nuclear@27: #include "basis.h"
nuclear@27: #include "vmath.h"
nuclear@27: 
nuclear@27: Basis::Basis()
nuclear@27: {
nuclear@27: 	i = Vector3(1, 0, 0);
nuclear@27: 	j = Vector3(0, 1, 0);
nuclear@27: 	k = Vector3(0, 0, 1);
nuclear@27: }
nuclear@27: 
nuclear@27: Basis::Basis(const Vector3 &i, const Vector3 &j, const Vector3 &k)
nuclear@27: {
nuclear@27: 	this->i = i;
nuclear@27: 	this->j = j;
nuclear@27: 	this->k = k;
nuclear@27: }
nuclear@27: 
nuclear@27: Basis::Basis(const Vector3 &dir, bool left_handed)
nuclear@27: {
nuclear@27: 	k = dir;
nuclear@27: 	j = Vector3(0, 1, 0);
nuclear@27: 	i = cross_product(j, k);
nuclear@27: 	j = cross_product(k, i);
nuclear@27: }
nuclear@27: 
nuclear@27: /** Rotate with euler angles */
nuclear@27: void Basis::rotate(scalar_t x, scalar_t y, scalar_t z) {
nuclear@27: 	Matrix4x4 RotMat;
nuclear@27: 	RotMat.set_rotation(Vector3(x, y, z));
nuclear@27: 	i.transform(RotMat);
nuclear@27: 	j.transform(RotMat);
nuclear@27: 	k.transform(RotMat);
nuclear@27: }
nuclear@27: 
nuclear@27: /** Rotate by axis-angle specification */
nuclear@27: void Basis::rotate(const Vector3 &axis, scalar_t angle) {
nuclear@27: 	Quaternion q;
nuclear@27: 	q.set_rotation(axis, angle);
nuclear@27: 	i.transform(q);
nuclear@27: 	j.transform(q);
nuclear@27: 	k.transform(q);
nuclear@27: }
nuclear@27: 
nuclear@27: /** Rotate with a 4x4 matrix */
nuclear@27: void Basis::rotate(const Matrix4x4 &mat) {
nuclear@27: 	i.transform(mat);
nuclear@27: 	j.transform(mat);
nuclear@27: 	k.transform(mat);
nuclear@27: }
nuclear@27: 
nuclear@27: /** Rotate with a quaternion */
nuclear@27: void Basis::rotate(const Quaternion &quat) {
nuclear@27: 	i.transform(quat);
nuclear@27: 	j.transform(quat);
nuclear@27: 	k.transform(quat);
nuclear@27: }
nuclear@27: 
nuclear@27: /** Extract a rotation matrix from the orthogonal basis */
nuclear@27: Matrix3x3 Basis::create_rotation_matrix() const {
nuclear@27: 	return Matrix3x3(	i.x, j.x, k.x,
nuclear@27: 						i.y, j.y, k.y,
nuclear@27: 						i.z, j.z, k.z);
nuclear@27: }