Gabriele Cosmo
84 lines
2.0 KiB
Plaintext
84 lines
2.0 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_rotf
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#define tools_rotf
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// rotation done with quaternion.
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#include "qrot"
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#include "vec3f"
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#include "vec4f"
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#include "mat4f"
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namespace tools {
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class rotf : public qrot<vec3f,vec4f> {
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typedef qrot<vec3f,vec4f> parent;
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private:
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rotf(float a_q0,float a_q1,float a_q2,float a_q3):parent(a_q0,a_q1,a_q2,a_q3) {}
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public:
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rotf():parent() {} //zero rotation around the positive Z axis.
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rotf(const vec3f& a_axis,float a_radians):parent(a_axis,a_radians,::sinf,::cosf) {}
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rotf(const vec3f& a_from,const vec3f& a_to):parent(a_from,a_to,::sqrtf,::fabsf) {}
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virtual ~rotf(){}
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public:
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rotf(const rotf& a_from):parent(a_from) {}
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rotf& operator=(const rotf& 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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rotf& operator*=(const rotf& a_q) {
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parent::operator*=(a_q);
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return *this;
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}
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rotf operator*(const rotf& a_r) const {
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rotf 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 vec3f& a_from,const vec3f& a_to){
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return parent::set_value(a_from,a_to,::sqrtf,::fabsf);
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}
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bool set_value(const vec3f& a_from,float a_a){
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return parent::set_value(a_from,a_a,::sinf,::cosf);
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}
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bool value(vec3f& a_from,float& a_a) const {
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return parent::value(a_from,a_a,::sinf,::acosf); //WARNING acos and not cos
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}
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void value(mat4f& a_m) const {parent::value(a_m);}
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void set_value(const mat4f& a_m) {parent::set_value(a_m,::sqrtf);}
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//NOTE : don't handle a static object because of mem balance.
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//static const rotf& identity() {
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// static const rotf s_v(0,0,0,1);
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// return s_v;
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//}
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};
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}
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#include <sstream>
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namespace tools {
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inline bool tos(const rotf& a_v,std::string& a_s) {
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vec3f axis;
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float angle = 0;
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if(!a_v.value(axis,angle)) {a_s.clear();return false;}
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std::ostringstream strm;
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strm << axis[0] << " "
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<< axis[1] << " "
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<< axis[2] << " "
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<< angle;
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a_s = strm.str();
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return true;
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}
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}
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#endif
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