rotf

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// Copyright (C) 2010, Guy Barrand. All rights reserved.
// See the file tools.license for terms.
 
#ifndef tools_rotf
#define tools_rotf
 
// rotation done with quaternion.
 
#include "qrot"
#include "vec3f"
#include "vec4f"
#include "mat4f"
 
namespace tools {
 
class rotf : public qrot<vec3f,vec4f> {
  typedef qrot<vec3f,vec4f> parent;
private:
  rotf(float a_q0,float a_q1,float a_q2,float a_q3):parent(a_q0,a_q1,a_q2,a_q3) {}
public:
  rotf():parent() {} //zero rotation around the positive Z axis.
  rotf(const vec3f& a_axis,float a_radians):parent(a_axis,a_radians,::sinf,::cosf) {}
  rotf(const vec3f& a_from,const vec3f& a_to):parent(a_from,a_to,::sqrtf,::fabsf) {}
  virtual ~rotf(){}
public:
  rotf(const rotf& a_from):parent(a_from) {}
  rotf& operator=(const rotf& a_from){
    parent::operator=(a_from);
    return *this;
  }
public:
  rotf& operator*=(const rotf& a_q) {
    parent::operator*=(a_q);
    return *this;
  }
  rotf operator*(const rotf& a_r) const {
    rotf tmp(*this);
    tmp *= a_r;
    return tmp;
  }
public:
  bool set_value(const vec3f& a_from,const vec3f& a_to){
    return parent::set_value(a_from,a_to,::sqrtf,::fabsf);
  }
  bool set_value(const vec3f& a_from,float a_a){
    return parent::set_value(a_from,a_a,::sinf,::cosf);
  }
  bool value(vec3f& a_from,float& a_a) const {
    return parent::value(a_from,a_a,::sinf,::acosf); //WARNING acos and not cos
  }
 
  void value(mat4f& a_m) const {parent::value(a_m);}
  void set_value(const mat4f& a_m) {parent::set_value(a_m,::sqrtf);}
 
  //NOTE : don't handle a static object because of mem balance.
  //static const rotf& identity() {
  //  static const rotf s_v(0,0,0,1);
  //  return s_v;
  //}
};
 
}
 
#include <sstream>
 
namespace tools {
 
inline bool tos(const rotf& a_v,std::string& a_s) {
  vec3f axis;
  float angle = 0;
  if(!a_v.value(axis,angle)) {a_s.clear();return false;}
  std::ostringstream strm;
  strm << axis[0] << " "
       << axis[1] << " "
       << axis[2] << " "
       << angle;
  a_s = strm.str();
  return true;
}
 
}
 
#endif