Gabriele Cosmo
68 lines
1.7 KiB
Plaintext
68 lines
1.7 KiB
Plaintext
// Copyright (C) 2010, Guy Barrand. All rights reserved.
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// See the file tools.license for terms.
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#ifndef tools_rotd
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#define tools_rotd
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// rotation done with quaternion.
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#include "qrot"
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#include "vec3d"
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#include "vec4d"
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#include "mat3d"
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#include "mat4d"
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namespace tools {
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class rotd : public qrot<vec3d,vec4d> {
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typedef qrot<vec3d,vec4d> parent;
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private:
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rotd(double a_q0,double a_q1,double a_q2,double a_q3):parent(a_q0,a_q1,a_q2,a_q3){}
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public:
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rotd():parent() {} //zero rotation around the positive Z axis.
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rotd(const vec3d& a_axis,double a_radians):parent(a_axis,a_radians,::sin,::cos) {}
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rotd(const vec3d& a_from,const vec3d& a_to):parent(a_from,a_to,::sqrt,::fabs) {}
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virtual ~rotd(){}
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public:
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rotd(const rotd& a_from):parent(a_from) {}
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rotd& operator=(const rotd& a_from){
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parent::operator=(a_from);
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return *this;
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}
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public:
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rotd& operator*=(const rotd& a_q) {
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parent::operator*=(a_q);
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return *this;
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}
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rotd operator*(const rotd& a_r) const {
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rotd tmp(*this);
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tmp *= a_r;
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return tmp;
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}
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public:
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bool set_value(const vec3d& a_from,const vec3d& a_to){
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return parent::set_value(a_from,a_to,::sqrt,::fabs);
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}
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bool set_value(const vec3d& a_from,double a_a){
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return parent::set_value(a_from,a_a,::sin,::cos);
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}
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bool value(vec3d& a_from,double& a_a) const {
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return parent::value(a_from,a_a,::sin,::acos); //WARNING acos and not cos
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}
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//NOTE : don't handle a static object because of mem balance.
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//static const rotd& identity() {
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// static const rotd s_v(0,0,0,1);
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// return s_v;
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//}
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void value(mat4d& a_m) const {parent::value(a_m);}
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void set_value(const mat4d& a_m) {parent::set_value(a_m,::sqrt);}
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double value(mat3d& a_m) const {return parent::value_3(a_m);}
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};
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}
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#endif
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