Mask/include/Rotation.h

/*
	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