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/*
math/axis.h
This file is part of the Osirion project and is distributed under
the terms of the GNU General Public License version 2
*/
#ifndef __INCLUDED_MATH_AXIS_H__
#define __INCLUDED_MATH_AXIS_H__
#include <iostream>
#include "math/vector3f.h"
#include "LinearMath/btMatrix3x3.h"
namespace math
{
/// a local coordinates system
class Axis
{
public:
Axis();
Axis(const Axis & other);
void clear();
void assign(const Axis & other);
void assign(const btMatrix3x3 & other);
/**
* @brief assign radiant yaw, pitch and roll angles.
* This method changes the sign of the pitch and roll angles
* before applying them
*/
void assign(const float yaw, const float pitch, const float roll);
/// global coordinates of the X-axis in the local coordinates system
inline const Vector3f & forward() const {
return axis_vector[0];
}
/// global coordinates of the Y-axis in the local coordinates system
inline const Vector3f & left() const {
return axis_vector[1];
}
/// global coordinates of the Z-axis in the local coordinates system
inline const Vector3f & up() const {
return axis_vector[2];
}
inline Vector3f & operator[](size_t index) {
return axis_vector[index];
}
inline const Vector3f & operator[](size_t index) const {
return axis_vector[index];
}
Axis & operator=(const Axis & other);
const Axis operator*(const Axis &other) const;
/**
* @brief change axis direction angle
* rotate around axis up vector (positive is left)
* @param angle angle in degrees
**/
void change_direction(const float angle);
/**
* @brief change axis pitch angle
* rotate around left vector (positive is up)
* @param angle angle in degrees
**/
void change_pitch(const float angle);
/**
* @brief change axis roll angle
* rotate around forward vector (positive is left)
* @param angle angle in degrees
**/
void change_roll(const float angle);
/**
* @brief rotation about an arbitrary vector
* @param rad angle in radians
**/
void rotate(Vector3f const &normal, float cosa, float sina);
void rotate(const Vector3f & normal, const float rad);
/// return the transpose of this matrix
const Axis transpose() const;
private:
Vector3f axis_vector[3];
};
/// helper function to conver math::Axis to btMatrix3x3
inline btMatrix3x3 to_btMatrix3x3(const math::Axis &a)
{
return btMatrix3x3(a[0][0], a[1][0], a[2][0],
a[0][1], a[1][1], a[2][1],
a[0][2], a[1][2], a[2][2]);
}
/// write an axis to a std::ostream
std::ostream &operator<<(std::ostream & os, const Axis & axis);
/// read an axis from a std::istream
std::istream &operator>>(std::istream & is, Axis & axis);
/// local-to-global coordinates
Vector3f operator*(const Axis &axis, const Vector3f &vector);
}
#endif // __INCLUDED_MATH_AXIS_H__
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