mlRotation.h

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/*************************************************************************************
**
** Copyright 2010, MeVis Medical Solutions AG
**
** The user may use this file in accordance with the license agreement provided with
** the Software or, alternatively, in accordance with the terms contained in a
** written agreement between the user and MeVis Medical Solutions AG.
**
** For further information use the contact form at https://www.mevislab.de/contact
**
**************************************************************************************/
 
#ifndef ML_ROTATION_H
#define ML_ROTATION_H
 
 
#include "mlLinearAlgebraSystem.h"
#include "mlVector3.h"
#include "mlMatrix4.h"
 
ML_LA_START_NAMESPACE
 
 
  class ML_LINEAR_ALGEBRA_EXPORT Rotation
  {
  public:
    Rotation ();
 
    Rotation (const Vector3& axis, MLdouble angle);
 
    Rotation (const Vector3& fromVec, const Vector3& toVec);
 
    Rotation (const Matrix4& m);
 
    Rotation (const Rotation&);
 
    Rotation (MLdouble x, MLdouble y, MLdouble z, MLdouble w);
 
    Matrix4 getMatrix () const;
 
    void getRotation (Vector3& axis, MLdouble &angle) const;
 
    void setRotation (const Vector3& axis, MLdouble angle);
 
    Rotation multiply (const Rotation& rotation) const;
 
    Vector3 rotate(const Vector3& vec) const;
 
    Rotation& conjugate ();
 
    Rotation& operator*=(const Rotation& rotation);
 
    Rotation& operator= (const Rotation& rotation);
 
    ML_LINEAR_ALGEBRA_EXPORT friend Rotation operator*(const Rotation& a,const Rotation& b);
 
    static Matrix4 slerp(const Matrix4& m1, const Matrix4& m2, MLdouble t);
 
    static Rotation slerp(const Rotation& rot1, const Rotation& rot2, MLdouble t);
 
    const Vector3& getVector() const { return _vector; }
    MLdouble getScalar() const { return _scalar; }
 
  protected:
    Vector3   _vector;
 
    MLdouble _scalar;
 
  private:
    void _normalize();
 
    static Matrix4 _outer (const Vector3& v);
 
    static Matrix4 _generator (const Vector3& v);
  };
 
ML_LA_END_NAMESPACE
 
 
#endif // __mlRotation_H