blob: 0ece01696f7893871034d4db9413d09d6db54395 (
plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
|
/*
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"
namespace math
{
/// a local coordinates system
class Axis
{
public:
Axis();
Axis(const Axis & other);
void clear();
void assign(const Axis & other);
/// 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;
/// change direction, rotate around up vector (positive is left)
void change_direction(const float angle);
/// change pitch, rotate around left vector (positive is up)
void change_pitch(const float angle);
/// change roll, rotate around forward vector (positive is left)
void change_roll(const float angle);
/// rotation about an arbitrary axis
void rotate(const Vector3f & normal, const float angle);
/// return the transpose of this matrix
const Axis transpose() const;
private:
Vector3f axis_vector[3];
};
/// 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__
|
