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