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Coord.h

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/************************************************************** ggt-head beg
 *
 * GGT: Generic Graphics Toolkit
 *
 * Original Authors:
 *   Allen Bierbaum
 *
 * -----------------------------------------------------------------
 * File:          $RCSfile: Coord.h,v $
 * Date modified: $Date: 2003/03/29 22:02:18 $
 * Version:       $Revision: 1.14 $
 * -----------------------------------------------------------------
 *
 *********************************************************** ggt-head end */
/*************************************************************** ggt-cpr beg
*
* GGT: The Generic Graphics Toolkit
* Copyright (C) 2001,2002 Allen Bierbaum 
*
* This library is free software; you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public
* License as published by the Free Software Foundation; either
* version 2.1 of the License, or (at your option) any later version.
*
* This library 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
* Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public
* License along with this library; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
 ************************************************************ ggt-cpr end */
#ifndef _GMTL_COORD_H_
#define _GMTL_COORD_H_

#include <gmtl/Vec.h>
#include <gmtl/AxisAngle.h>
#include <gmtl/EulerAngle.h>
#include <gmtl/Quat.h>
#include <gmtl/Util/Meta.h>
#include <gmtl/Util/StaticAssert.h>

namespace gmtl
{
   
template <typename POS_TYPE, typename ROT_TYPE>
class Coord
{
public:
   Coord() : mPos(), mRot()
   {
   }
   
   typedef typename POS_TYPE::DataType DataType;
   typedef POS_TYPE PosDataType;
   typedef ROT_TYPE RotDataType;
   enum Params
   {
       PosSize = POS_TYPE::Size,
       RotSize = ROT_TYPE::Size
   };
    
   Coord( const Coord<POS_TYPE, ROT_TYPE>& coord ) : mPos( coord.mPos ), mRot( coord.mRot )
   {
   }
   
   Coord( const POS_TYPE& pos, const ROT_TYPE& rot ) : mPos( pos ), mRot( rot )
   {
   }

   Coord( DataType a0, DataType a1, DataType a2, DataType a3, DataType a4, DataType a5 )
   {
      GMTL_STATIC_ASSERT(PosSize == 3);   // "Using incorrect number of args for type size");
      GMTL_STATIC_ASSERT(RotSize == 3);   // "Using incorrect number of args for type size");
      if(PosSize == 3)
      {
         mPos[0] = a0; mPos[1] = a1; mPos[2] = a2;
         mRot[0] = a3; mRot[1] = a4; mRot[2] = a5; 
      }
      else
      {
         gmtlASSERT(false && "Constructor not supported for pos size");
      }
   }

   Coord( DataType a0, DataType a1, DataType a2, DataType a3, DataType a4, DataType a5, DataType a6 )
   {
      GMTL_STATIC_ASSERT( (PosSize == 3 && RotSize == 4) || (PosSize == 4 && RotSize == 3)); // "Using incorrect number of args for type size");
      if(PosSize == 3)
      {
         mPos[0] = a0; mPos[1] = a1; mPos[2] = a2;
         mRot[0] = a3; mRot[1] = a4; mRot[2] = a5; mRot[3] = a6; 
      }
      else if(PosSize == 4)
      {
         mPos[0] = a0; mPos[1] = a1; mPos[2] = a2; mPos[3] = a3;
         mRot[0] = a4; mRot[1] = a5; mRot[2] = a6; 
      }
      else
      {
         gmtlASSERT(false && "Constructor not supported for pos size");
      }

   }
  
   Coord( DataType a0, DataType a1, DataType a2, DataType a3, DataType a4, DataType a5, DataType a6, DataType a7 )
   {
      GMTL_STATIC_ASSERT(PosSize == 4);    // "Using incorrect number of args for type size"
      GMTL_STATIC_ASSERT(RotSize == 4);    // "Using incorrect number of args for type size"
      if(PosSize == 4)
      {
         mPos[0] = a0; mPos[1] = a1; mPos[2] = a2; mPos[3] = a3;
         mRot[0] = a4; mRot[1] = a5; mRot[2] = a6; mRot[3] = a7;   
      }
      else
      {
         gmtlASSERT(false && "Constructor not supported for pos size");
      }
   }

   const POS_TYPE& getPos() const { return mPos; }
   const ROT_TYPE& getRot() const { return mRot; }
   
