Rotation.h

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/************************************************************************
* @file Rotation.h
*
* @brief 旋转类
*
* @details 旋转类
*
* @author dixu
*
* @version 1.0
*
* @date 2014-9-11
*
* @license 北京华科软科技有限公司
*
*************************************************************************/
 
#ifndef BIMHOMEBASE_ROTATION_H
#define BIMHOMEBASE_ROTATION_H
 
#include "Vector3D.h"
#ifndef BH_GLOBAL_H
#include <BHGlobal.h>
#endif
 
namespace Base
{
 
    class Matrix4D;
 
    class BaseExport Rotation
    {
    public:
        enum EulerSequence
        {
            Invalid,        
 
            EulerAngles,    
                
            YawPitchRoll,   
 
            Extrinsic_XYZ,
            Extrinsic_XZY,
            Extrinsic_YZX,
            Extrinsic_YXZ,
            Extrinsic_ZXY,
            Extrinsic_ZYX,
 
            Intrinsic_XYZ,
            Intrinsic_XZY,
            Intrinsic_YZX,
            Intrinsic_YXZ,
            Intrinsic_ZXY,
            Intrinsic_ZYX,
 
            Extrinsic_XYX,
            Extrinsic_XZX,
            Extrinsic_YZY,
            Extrinsic_YXY,
            Extrinsic_ZYZ,
            Extrinsic_ZXZ,
 
            Intrinsic_XYX,
            Intrinsic_XZX,
            Intrinsic_YZY,
            Intrinsic_YXY,
            Intrinsic_ZXZ,
            Intrinsic_ZYZ,
 
            EulerSequenceLast, 
        };
 
    public:
        static Rotation slerp(const Rotation& rot0, const Rotation& rot1, double t);
 
        static Rotation identity();
 
        static Rotation makeRotationByAxes(Vector3d xdir, Vector3d ydir, Vector3d zdir, const char* priorityOrder = "ZXY");
 
    public:
        Rotation();
 
        Rotation(const Vector3d& axis, const double fAngle);
 
        Rotation(const Matrix4D& matrix);
 
        Rotation(const double q[4]);
 
        Rotation(const double q0, const double q1, const double q2, const double q3);
 
        Rotation(const Vector3d& rotateFrom, const Vector3d& rotateTo);
 
        Rotation(const Rotation& rot);
 
        const double* getValue() const;
 
        void getValue(double& q0, double& q1, double& q2, double& q3) const;
 
        void setValue(const double q0, const double q1, const double q2, const double q3);
 
        void getValue(Vector3d& axis, double& rfAngle) const;
 
        void getRawValue(Vector3d& axis, double& rfAngle) const;
 
        void getValue(Matrix4D& matrix) const;
 
        void setValue(const double q[4]);
 
        void setValue(const Matrix4D& matrix);
 
        void setValue(const Vector3d& axis, const double fAngle);
 
        void setValue(const Vector3d& rotateFrom, const Vector3d& rotateTo);
 
        void setYawPitchRoll(double y, double p, double r);
 
        void getYawPitchRoll(double& y, double& p, double& r) const;
 
        static const char* eulerSequenceName(EulerSequence seq);
 
        static EulerSequence eulerSequenceFromName(const char* name);
 
        void getEulerAngles(EulerSequence seq, double& alpha, double& beta, double& gamma) const;
 
        void setEulerAngles(EulerSequence seq, double alpha, double beta, double gamma);
 
        bool isIdentity() const;
 
        bool isNull() const;
 
        Rotation& invert();
 
        Rotation inverse() const;
 
        void multVec(const Vector3d& src, Vector3d& dst) const;
 
        Vector3d multVec(const Vector3d& src) const;
 
        void scaleAngle(const double scaleFactor);
 
        bool isSame(const Rotation& q) const;
 
        bool isSame(const Rotation& q, double tol) const;
 
        Rotation& operator *= (const Rotation& q);
 
        Rotation operator * (const Rotation& q) const;
 
        bool operator == (const Rotation& q) const;
 
        bool operator != (const Rotation& q) const;
 
        double& operator [] (unsigned short usIndex)
        {
            return m_Quat[usIndex];
        }
 
        const double& operator [] (unsigned short usIndex) const
        {
            return m_Quat[usIndex];
        }
 
        void operator = (const Rotation& rot);
 
    private:
        void normalize();
 
        void evaluateVector();
 
    private:
        double m_Quat[4];           
        Vector3d m_Axis;            
        double m_Angle;             
    };
 
}
 
#endif // BIMHOMEBASE_ROTATION_H