coord_system.H

/*
 * This file is part of the "Archon" framework.
 * (http://files3d.sourceforge.net)
 *
 * Copyright © 2002 by Kristian Spangsege and Brian Kristiansen.
 *
 * Permission to use, copy, modify, and distribute this software and
 * its documentation under the terms of the GNU General Public License is
 * hereby granted. No representations are made about the suitability of
 * this software for any purpose. It is provided "as is" without express
 * or implied warranty. See the GNU General Public License
 * (http://www.gnu.org/copyleft/gpl.html) for more details.
 *
 * The characters in this file are ISO8859-1 encoded.
 *
 * The documentation in this file is in "Doxygen" style
 * (http://www.doxygen.org).
 */

#ifndef ARCHON_MATH_COORD_SYSTEM_H
#define ARCHON_MATH_COORD_SYSTEM_H

#include <archon/math/matrix.H>

namespace Archon
{
  namespace Math
  {
    struct CoordSystem3x3
    {
      Vector3 origin;
      Matrix3x3 basis;

      static const CoordSystem3x3 &identity();

      CoordSystem3x3() {}

      CoordSystem3x3(Vector3 origin, Matrix3x3 basis): origin(origin), basis(basis) {}

      CoordSystem3x3(const double openGLMatrix4x4[]);

      void setOpenGLMatrix(double openGLMatrix4x4[]);

      CoordSystem3x3 &operator*=(const CoordSystem3x3 &s) { origin += basis(s.origin); basis *= s.basis; return *this; }
      CoordSystem3x3 &operator/=(const CoordSystem3x3 &s) { CoordSystem3x3 t; t.setInverseOf(s); operator*=(t); return *this; }

      CoordSystem3x3 operator*(const CoordSystem3x3 &s) const { CoordSystem3x3 t(*this); return t *= s; }
      CoordSystem3x3 operator/(const CoordSystem3x3 &s) const { CoordSystem3x3 t(*this); return t /= s; }

      void map(Vector3 &v) const { basis.map(v); v += origin; }
      Vector3 operator()(const Vector3 &v) const { Vector3 w(v); map(w); return w; }
      Vector3 operator*(const Vector3 &v) const  { return operator()(v); }

      void translate(const Vector3 &p)
      {
        Vector3 v = p;
        basis.map(v);
        origin += v;
      }

      void setInverseOf(const CoordSystem3x3 &s)
      {
        basis.setInverseOf(s.basis);
        origin = s.origin;
        basis.map(origin);
        origin.negate();
      }

      void minimalTurn(const Vector3 &point);

    private:
      static CoordSystem3x3 makeIdentity();
    };

    std::ostream &operator<<(std::ostream &, const CoordSystem3x3 &);
  }
}

#endif // ARCHON_MATH_COORD_SYSTEM_H

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