28b195d6e2
consistently define copy constructor and assignment operator remove superfluous casts initialize member variables in constructor avoid double assignment
122 lines
5.2 KiB
C++
122 lines
5.2 KiB
C++
/***************************************************************************
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* Copyright (c) 2006 Werner Mayer <wmayer[at]users.sourceforge.net> *
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* *
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* This file is part of the FreeCAD CAx development system. *
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* *
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* This library is free software; you can redistribute it and/or *
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* modify it under the terms of the GNU Library General Public *
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* License as published by the Free Software Foundation; either *
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* version 2 of the License, or (at your option) any later version. *
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* *
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* This library is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
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* GNU Library General Public License for more details. *
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* *
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* You should have received a copy of the GNU Library General Public *
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* License along with this library; see the file COPYING.LIB. If not, *
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* write to the Free Software Foundation, Inc., 59 Temple Place, *
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* Suite 330, Boston, MA 02111-1307, USA *
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* *
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***************************************************************************/
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#ifndef BASE_ROTATION_H
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#define BASE_ROTATION_H
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#include "Vector3D.h"
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namespace Base {
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// forward declarations
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class Matrix4D;
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class BaseExport Rotation
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{
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public:
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/** Construction. */
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//@{
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Rotation();
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Rotation(const Vector3d& axis, const double fAngle);
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Rotation(const Matrix4D& matrix);
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Rotation(const double q[4]);
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Rotation(const double q0, const double q1, const double q2, const double q3);
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Rotation(const Vector3d& rotateFrom, const Vector3d& rotateTo);
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Rotation(const Rotation& rot);
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//@}
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/** Methods to get or set rotations. */
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//@{
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const double * getValue(void) const;
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void getValue(double & q0, double & q1, double & q2, double & q3) const;
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void setValue(const double q0, const double q1, const double q2, const double q3);
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/// If not a null quaternion then \a axis will be normalized
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void getValue(Vector3d & axis, double & rfAngle) const;
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/// Does the same as the method above unless normalizing the axis.
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void getRawValue(Vector3d & axis, double & rfAngle) const;
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void getValue(Matrix4D & matrix) const;
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void setValue(const double q[4]);
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void setValue(const Matrix4D& matrix);
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void setValue(const Vector3d & axis, const double fAngle);
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void setValue(const Vector3d & rotateFrom, const Vector3d & rotateTo);
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/// Euler angles in yaw,pitch,roll notation
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void setYawPitchRoll(double y, double p, double r);
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/// Euler angles in yaw,pitch,roll notation
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void getYawPitchRoll(double& y, double& p, double& r) const;
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bool isIdentity() const;
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bool isNull() const;
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//@}
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/** Invert rotations. */
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//@{
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Rotation & invert(void);
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Rotation inverse(void) const;
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//@}
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/** Operators. */
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//@{
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Rotation & operator*=(const Rotation & q);
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Rotation operator *(const Rotation & q) const;
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bool operator==(const Rotation & q) const;
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bool operator!=(const Rotation & q) const;
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double & operator [] (unsigned short usIndex){return quat[usIndex];}
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const double & operator [] (unsigned short usIndex) const{return quat[usIndex];}
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void operator = (const Rotation&);
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void multVec(const Vector3d & src, Vector3d & dst) const;
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void scaleAngle(const double scaleFactor);
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bool isSame(const Rotation&) const;
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//@}
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/** Specialty constructors */
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static Rotation slerp(const Rotation & rot0, const Rotation & rot1, double t);
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static Rotation identity(void);
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/**
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* @brief makeRotationByAxes(xdir, ydir, zdir, priorityOrder): creates a rotation
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* that converts a vector in local cs with axes given as arguments, into a
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* vector in global cs.
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* @param xdir is wanted direction of local X axis
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* @param ydir ...
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* @param zdir
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* @param priorityOrder sets which directions are followed. It is a string
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* like "ZXY". This means, Z direction is followed precisely; X direction is
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* corrected to be perpendicular to Z direction, and used; Y direction
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* argument is ignored altogether (Y direction is generated from Z and X).
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*
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* If only one vector provided is nonzero, the other two directions are picked automatically.
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*/
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static Rotation makeRotationByAxes(Vector3d xdir, Vector3d ydir, Vector3d zdir, const char* priorityOrder = "ZXY");
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private:
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void normalize();
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void evaluateVector ();
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double quat[4];
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Vector3d _axis; // the axis kept not to lose direction when angle is 0
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double _angle; // this angle to keep the angle chosen by the user
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};
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}
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#endif // BASE_ROTATION_H
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