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DavidWyand-GG 2012-09-19 11:15:01 -04:00
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Engine/source/math/mAngAxis.h Normal file
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//-----------------------------------------------------------------------------
// Copyright (c) 2012 GarageGames, LLC
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to
// deal in the Software without restriction, including without limitation the
// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
// sell copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
// IN THE SOFTWARE.
//-----------------------------------------------------------------------------
#ifndef _MANGAXIS_H_
#define _MANGAXIS_H_
#ifndef _MPOINT3_H_
#include "math/mPoint3.h"
#endif
class MatrixF;
class QuatF;
//----------------------------------------------------------------------------
// rotation about an arbitrary axis through the origin:
class AngAxisF
{
public:
Point3F axis;
F32 angle;
AngAxisF();
AngAxisF( const Point3F & _axis, F32 _angle );
explicit AngAxisF( const MatrixF &m );
explicit AngAxisF( const QuatF &q );
AngAxisF& set( const Point3F & _axis, F32 _angle );
AngAxisF& set( const MatrixF & m );
AngAxisF& set( const QuatF & q );
bool operator ==( const AngAxisF & c ) const;
bool operator !=( const AngAxisF & c ) const;
MatrixF * setMatrix( MatrixF * mat ) const;
static void RotateX(F32 angle, MatrixF * mat);
static void RotateY(F32 angle, MatrixF * mat);
static void RotateZ(F32 angle, MatrixF * mat);
static void RotateX(F32 angle, const Point3F & from, Point3F * to);
static void RotateY(F32 angle, const Point3F & from, Point3F * to);
static void RotateZ(F32 angle, const Point3F & from, Point3F * to);
};
//----------------------------------------------------------------------------
// AngAxisF implementation:
inline AngAxisF::AngAxisF()
{
}
inline AngAxisF::AngAxisF( const Point3F & _axis, F32 _angle )
{
set(_axis,_angle);
}
inline AngAxisF::AngAxisF( const MatrixF & mat )
{
set(mat);
}
inline AngAxisF::AngAxisF( const QuatF & quat )
{
set(quat);
}
inline AngAxisF& AngAxisF::set( const Point3F & _axis, F32 _angle )
{
axis = _axis;
angle = _angle;
return *this;
}
inline bool AngAxisF::operator ==( const AngAxisF & c ) const
{
return mFabs(angle-c.angle) < 0.0001f && (axis == c.axis);
}
inline bool AngAxisF::operator !=( const AngAxisF & c ) const
{
return !(*this == c);
}
#endif // _MANGAXIS_H_