source: orxonox.OLD/branches/blink/src/lib/math/rotation_OBSOLETE.h @ 10244

/*
   orxonox - the future of 3D-vertical-scrollers

   Copyright (C) 2004 orx

   This program is free software; you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
   the Free Software Foundation; either version 2, or (at your option)
   any later version.

### File Specific:
   main-programmer: Christian Meyer
   co-programmer: ...
*/

/*!
 * @file rotation_OBSOLETE.h
 * A basic 3D rotation framework
 *
 * THIS IS AN OBSOLETE FRAMEWORK, AND WILL BE DELETED SOON
 *
 *
 * Contains classes to handle vectors, lines, rotations and planes
*/

#ifndef __ROTATION_H_
#define __ROTATION_H_

#include "vector.h"

//! 3D rotation (OBSOLETE)
/**
  Class to handle 3-dimensional rotations.
  Can create a rotation from several inputs, currently stores rotation using a 3x3 Matrix
*/
class Rotation {
  public:

  float m[9]; //!< 3x3 Rotation Matrix

  Rotation ( const Vector& v);
  Rotation ( const Vector& axis, float angle);
  Rotation ( float pitch, float yaw, float roll);
  Rotation ();
  ~Rotation () {}

  Rotation operator* (const Rotation& r);

  void glmatrix (float* buffer);
};

//!< Apply a rotation to a vector
Vector rotateVector( const Vector& v, const Rotation& r);


#endif /* __ROTATION_H_ */