SwingTwist.h

// This Source Code Form is subject to the terms of the Mozilla Public
// License, v. 2.0.If a copy of the MPL was not distributed with this
// file, You can obtain one at https ://mozilla.org/MPL/2.0/.
 
#ifndef SWINGTWIST_H
#define SWINGTWIST_H
 
#include "Angle.h"
#include "Direction.h"
#include "Quaternion.h"
#include "Spherical.h"
 
namespace Passer {
namespace LinearAlgebra {
 
template <typename T> class SwingTwistOf {
public:
  DirectionOf<T> swing;
  AngleOf<T> twist;
 
  SwingTwistOf<T>();
  SwingTwistOf<T>(DirectionOf<T> swing, AngleOf<T> twist);
  SwingTwistOf<T>(AngleOf<T> horizontal, AngleOf<T> vertical, AngleOf<T> twist);
 
  static SwingTwistOf<T> Degrees(float horizontal, float vertical = 0,
                                 float twist = 0);
 
  Quaternion ToQuaternion() const;
  static SwingTwistOf<T> FromQuaternion(Quaternion q);
 
  SphericalOf<T> ToAngleAxis() const;
  static SwingTwistOf<T> FromAngleAxis(SphericalOf<T> aa);
 
  const static SwingTwistOf<T> identity;
 
  bool operator==(const SwingTwistOf<T> d) const;
 
  SphericalOf<T> operator*(const SphericalOf<T> &vector) const;
  SwingTwistOf<T> operator*(const SwingTwistOf<T> &rotation) const;
  SwingTwistOf<T> operator*=(const SwingTwistOf<T> &rotation);
 
  static SwingTwistOf<T> Inverse(SwingTwistOf<T> rotation);
 
  static SwingTwistOf<T> AngleAxis(float angle, const DirectionOf<T> &axis);
 
  static AngleOf<T> Angle(const SwingTwistOf<T> &r1, const SwingTwistOf<T> &r2);
 
  void Normalize();
};
 
using SwingTwistSingle = SwingTwistOf<float>;
using SwingTwist16 = SwingTwistOf<signed short>;
 
} // namespace LinearAlgebra
} // namespace Passer
using namespace Passer::LinearAlgebra;
 
#endif