MeVis/Foundation/Sources/MLLinearAlgebra/mlRotation.h

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// **InsertLicense** code
//----------------------------------------------------------------------------------

//----------------------------------------------------------------------------------
#ifndef __mlRotation_H
#define __mlRotation_H

#include "mlLinearAlgebraSystem.h"
#include "mlVector3.h"
#include "mlMatrix4.h"

ML_LA_START_NAMESPACE


  class ML_LINEAR_ALGEBRA_EXPORT Rotation
  {
  public:
    Rotation ();

    Rotation (const Vector3& axis, MLdouble angle);

    Rotation (const Vector3& fromVec, const Vector3& toVec);

    Rotation (const Matrix4& m);

    Rotation (const Rotation&);

    Rotation (MLdouble x, MLdouble y, MLdouble z, MLdouble w);

    Matrix4 getMatrix () const;

    void getRotation (Vector3& axis, MLdouble &angle) const;

    void setRotation (const Vector3& axis, MLdouble angle);

    Rotation multiply (const Rotation& rotation) const;

    Vector3 rotate(const Vector3& vec) const;

    Rotation& conjugate ();

    Rotation& operator*=(const Rotation& rotation);

    Rotation& operator= (const Rotation& rotation);

    ML_LINEAR_ALGEBRA_EXPORT friend Rotation operator*(const Rotation& a,const Rotation& b);

    static Matrix4 slerp(const Matrix4& m1, const Matrix4& m2, MLdouble t);

    static Rotation slerp(const Rotation& rot1, const Rotation& rot2, MLdouble t);

  protected:
    Vector3   _vector;

    MLdouble _scalar;

  private:
    void _normalize();

    static Matrix4 _outer (const Vector3& v);

    static Matrix4 _generator (const Vector3& v);
  };

ML_LA_END_NAMESPACE


#endif // __mlRotation_H