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__