xsi_rotation.h

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//*****************************************************************************
//*****************************************************************************
#ifndef __XSIROTATION_H__
#define __XSIROTATION_H__

#include "sicppsdk.h"

namespace XSI {

namespace MATH {

class CVector3;
class CVector4;
class CMatrix3;
class CQuaternion;

//*****************************************************************************
//*****************************************************************************
class SICPPSDKDECL CRotation
{
public:
    enum RotationOrder
    {
        siXYZ = 0,  
        siXZY = 1,  
        siYXZ = 2,  
        siYZX = 3,  
        siZXY = 4,  
        siZYX = 5       
    };

    CRotation();

    CRotation( const CRotation& in_rotation);

    CRotation( const CVector3 &in_EulerAngles, RotationOrder in_RotOrder = siXYZ);

    CRotation( double in_dX, double in_dY, double in_dZ, RotationOrder in_RotOrder = siXYZ);


    CRotation( const CQuaternion &in_Quat );

    CRotation( const CVector3 &in_Axis,  double in_dAngle );

    CRotation( const CMatrix3 &in_Matrix );

    ~CRotation();

    CRotation & operator=( const CRotation & in_rotation);

    CRotation& Copy( const CRotation &in_SrcRot);

    CVector3 GetXYZAngles() const;

    void GetXYZAngles( double &io_dX, double &io_dY, double &io_dZ ) const;

    RotationOrder GetRotationOrder() const;

    void PutRotationOrder( RotationOrder in_RotationOrder );

    CRotation& SetFromXYZAngles( const CVector3 &in_EulerAngles, RotationOrder in_Order = siXYZ);

    CRotation& SetFromXYZAngles( double in_dX, double in_dY, double in_dZ, RotationOrder in_Order = siXYZ);

    CRotation& SetFromXYZAxes( const CVector3 &in_XAxis,  const CVector3 &in_YAxis, const CVector3 &in_ZAxis);

    CRotation& operator *= ( const CRotation &in_Rotation );

    CRotation& MulInPlace( const CRotation &in_Rotation );

    CRotation& Mul( const CRotation &in_Rotation1, const CRotation &in_Rotation2 );

    CRotation& InvertInPlace();

    CRotation& Invert( const CRotation &in_Rot );

    CQuaternion GetQuaternion() const;

    CRotation& SetFromQuaternion( const CQuaternion &in_Quat);

    CRotation& operator = ( const CQuaternion &in_Quat );

    CVector3 GetAxisAngle( double &io_dAngle) const;

    CRotation& SetFromAxisAngle( const CVector3 &in_Axis,  double in_dAngle );

    CMatrix3 GetMatrix() const;

    CRotation& SetFromMatrix( const CMatrix3 &in_Matrix);

    CRotation& operator= (const CMatrix3 &in_Matrix);

    void SetIdentity();

    bool EpsilonEquals( const CRotation &in_Rot, double in_dEpsilon ) const;

    bool Equals( const CRotation &in_Rot ) const;

    bool operator == ( const CRotation &in_Rot ) const;

    bool operator !=(const CRotation & in_Rot ) const;
private:
    void *m_ptr;
};

};
};

#endif // __XSIROTATION_H__