mlRotation.h

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/*************************************************************************************
**
** Copyright 2010, MeVis Medical Solutions AG
**
** The user may use this file in accordance with the license agreement provided with
** the Software or, alternatively, in accordance with the terms contained in a
** written agreement between the user and MeVis Medical Solutions AG.
**
** For further information use the contact form at https://www.mevislab.de/contact
**
**************************************************************************************/
 
#ifndef ML_ROTATION_H
#define ML_ROTATION_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);

    const Vector3& getVector() const { return _vector; }

    MLdouble getScalar() const { return _scalar; }
 
  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