   
   POS_TYPE& pos() { return mPos; }

   ROT_TYPE& rot() { return mRot; }
   
   //const POS_TYPE& pos() const { return mPos; }

   //const ROT_TYPE& rot() const  { return mRot; }

public:
   POS_TYPE mPos;
   ROT_TYPE mRot;
};

typedef Coord<Vec3d, EulerAngleXYZd> CoordVec3EulerAngleXYZd;
typedef Coord<Vec3f, EulerAngleXYZf> CoordVec3EulerAngleXYZf;
typedef Coord<Vec4d, EulerAngleXYZd> CoordVec4EulerAngleXYZd;
typedef Coord<Vec4f, EulerAngleXYZf> CoordVec4EulerAngleXYZf;

typedef Coord<Vec3d, EulerAngleZYXd> CoordVec3EulerAngleZYXd;
typedef Coord<Vec3f, EulerAngleZYXf> CoordVec3EulerAngleZYXf;
typedef Coord<Vec4d, EulerAngleZYXd> CoordVec4EulerAngleZYXd;
typedef Coord<Vec4f, EulerAngleZYXf> CoordVec4EulerAngleZYXf;

typedef Coord<Vec3d, EulerAngleZXYd> CoordVec3EulerAngleZXYd;
typedef Coord<Vec3f, EulerAngleZXYf> CoordVec3EulerAngleZXYf;
typedef Coord<Vec4d, EulerAngleZXYd> CoordVec4EulerAngleZXYd;
typedef Coord<Vec4f, EulerAngleZXYf> CoordVec4EulerAngleZXYf;

typedef Coord<Vec3d, AxisAngled> CoordVec3AxisAngled;
typedef Coord<Vec3f, AxisAnglef> CoordVec3AxisAnglef;
typedef Coord<Vec4d, AxisAngled> CoordVec4AxisAngled;
typedef Coord<Vec4f, AxisAnglef> CoordVec4AxisAnglef;



typedef Coord<Vec3f, EulerAngleXYZf> Coord3fXYZ;
typedef Coord<Vec3f, EulerAngleZYXf> Coord3fZYX;
typedef Coord<Vec3f, EulerAngleZXYf> Coord3fZXY;
typedef Coord<Vec3d, EulerAngleXYZd> Coord3dXYZ;
typedef Coord<Vec3d, EulerAngleZYXd> Coord3dZYX;
typedef Coord<Vec3d, EulerAngleZXYd> Coord3dZXY;

typedef Coord<Vec4f, EulerAngleXYZf> Coord4fXYZ;
typedef Coord<Vec4f, EulerAngleZYXf> Coord4fZYX;
typedef Coord<Vec4f, EulerAngleZXYf> Coord4fZXY;
typedef Coord<Vec4d, EulerAngleXYZd> Coord4dXYZ;
typedef Coord<Vec4d, EulerAngleZYXd> Coord4dZYX;
typedef Coord<Vec4d, EulerAngleZXYd> Coord4dZXY;

typedef Coord<Vec3f, Quatf> Coord3fQuat;
typedef Coord<Vec3d, Quatd> Coord3dQuat;

typedef Coord<Vec4f, Quatf> Coord4fQuat;
typedef Coord<Vec4d, Quatd> Coord4dQuat;


typedef Coord<Vec3f, AxisAnglef> Coord3fAxisAngle;
typedef Coord<Vec3d, AxisAngled> Coord3dAxisAngle;

typedef Coord<Vec4f, AxisAnglef> Coord4fAxisAngle;
typedef Coord<Vec4d, AxisAngled> Coord4dAxisAngle;

}

#endif

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