/***************************************************************************
 *   Copyright (c) 2006 Werner Mayer <wmayer[at]users.sourceforge.net>     *
 *                                                                         *
 *   This file is part of the FreeCAD CAx development system.              *
 *                                                                         *
 *   This library is free software; you can redistribute it and/or         *
 *   modify it under the terms of the GNU Library General Public           *
 *   License as published by the Free Software Foundation; either          *
 *   version 2 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 Library General Public License for more details.                  *
 *                                                                         *
 *   You should have received a copy of the GNU Library General Public     *
 *   License along with this library; see the file COPYING.LIB. If not,    *
 *   write to the Free Software Foundation, Inc., 59 Temple Place,         *
 *   Suite 330, Boston, MA  02111-1307, USA                                *
 *                                                                         *
 ***************************************************************************/


#ifndef BASE_ROTATION_H
#define BASE_ROTATION_H

#include "Vector3D.h"

namespace Base {

// forward declarations
class Matrix4D;

class BaseExport Rotation
{
public:
    /** Construction. */
    //@{
    Rotation();
    Rotation(const Vector3d& axis, const double fAngle);
    Rotation(const Matrix4D& matrix);
    Rotation(const double q[4]);
    Rotation(const double q0, const double q1, const double q2, const double q3);
    Rotation(const Vector3d& rotateFrom, const Vector3d& rotateTo);
    Rotation(const Rotation& rot);
    //@}

    /** Methods to get or set rotations. */
    //@{
    const double * getValue(void) const;
    void getValue(double & q0, double & q1, double & q2, double & q3) const;
    void setValue(const double q0, const double q1, const double q2, const double q3);
    void getValue(Vector3d & axis, double & rfAngle) const;
    void getValue(Matrix4D & matrix) const;
    void setValue(const double q[4]);
    void setValue(const Matrix4D& matrix);
    void setValue(const Vector3d & axis, const double fAngle);
    void setValue(const Vector3d & rotateFrom, const Vector3d & rotateTo);
    /// Euler angles in yaw,pitch,roll notation
    void setYawPitchRoll(double y, double p, double r);
    /// Euler angles in yaw,pitch,roll notation
    void getYawPitchRoll(double& y, double& p, double& r) const;
    //@}

    /** Invert rotations. */
    //@{
    Rotation & invert(void);
    Rotation inverse(void) const;
    //@}

    /** Operators. */
    //@{
    Rotation & operator*=(const Rotation & q);
    Rotation operator *(const Rotation & q) const;
    bool operator==(const Rotation & q) const;
    bool operator!=(const Rotation & q) const;
    double & operator [] (unsigned short usIndex){return quat[usIndex];}
    const double & operator [] (unsigned short usIndex) const{return quat[usIndex];}

    void multVec(const Vector3d & src, Vector3d & dst) const;
    void scaleAngle(const double scaleFactor);
    //@}

    static Rotation slerp(const Rotation & rot0, const Rotation & rot1, double t);
    static Rotation identity(void);

private:
    void normalize();
    double quat[4];
};

}

#endif // BASE_ROTATION_H