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

#ifndef tools_rotd
#define tools_rotd

// rotation done with quaternion.

#include "qrot"
#include "vec3d"
#include "vec4d"
#include "mat3d"
#include "mat4d"

namespace tools {

class rotd : public qrot<vec3d,vec4d> {
  typedef qrot<vec3d,vec4d> parent;
private:
  rotd(double a_q0,double a_q1,double a_q2,double a_q3):parent(a_q0,a_q1,a_q2,a_q3){}
public:
  rotd():parent() {} //zero rotation around the positive Z axis.
  rotd(const vec3d& a_axis,double a_radians):parent(a_axis,a_radians,::sin,::cos) {}
  rotd(const vec3d& a_from,const vec3d& a_to):parent(a_from,a_to,::sqrt,::fabs) {}
  virtual ~rotd(){}
public:
  rotd(const rotd& a_from):parent(a_from) {}
  rotd& operator=(const rotd& a_from){
    parent::operator=(a_from);
    return *this;
  }
public:
  rotd& operator*=(const rotd& a_q) {
    parent::operator*=(a_q);
    return *this;
  }
  rotd operator*(const rotd& a_r) const {
    rotd tmp(*this);
    tmp *= a_r;
    return tmp;
  }
public:
  bool set_value(const vec3d& a_from,const vec3d& a_to){
    return parent::set_value(a_from,a_to,::sqrt,::fabs);
  }
  bool set_value(const vec3d& a_from,double a_a){
    return parent::set_value(a_from,a_a,::sin,::cos);
  }
  bool value(vec3d& a_from,double& a_a) const {
    return parent::value(a_from,a_a,::sin,::acos); //WARNING acos and not cos
  }

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

  void value(mat4d& a_m) const {parent::value(a_m);}
  void set_value(const mat4d& a_m) {parent::set_value(a_m,::sqrt);}

  double value(mat3d& a_m) const {return parent::value_3(a_m);}
};

}

#endif