nuclear@10: /*
nuclear@10: libvmath - a vector math library
nuclear@10: Copyright (C) 2004-2015 John Tsiombikas <nuclear@member.fsf.org>
nuclear@10: 
nuclear@10: This program is free software: you can redistribute it and/or modify
nuclear@10: it under the terms of the GNU Lesser General Public License as published
nuclear@10: by the Free Software Foundation, either version 3 of the License, or
nuclear@10: (at your option) any later version.
nuclear@10: 
nuclear@10: This program is distributed in the hope that it will be useful,
nuclear@10: but WITHOUT ANY WARRANTY; without even the implied warranty of
nuclear@10: MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
nuclear@10: GNU Lesser General Public License for more details.
nuclear@10: 
nuclear@10: You should have received a copy of the GNU Lesser General Public License
nuclear@10: along with this program.  If not, see <http://www.gnu.org/licenses/>.
nuclear@10: */
nuclear@10: #include "basis.h"
nuclear@10: #include "vmath.h"
nuclear@10: 
nuclear@10: Basis::Basis()
nuclear@10: {
nuclear@10: 	i = Vector3(1, 0, 0);
nuclear@10: 	j = Vector3(0, 1, 0);
nuclear@10: 	k = Vector3(0, 0, 1);
nuclear@10: }
nuclear@10: 
nuclear@10: Basis::Basis(const Vector3 &i, const Vector3 &j, const Vector3 &k)
nuclear@10: {
nuclear@10: 	this->i = i;
nuclear@10: 	this->j = j;
nuclear@10: 	this->k = k;
nuclear@10: }
nuclear@10: 
nuclear@10: Basis::Basis(const Vector3 &dir, bool left_handed)
nuclear@10: {
nuclear@10: 	k = dir;
nuclear@10: 	j = Vector3(0, 1, 0);
nuclear@10: 	i = cross_product(j, k);
nuclear@10: 	j = cross_product(k, i);
nuclear@10: }
nuclear@10: 
nuclear@10: /** Rotate with euler angles */
nuclear@10: void Basis::rotate(scalar_t x, scalar_t y, scalar_t z) {
nuclear@10: 	Matrix4x4 RotMat;
nuclear@10: 	RotMat.set_rotation(Vector3(x, y, z));
nuclear@10: 	i.transform(RotMat);
nuclear@10: 	j.transform(RotMat);
nuclear@10: 	k.transform(RotMat);
nuclear@10: }
nuclear@10: 
nuclear@10: /** Rotate by axis-angle specification */
nuclear@10: void Basis::rotate(const Vector3 &axis, scalar_t angle) {
nuclear@10: 	Quaternion q;
nuclear@10: 	q.set_rotation(axis, angle);
nuclear@10: 	i.transform(q);
nuclear@10: 	j.transform(q);
nuclear@10: 	k.transform(q);
nuclear@10: }
nuclear@10: 
nuclear@10: /** Rotate with a 4x4 matrix */
nuclear@10: void Basis::rotate(const Matrix4x4 &mat) {
nuclear@10: 	i.transform(mat);
nuclear@10: 	j.transform(mat);
nuclear@10: 	k.transform(mat);
nuclear@10: }
nuclear@10: 
nuclear@10: /** Rotate with a quaternion */
nuclear@10: void Basis::rotate(const Quaternion &quat) {
nuclear@10: 	i.transform(quat);
nuclear@10: 	j.transform(quat);
nuclear@10: 	k.transform(quat);
nuclear@10: }
nuclear@10: 
nuclear@10: /** Extract a rotation matrix from the orthogonal basis */
nuclear@10: Matrix3x3 Basis::create_rotation_matrix() const {
nuclear@10: 	return Matrix3x3(	i.x, j.x, k.x,
nuclear@10: 						i.y, j.y, k.y,
nuclear@10: 						i.z, j.z, k.z);
nuclear@10: }