AxisAngle.h

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// GMTL is (C) Copyright 2001-2010 by Allen Bierbaum
// Distributed under the GNU Lesser General Public License 2.1 with an
// addendum covering inlined code. (See accompanying files LICENSE and
// LICENSE.addendum or http://www.gnu.org/copyleft/lesser.txt)

#ifndef _GMTL_AXISANGLE_H_
#define _GMTL_AXISANGLE_H_

#include <gmtl/Math.h>     // for rotation order
#include <gmtl/VecBase.h>  // base class of AxisAngle
#include <gmtl/Vec.h>      // axis data format
 
namespace gmtl
{

template <typename DATA_TYPE>
class AxisAngle : public VecBase<DATA_TYPE, 4>
{
public:
   enum Params { Size = 4 };
   
   AxisAngle() : 
      VecBase<DATA_TYPE, 4>( (DATA_TYPE)0.0, (DATA_TYPE)1.0, 
                             (DATA_TYPE)0.0, (DATA_TYPE)0.0 )
   {
   }
   
   AxisAngle( const AxisAngle& e ) : VecBase<DATA_TYPE, 4>( e )
   {
   }
   
   AxisAngle( const DATA_TYPE& rad_angle, const DATA_TYPE& x, 
              const DATA_TYPE& y, const DATA_TYPE& z ) :
            VecBase<DATA_TYPE, 4>( rad_angle, x, y, z )
   {
   }
   
   AxisAngle( const DATA_TYPE& rad_angle, const Vec<DATA_TYPE, 3>& axis ) :
            VecBase<DATA_TYPE, 4>( rad_angle, axis[0], axis[1], axis[2] )
   {
   }
   
   void set( const DATA_TYPE& rad_angle, const DATA_TYPE& x, 
             const DATA_TYPE& y, const DATA_TYPE& z )
   {
      VecBase<DATA_TYPE, 4>::set( rad_angle, x, y, z );
   }
   
   void set( const DATA_TYPE& rad_angle, const Vec<DATA_TYPE, 3>& axis )
   {
      VecBase<DATA_TYPE, 4>::set( rad_angle, axis[0], axis[1], axis[2] );
   }
   
   void setAxis( const Vec<DATA_TYPE, 3>& axis ) 
   { 
      VecBase<DATA_TYPE, 4>::operator[]( 1 ) = axis[0];
      VecBase<DATA_TYPE, 4>::operator[]( 2 ) = axis[1];
      VecBase<DATA_TYPE, 4>::operator[]( 3 ) = axis[2];
   }
   
   void setAngle( const DATA_TYPE& rad_angle ) 
   {
      VecBase<DATA_TYPE, 4>::operator[]( 0 ) = rad_angle;
   }
   
   Vec<DATA_TYPE, 3> getAxis() const 
   { 
      return Vec<DATA_TYPE, 3>( VecBase<DATA_TYPE, 4>::operator[]( 1 ),
                                VecBase<DATA_TYPE, 4>::operator[]( 2 ),
                                VecBase<DATA_TYPE, 4>::operator[]( 3 ) );
   }
   
   const DATA_TYPE& getAngle() const 
   {
      return VecBase<DATA_TYPE, 4>::operator[]( 0 );
   }
};

const AxisAngle<float> AXISANGLE_IDENTITYF( 0.0f, 1.0f, 0.0f, 0.0f );
const AxisAngle<double> AXISANGLE_IDENTITYD( 0.0, 1.0, 0.0, 0.0 );

typedef AxisAngle<float> AxisAnglef;
typedef AxisAngle<double> AxisAngled;

} // end of namespace gmtl

#endif