EulerAngle.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_EULERANGLE_H_
#define _GMTL_EULERANGLE_H_

#include <gmtl/Math.h>     // for rotation order
 
namespace gmtl
{

template <typename DATA_TYPE, typename ROTATION_ORDER>
class EulerAngle
{
public:
   typedef DATA_TYPE DataType;

   enum Params { Size = 3, Order = ROTATION_ORDER::ID };

   EulerAngle()
   {
      gmtlASSERT( ROTATION_ORDER::IS_ROTORDER == 1 && 
            "you must specify a RotationOrder derived type for the rotationorder in euler angle." );
      mData[0] = DATA_TYPE( 0 );
      mData[1] = DATA_TYPE( 0 );
      mData[2] = DATA_TYPE( 0 );
   }

   EulerAngle( const EulerAngle& e )
   {
      mData[0] = e.mData[0];
      mData[1] = e.mData[1];
      mData[2] = e.mData[2];
   }

   EulerAngle( DATA_TYPE p0, DATA_TYPE p1, DATA_TYPE p2 )
   {
      mData[0] = p0;
      mData[1] = p1;
      mData[2] = p2;
   }
   
   void set( const DATA_TYPE& p0, const DATA_TYPE& p1, 
             const DATA_TYPE& p2 )
   {
      mData[0] = p0;
      mData[1] = p1;
      mData[2] = p2;
   }
   

   inline DATA_TYPE& operator[]( const unsigned i )
   {
      gmtlASSERT( i < Size );
      return mData[i];
   }
   inline const DATA_TYPE&  operator[]( const unsigned i ) const
   {
      gmtlASSERT( i < Size );
      return mData[i];
   }
   

   DATA_TYPE* getData() { return mData; }
   
   const DATA_TYPE* getData() const { return mData; }
   
private:
   DATA_TYPE mData[Size];
};

const EulerAngle<float, XYZ> EULERANGLE_IDENTITY_XYZF( 0.0f, 0.0f, 0.0f );
const EulerAngle<double, XYZ> EULERANGLE_IDENTITY_XYZD( 0.0, 0.0, 0.0 );
const EulerAngle<float, ZYX> EULERANGLE_IDENTITY_ZYXF( 0.0f, 0.0f, 0.0f );
const EulerAngle<double, ZYX> EULERANGLE_IDENTITY_ZYXD( 0.0, 0.0, 0.0 );
const EulerAngle<float, ZXY> EULERANGLE_IDENTITY_ZXYF( 0.0f, 0.0f, 0.0f );
const EulerAngle<double, ZXY> EULERANGLE_IDENTITY_ZXYD( 0.0, 0.0, 0.0 );

typedef EulerAngle<float, XYZ> EulerAngleXYZf;
typedef EulerAngle<double, XYZ> EulerAngleXYZd;
typedef EulerAngle<float, ZYX> EulerAngleZYXf;
typedef EulerAngle<double, ZYX> EulerAngleZYXd;
typedef EulerAngle<float, ZXY> EulerAngleZXYf;
typedef EulerAngle<double, ZXY> EulerAngleZXYd;

} // end of namespace gmtl

#endif