| Geant4 Cross Reference |
1 // Copyright (C) 2010, Guy Barrand. All rights 1 // Copyright (C) 2010, Guy Barrand. All rights reserved.
2 // See the file tools.license for terms. 2 // See the file tools.license for terms.
3 3
4 #ifndef tools_rotf 4 #ifndef tools_rotf
5 #define tools_rotf 5 #define tools_rotf
6 6
7 // rotation done with quaternion. 7 // rotation done with quaternion.
8 8
9 #include "qrot" 9 #include "qrot"
10 #include "vec3f" 10 #include "vec3f"
11 #include "vec4f" 11 #include "vec4f"
12 #include "mat4f" 12 #include "mat4f"
13 13
14 namespace tools { 14 namespace tools {
15 15
16 class rotf : public qrot<vec3f,vec4f> { 16 class rotf : public qrot<vec3f,vec4f> {
17 typedef qrot<vec3f,vec4f> parent; 17 typedef qrot<vec3f,vec4f> parent;
18 private: 18 private:
19 rotf(float a_q0,float a_q1,float a_q2,float 19 rotf(float a_q0,float a_q1,float a_q2,float a_q3):parent(a_q0,a_q1,a_q2,a_q3) {}
20 public: 20 public:
21 rotf():parent() {} //zero rotation around th 21 rotf():parent() {} //zero rotation around the positive Z axis.
22 rotf(const vec3f& a_axis,float a_radians):pa 22 rotf(const vec3f& a_axis,float a_radians):parent(a_axis,a_radians,::sinf,::cosf) {}
23 rotf(const vec3f& a_from,const vec3f& a_to): 23 rotf(const vec3f& a_from,const vec3f& a_to):parent(a_from,a_to,::sqrtf,::fabsf) {}
24 virtual ~rotf(){} 24 virtual ~rotf(){}
25 public: 25 public:
26 rotf(const rotf& a_from):parent(a_from) {} 26 rotf(const rotf& a_from):parent(a_from) {}
27 rotf& operator=(const rotf& a_from){ 27 rotf& operator=(const rotf& a_from){
28 parent::operator=(a_from); 28 parent::operator=(a_from);
29 return *this; 29 return *this;
30 } 30 }
31 public: 31 public:
32 rotf& operator*=(const rotf& a_q) { 32 rotf& operator*=(const rotf& a_q) {
33 parent::operator*=(a_q); 33 parent::operator*=(a_q);
34 return *this; 34 return *this;
35 } 35 }
36 rotf operator*(const rotf& a_r) const { 36 rotf operator*(const rotf& a_r) const {
37 rotf tmp(*this); 37 rotf tmp(*this);
38 tmp *= a_r; 38 tmp *= a_r;
39 return tmp; 39 return tmp;
40 } 40 }
41 public: 41 public:
42 bool set_value(const vec3f& a_from,const vec 42 bool set_value(const vec3f& a_from,const vec3f& a_to){
43 return parent::set_value(a_from,a_to,::sqr 43 return parent::set_value(a_from,a_to,::sqrtf,::fabsf);
44 } 44 }
45 bool set_value(const vec3f& a_from,float a_a 45 bool set_value(const vec3f& a_from,float a_a){
46 return parent::set_value(a_from,a_a,::sinf 46 return parent::set_value(a_from,a_a,::sinf,::cosf);
47 } 47 }
48 bool value(vec3f& a_from,float& a_a) const { 48 bool value(vec3f& a_from,float& a_a) const {
49 return parent::value(a_from,a_a,::sinf,::a 49 return parent::value(a_from,a_a,::sinf,::acosf); //WARNING acos and not cos
50 } 50 }
51 51
52 void value(mat4f& a_m) const {parent::value( 52 void value(mat4f& a_m) const {parent::value(a_m);}
53 void set_value(const mat4f& a_m) {parent::se 53 void set_value(const mat4f& a_m) {parent::set_value(a_m,::sqrtf);}
54 54
55 //NOTE : don't handle a static object becaus 55 //NOTE : don't handle a static object because of mem balance.
56 //static const rotf& identity() { 56 //static const rotf& identity() {
57 // static const rotf s_v(0,0,0,1); 57 // static const rotf s_v(0,0,0,1);
58 // return s_v; 58 // return s_v;
59 //} 59 //}
60 }; 60 };
61 61
62 } 62 }
63 63
64 #include <sstream> 64 #include <sstream>
65 65
66 namespace tools { 66 namespace tools {
67 67
68 inline bool tos(const rotf& a_v,std::string& a 68 inline bool tos(const rotf& a_v,std::string& a_s) {
69 vec3f axis; 69 vec3f axis;
70 float angle = 0; 70 float angle = 0;
71 if(!a_v.value(axis,angle)) {a_s.clear();retu 71 if(!a_v.value(axis,angle)) {a_s.clear();return false;}
72 std::ostringstream strm; 72 std::ostringstream strm;
73 strm << axis[0] << " " 73 strm << axis[0] << " "
74 << axis[1] << " " 74 << axis[1] << " "
75 << axis[2] << " " 75 << axis[2] << " "
76 << angle; 76 << angle;
77 a_s = strm.str(); 77 a_s = strm.str();
78 return true; 78 return true;
79 } 79 }
80 80
81 } 81 }
82 82
83 #endif 83 #endif