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Mask/include/Rotation.h

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/*
Classes which define rotations about the x, y, and z axes. Using these,
any arbitrary orientation can be described. Methods implemented for vector multiplication
as well as generating the inverse of the rotation.
*/
#ifndef ROTATION_H
#define ROTATION_H
#include "Vec3.h"
namespace Mask {
class XRotation {
public:
XRotation();
XRotation(double ang);
~XRotation();
Vec3 Rotate(const Vec3& vector);
inline void SetAngle(double ang) { m_angle = ang; GenerateMatrix(); };
inline XRotation GetInverse() { return XRotation(-m_angle); };
inline Vec3 operator*(const Vec3& vector) {
double x = m_matrix[0][0]*vector[0] + m_matrix[0][1]*vector[1] + m_matrix[0][2]*vector[2];
double y = m_matrix[1][0]*vector[0] + m_matrix[1][1]*vector[1] + m_matrix[1][2]*vector[2];
double z = m_matrix[2][0]*vector[0] + m_matrix[2][1]*vector[1] + m_matrix[2][2]*vector[2];
return Vec3(x, y, z);
};
private:
void GenerateMatrix();
double m_angle;
double m_matrix[3][3];
};
class YRotation {
public:
YRotation();
YRotation(double ang);
~YRotation();
Vec3 Rotate(const Vec3& vector);
inline void SetAngle(double ang) { m_angle = ang; GenerateMatrix(); };
inline YRotation GetInverse() { return YRotation(-m_angle); };
inline Vec3 operator*(const Vec3& vector) {
double x = m_matrix[0][0]*vector[0] + m_matrix[0][1]*vector[1] + m_matrix[0][2]*vector[2];
double y = m_matrix[1][0]*vector[0] + m_matrix[1][1]*vector[1] + m_matrix[1][2]*vector[2];
double z = m_matrix[2][0]*vector[0] + m_matrix[2][1]*vector[1] + m_matrix[2][2]*vector[2];
return Vec3(x, y, z);
};
private:
void GenerateMatrix();
double m_angle;
double m_matrix[3][3];
};
class ZRotation {
public:
ZRotation();
ZRotation(double ang);
~ZRotation();
Vec3 Rotate(const Vec3& vector);
inline void SetAngle(double ang) { m_angle = ang; GenerateMatrix();};
inline ZRotation GetInverse() { return ZRotation(-m_angle); };
inline Vec3 operator*(const Vec3& vector) {
double x = m_matrix[0][0]*vector[0] + m_matrix[0][1]*vector[1] + m_matrix[0][2]*vector[2];
double y = m_matrix[1][0]*vector[0] + m_matrix[1][1]*vector[1] + m_matrix[1][2]*vector[2];
double z = m_matrix[2][0]*vector[0] + m_matrix[2][1]*vector[1] + m_matrix[2][2]*vector[2];
return Vec3(x, y, z);
};
private:
void GenerateMatrix();
double m_angle;
double m_matrix[3][3];
};
};
#endif