rotation.h

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// -*- C++ -*-
//
// This file is part of libgvectors.
// libgvectors is a C++ library intended for visualizing mathematical vectors.
// Copyright (C) 2007  Rafael Ostertag
//
// This program is free software; you can redistribute it and/or
// modify it under the terms of the GNU General Public License
// as published by the Free Software Foundation; either version 2
// of the License, or (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301,
// USA.
//
// $Id: rotation_8h-source.html,v 1.1 2007-09-08 19:02:36 rafi Exp $
//
// File:   rotation.h
// Author: Rafael Ostertag
//
// Created on July 1, 2007, 3:28 PM
//

#ifndef _ROTATION_H
#define _ROTATION_H

#include <gvenums.h>

namespace GVectors {
    
    // A forward declaration to a \a Matrix4x4 class.
    class Matrix4x4;
    
    class Rotation {
    private:
        double rot_x;
        double rot_y;
        double rot_z;
        bool wrap_at_2pi;
        bool always_positive;
        
        void wrap(double& v);
        void make_positive(double& v);
        
        void wrap_all();
        void make_all_positive();
        
    public:
        Rotation();
        Rotation(double x0, double y0, double z0, Angle_Type at=ANG_RAD);
        ~Rotation();
        Rotation(const Rotation &r);
        
        void setX(double x, Angle_Type at=ANG_RAD);
        void X(double x, Angle_Type at=ANG_RAD);
        void setY(double y, Angle_Type at=ANG_RAD);
        void Y(double y, Angle_Type at=ANG_RAD);
        void setZ(double z, Angle_Type at=ANG_RAD);
        void Z(double z, Angle_Type at=ANG_RAD);
        void set(double x, double y, double z, Angle_Type at=ANG_RAD);
        
        double getX(Angle_Type at=ANG_RAD) const;
        double X(Angle_Type at=ANG_RAD) const;
        double getY(Angle_Type at=ANG_RAD) const;
        double Y(Angle_Type at=ANG_RAD) const;
        double getZ(Angle_Type at=ANG_RAD) const;
        double Z(Angle_Type at=ANG_RAD) const;
        void get(double &x_, double &y_, double &z_, Angle_Type at=ANG_RAD) const;
        
        void get_matrix(Matrix4x4& mx, Matrix4x4& my, Matrix4x4& mz) const;
        void get_inverse_matrix(Matrix4x4& mx, Matrix4x4& my, Matrix4x4& mz) const;
        
        void incX_by(double i, Angle_Type at=ANG_RAD);
        void incY_by(double i, Angle_Type at=ANG_RAD);
        void incZ_by(double i, Angle_Type at=ANG_RAD);
        
        void decX_by(double i, Angle_Type at=ANG_RAD);
        void decY_by(double i, Angle_Type at=ANG_RAD);
        void decZ_by(double i, Angle_Type at=ANG_RAD);
        
        void set_wrap_at_2pi(bool w=true);
        inline bool get_wrap_at_2PI() const { return wrap_at_2pi; }
        
        void set_always_positive(bool a=true);
        inline bool get_always_positive() const { return always_positive; }
        
        const Rotation& operator=(const Rotation& r);
        Rotation operator+(const Rotation& r) const;
        Rotation operator-(const Rotation& r) const;
        const Rotation& operator+=(const Rotation& r);
        const Rotation& operator-=(const Rotation& r);
    };
}

#endif  /* _ROTATION_H */

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