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00011
00012 #ifndef __XSIROTATION_H__
00013 #define __XSIROTATION_H__
00014
00015 #include "sicppsdk.h"
00016
00017 namespace XSI {
00018
00019 namespace MATH {
00020
00021 class CVector3;
00022 class CVector4;
00023 class CMatrix3;
00024 class CQuaternion;
00025
00026
00062
00063 class SICPPSDKDECL CRotation
00064 {
00065 public:
00068 enum RotationOrder
00069 {
00070 siXYZ = 0,
00071 siXZY = 1,
00072 siYXZ = 2,
00073 siYZX = 3,
00074 siZXY = 4,
00075 siZYX = 5
00076 };
00077
00079 CRotation();
00080
00084 CRotation( const CRotation& in_rotation);
00085
00091 CRotation( const CVector3 &in_EulerAngles, RotationOrder in_RotOrder = siXYZ);
00092
00100 CRotation( double in_dX, double in_dY, double in_dZ, RotationOrder in_RotOrder = siXYZ);
00101
00102
00107 CRotation( const CQuaternion &in_Quat );
00108
00114 CRotation( const CVector3 &in_Axis, double in_dAngle );
00115
00120 CRotation( const CMatrix3 &in_Matrix );
00121
00123 ~CRotation();
00124
00129 CRotation & operator=( const CRotation & in_rotation);
00130
00135 CRotation& Copy( const CRotation &in_SrcRot);
00136
00141 CVector3 GetXYZAngles() const;
00142
00149 void GetXYZAngles( double &io_dX, double &io_dY, double &io_dZ ) const;
00150
00154 RotationOrder GetRotationOrder() const;
00155
00160 void PutRotationOrder( RotationOrder in_RotationOrder );
00161
00168 CRotation& SetFromXYZAngles( const CVector3 &in_EulerAngles, RotationOrder in_Order = siXYZ);
00169
00178 CRotation& SetFromXYZAngles( double in_dX, double in_dY, double in_dZ, RotationOrder in_Order = siXYZ);
00179
00187 CRotation& SetFromXYZAxes( const CVector3 &in_XAxis, const CVector3 &in_YAxis, const CVector3 &in_ZAxis);
00188
00193 CRotation& operator *= ( const CRotation &in_Rotation );
00194
00199 CRotation& MulInPlace( const CRotation &in_Rotation );
00200
00206 CRotation& Mul( const CRotation &in_Rotation1, const CRotation &in_Rotation2 );
00207
00211 CRotation& InvertInPlace();
00212
00217 CRotation& Invert( const CRotation &in_Rot );
00218
00223 CQuaternion GetQuaternion() const;
00224
00230 CRotation& SetFromQuaternion( const CQuaternion &in_Quat);
00231
00237 CRotation& operator = ( const CQuaternion &in_Quat );
00238
00244 CVector3 GetAxisAngle( double &io_dAngle) const;
00245
00252 CRotation& SetFromAxisAngle( const CVector3 &in_Axis, double in_dAngle );
00253
00258 CMatrix3 GetMatrix() const;
00259
00265 CRotation& SetFromMatrix( const CMatrix3 &in_Matrix);
00266
00272 CRotation& operator= (const CMatrix3 &in_Matrix);
00273
00276 void SetIdentity();
00277
00287 bool EpsilonEquals( const CRotation &in_Rot, double in_dEpsilon ) const;
00288
00294 bool Equals( const CRotation &in_Rot ) const;
00295
00301 bool operator == ( const CRotation &in_Rot ) const;
00302
00308 bool operator !=(const CRotation & in_Rot ) const;
00309 private:
00310 void *m_ptr;
00311 };
00312
00313 };
00314 };
00315
00316 #endif // __XSIROTATION_H__