Rotation.h

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//    Copyright 2004, SenseGraphics AB
//
//    This file is part of H3D API.
//
//    H3D API 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.
//
//    H3D API 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 H3D API; if not, write to the Free Software
//    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
//
//    A commercial license is also available. Please contact us at 
//    www.sensegraphics.com for more information.
//
//
//

#ifndef __ROTATION_H__
#define __ROTATION_H__

#include "H3DApi.h"
#include "H3DBasicTypes.h"
#include "H3DMath.h"
#include "Vec3f.h"
#include "H3DTemplateOperators.h"

namespace H3D {
  namespace ArithmeticTypes {
    // forward declarations.
    class Matrix3f;
    class Matrix3d;
    class Quaternion;

    class H3DAPI_API Rotation {
    public:
      Rotation() : axis( 0,0,0 ), angle( 0 ) {}

      Rotation( H3DFloat x,
                H3DFloat y,
                H3DFloat z,
                H3DFloat a ) : axis( x, y, z ), angle(a) {}

      Rotation( const Vec3f &_axis, 
                H3DFloat _angle ) : axis( _axis ), angle( _angle ) {}

      Rotation( const Vec3f &n1, const Vec3f &n2 );

      explicit Rotation( const Vec3f &euler_angles );

      explicit Rotation( const Vec3d &euler_angles );

      Rotation( const Quaternion &r );
      
      explicit Rotation( const Matrix3f &m );

      explicit Rotation( const Matrix3d &m );
      
      Vec3f toEulerAngles(); 

      Rotation slerp( const Rotation &r, 
                      H3DFloat t ) const;

      Vec3f axis;

      H3DFloat angle;
    };


    inline bool operator==( const Rotation &r1, const Rotation &r2 ) {
      return r1.axis == r2.axis && r1.angle == r2.angle;
    }
                
    inline Rotation operator-( const Rotation &r ) {
      return Rotation( r.axis, -r.angle );
    }

    inline Rotation operator*( const Rotation &r, 
                               double d ) {    
      return Rotation( r.axis, (H3DFloat) (r.angle * d) );
    }

    inline Rotation operator*( const Rotation &r, 
                               float f ) {    
      return Rotation( r.axis, (H3DFloat) (r.angle * f) );
    }

    inline Rotation operator*( const Rotation &r, 
                               int i ) {    
      return Rotation( r.axis, r.angle * i );
    }

    inline Rotation operator*( const Rotation &r, 
                               long i ) {    
      return Rotation( r.axis, r.angle * i );
    }

    inline Rotation operator*( const float &a, 
                               const Rotation &b ) { 
      return b * a;
    }

    inline Rotation operator*( const double &a, 
                               const Rotation &b ) { 
      return b * a;
    }

    inline Rotation operator*( const int &a, 
                               const Rotation &b ) { 
      return b * a;
    }

    inline Rotation operator*( const long &a, 
                               const Rotation &b ) { 
      return b * a;
    }

          inline ostream& operator<<( ostream &os, const Rotation &r ) {
                  os << r.axis << " " << r.angle;
                  return os;
          }

    Rotation H3DAPI_API operator*( const Rotation &r1 ,const Rotation &r2 );
   }
}

#endif

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