AAngle.h

/****************************************************************************
 * Copyright 2005 Evan Drumwright
 * This library is distributed under the terms of the GNU General Public 
 * License (found in COPYING).
 ****************************************************************************/

#ifndef _AXIS_ANGLE_H
#define _AXIS_ANGLE_H

#include <string>
#include <boost/shared_array.hpp>
#include <Physsim/Base.h>

namespace Physsim {

class Quat;
class Matrix3;
class Matrix4;
class Vector3;
class Vector4;

class AAngle : public Base
{
        public:
                AAngle();
                AAngle(const AAngle& source);
                AAngle(boost::shared_array<const Real> array);
                AAngle(const Quat* q);
                AAngle(Real x, Real y, Real z, Real angle);
                AAngle(const Vector3*  v, Real angle);
                AAngle(const VectorN* v);
                AAngle(const Matrix3* m);
                AAngle(const Matrix3* m, const Vector3* axis);
                AAngle(const Matrix4* m);
                bool epsilon_equals(const AAngle& a, Real epsilon) const;
                static bool epsilon_equals(const AAngle& a1, const AAngle& a2, Real epsilon);
                void set(boost::shared_array<const Real>  array);
                void set(Real x, Real y, Real z, Real angle);
                void set(const VectorN* v);
                void set(const Vector3* v, Real angle);
                void set(const Matrix3* m);
                void set(const Matrix3* m, const Vector3* axis);
                void set(const Matrix4* m);
                void set(const Quat* q);
                void operator=(const AAngle& source);
                AAngle operator*(const AAngle& a) const;
                void operator*=(const AAngle& a);

                Real _angle;
                Real _x;
                Real _y;
                Real _z;
};

std::ostream& operator<<(std::ostream& out, const AAngle& a);

}

#endif

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