool set_value(const vec3f& a_from,float a_a){
    return qrot<float>::set_value(a_from,a_a);
  }

  //NOTE : don't handle a static object because of mem balance.
  //static const rotf& identity() {
  //  static const rotf s_v(0,0,0,1);
  //  return s_v;
  //}
};

}

#include <sstream>

namespace tools {

inline bool tos(const rotf& a_v,std::string& a_s) {
  vec3f axis;
  float angle;
  if(!a_v.value(axis,angle)) {a_s.clear();return false;}
  std::ostringstream strm;
  strm << axis[0] << " "
       << axis[1] << " "
       << axis[2] << " "
       << angle;
  a_s = strm.str();
  return true;
}

}

#endif