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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"

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 Vector3f const & forward() const { return axis_vector[0]; }

	/// global coordinates of the Y-axis in the local coordinates system
	inline Vector3f const & left() const { return axis_vector[1]; }
	
	/// global coordinates of the Z-axis in the local coordinates system
	inline Vector3f const & up() const { return axis_vector[2]; }

	inline Vector3f & operator[](size_t index) { return axis_vector[index]; }

	inline Vector3f const & operator[](size_t index) const { return axis_vector[index]; }

	Axis & operator=(const Axis & other);
		
	/// 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(Vector3f const &normal, float angle);

private:
	Vector3f		axis_vector[3];
};

/// write an axis to a std::ostream
std::ostream &operator<<(std::ostream & os, Axis const & axis);

/// read an axis from a std::istream
std::istream &operator>>(std::istream & is, Axis & axis);

/// local-to-global coordinates
Vector3f operator*(Axis const &axis, Vector3f const &vector);

}

#endif // __INCLUDED_MATH_AXIS_H__