AxisAngle4.hpp

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/*
   Copyright (C) 1997,1998,1999
   Kenji Hiranabe, Eiwa System Management, Inc.

   This program is free software.
   Implemented by Kenji Hiranabe(hiranabe@esm.co.jp),
   conforming to the Java(TM) 3D API specification by Sun Microsystems.

   Permission to use, copy, modify, distribute and sell this software
   and its documentation for any purpose is hereby granted without fee,
   provided that the above copyright notice appear in all copies and
   that both that copyright notice and this permission notice appear
   in supporting documentation. Kenji Hiranabe and Eiwa System Management,Inc.
   makes no representations about the suitability of this software for any
   purpose.  It is provided "AS IS" with NO WARRANTY.

   Copyright (C) 2006
   Rune Myrland, Skalden Studio AS
   SagaEngine adaptions, involving conversion from floating point values to fixed point values.
   Kenji Hiranabe's license apply.
*/
#ifndef util_vecmath_AxisAngle4_hpp
#define util_vecmath_AxisAngle4_hpp

#include "util_vecmath.hpp"
#include "Vector3.hpp"
#include "../math/CoorT.hpp"
#include "../math/BrayT.hpp"

namespace se_core {

    class _SeCoreExport AxisAngle4 {
        /*
         * I assumed that the length of axis vectors is not significant.
         */
    public:
        typedef coor_t value_type;

        coor_t x_;

        coor_t y_;

        coor_t z_;

        bray_t angle_;

        AxisAngle4(coor_t xvalue, coor_t yvalue, coor_t zvalue, bray_t anglevalue):
            x_(xvalue), y_(yvalue), z_(zvalue), angle_(anglevalue) { }

        AxisAngle4() { }

        AxisAngle4(const Vector3& axis, bray_t ang):
            x_(axis.x_), y_(axis.y_), z_(axis.z_), angle_(ang) { }

        AxisAngle4(const coor_t len, const Euler3& a1) {
            set(len, a1);
        }


        void setIdentity() {
            x_ = y_ = 0;
            z_ = -1;
            angle_ = 0;
        }

        void set(const Vector3& axis, bray_t ang) {
            x_ = axis.x_;
            y_ = axis.y_;
            z_ = axis.z_;
            angle_ = ang;
        }

        void set(coor_t x, coor_t y, coor_t z, bray_t angle) {
            this->x_ = x;
            this->y_ = y;
            this->z_ = z_;
            this->angle_ = angle;
        }

        void set(const AxisAngle4& a1) {
            x_ = a1.x_;
            y_ = a1.y_;
            z_ = a1.z_;
            angle_ = a1.angle_;
        }


        void set(const Quat4& q1);


        void set(const coor_t len, const bray_t yaw);
        void set(const coor_t len, const bray_t yaw, const bray_t pitch);
        void set(const coor_t len, const Euler3& a1);

        // helper method
    protected:
        void setFromQuat(coor_t x, coor_t y, coor_t z, coor_t w);

    public:
        bool equals(const AxisAngle4& a1) const {
            return x_ == a1.x_ && y_ == a1.y_ && z_ == a1.z_ && angle_ == a1.angle_;
        }

        bool epsilonEquals(const AxisAngle4& a1, coor_t epsilon, bray_t epsilonAngle = 1) const {
            return (CoorT::abs(a1.x_ - x_) <= epsilon) &&
                (CoorT::abs(a1.y_ - y_) <= epsilon) &&
                (CoorT::abs(a1.z_ - z_) <= epsilon) &&
                (BrayT::abs(a1.angle_ - angle_) <= epsilonAngle);
        }

        // copy constructor and operator = is made by complier

        bool operator==(const AxisAngle4& m1) const {
            return equals(m1);
        }

        const char* toLog() const;
    };
    
}

#endif

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