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