/Users/barrand/private/dev/softinex/old/inexlib-1.2/inlib/inlib/rotd

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// Copyright (C) 2010, Guy Barrand. All rights reserved.
// See the file inlib.license for terms.

#ifndef inlib_rotd
#define inlib_rotd

// rotation done with quaternion.

#include "qrot"
#include "vec3d"

namespace inlib {

class rotd : public qrot<double> {
public:
  rotd()
  :qrot<double>()   //zero rotation around the positive Z axis.
  {}
  rotd(const vec3d& a_axis,double a_radians)
  :qrot<double>(a_axis,a_radians)
  {}
  virtual ~rotd(){}
public:
  rotd(const rotd& a_from)
  :qrot<double>(a_from)
  {}
  rotd& operator=(const rotd& a_from){
    qrot<double>::operator=(a_from);
    return *this;
  }
private:
  rotd(double a_q0,double a_q1,double a_q2,double a_q3)
  :qrot<double>(a_q0,a_q1,a_q2,a_q3)
  {}
public:
  rotd& operator*=(const rotd& a_q) {
    qrot<double>::operator*=(a_q);
    return *this;
  }
  rotd operator*(const rotd& a_r) const {
    rotd tmp(*this);
    tmp *= a_r;
    return tmp;
  }
public:
  //NOTE : don't handle a static object because of mem balance.
  //static const rotd& identity() {
  //  static const rotd s_v(0,0,0,1);
  //  return s_v;
  //}
};

}

#endif