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Torque/SDK/lib/mayamacsdk5/include/maya/MEulerRotation.h

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+#ifndef _MEulerRotation
+#define _MEulerRotation
+//
+//-
+// ==========================================================================
+// Copyright  (C)  Alias|Wavefront,  a division of Silicon Graphics  Limited.
+// All rights  reserved.  These coded  instructions,  statements and computer
+// programs contain unpublished information  proprietary to  Alias|Wavefront,
+// a  division  of  Silicon  Graphics  Limited,  which  is  protected by  the
+// Canadian  and  US federal copyright law and  may not be disclosed to third
+// parties or  copied  or  duplicated,  in  whole  or in part,  without prior
+// written consent of Alias|Wavefront, a division of Silicon Graphics Limited
+// ==========================================================================
+//+
+//
+// CLASS:    MEulerRotation
+//
+// *****************************************************************************
+//
+// CLASS DESCRIPTION (MEulerRotation)
+//
+// This class provides methods for working with euler angle rotations.
+// Euler angles are described by rotations in radians around the x, y,
+// and z axes, and the order in which those rotations occur.
+//
+// *****************************************************************************
+
+#if defined __cplusplus
+
+// *****************************************************************************
+
+// INCLUDED HEADER FILES
+
+
+
+#include <maya/MTypes.h>
+#include <maya/MTransformationMatrix.h>
+#include <maya/MIOStream.h>
+
+// *****************************************************************************
+
+// DECLARATIONS
+
+class MMatrix;
+class MQuaternion;
+#define kEulerRotationEpsilon 1.0e-10
+
+// *****************************************************************************
+
+// CLASS DECLARATION (MEulerRotation)
+
+/// Euler Rotation Math
+/**
+This class provides methods for working with euler rotations.
+*/
+#ifdef _WIN32
+#pragma warning(disable: 4522)
+#endif // _WIN32
+
+class OPENMAYA_EXPORT MEulerRotation  
+{
+public:
+
+	///
+	enum RotationOrder {
+		///
+		kXYZ, 
+		///
+		kYZX, 
+		///
+		kZXY, 
+		///
+		kXZY, 
+		///
+		kYXZ, 
+		///
+		kZYX
+	};
+
+	///
+						MEulerRotation();
+	///
+						MEulerRotation(const MEulerRotation &src);
+	///
+						MEulerRotation(const MVector &v, 
+									   RotationOrder ord = kXYZ);
+	///
+						MEulerRotation(double xx, double yy, double zz, 
+									   RotationOrder ord = kXYZ);
+	///
+						~MEulerRotation();
+	///
+	MEulerRotation &	operator=(const MEulerRotation &src);
+	///
+ 	MEulerRotation &	operator=(const MQuaternion &q);
+	///
+ 	MEulerRotation &	operator=(const MMatrix &m);
+	///
+ 	MEulerRotation &	operator=(const MVector &v);
+	///
+	MEulerRotation &	setValue(const MVector &v, 
+								 RotationOrder ord = kXYZ);
+	///
+	MEulerRotation &	setValue(double xx, double yy, double zz,
+								 RotationOrder ord = kXYZ);
+	///
+	MQuaternion			asQuaternion() const;
+	///
+	MMatrix				asMatrix() const;
+	///
+ 	MVector				asVector() const;
+	///
+	double &			operator[](unsigned i);
+	///
+	double				operator[](unsigned i) const;
+	///
+ 	MEulerRotation   	operator+(const MEulerRotation &other) const;
+	///
+	MEulerRotation &	operator+=(const MEulerRotation &other);
+	///
+ 	MEulerRotation   	operator-(const MEulerRotation &other) const;
+	///
+	MEulerRotation &	operator-=(const MEulerRotation &other);
+	///
+ 	MEulerRotation   	operator-() const;
+	///
+	MEulerRotation		operator*(const MEulerRotation &other) const;
+	///
+	MEulerRotation		operator*(const MQuaternion &other) const;
+	///
+	MEulerRotation		operator*(double other) const;
+	///
+ 	friend OPENMAYA_EXPORT MEulerRotation operator*(double scale, 
+													const MEulerRotation 
+													    &other);
+	///
+	MEulerRotation &	operator*=(const MEulerRotation &other);
+	///
+	MEulerRotation &	operator*=(const MQuaternion &other);
+	///
+	MEulerRotation &	operator*=(double other);
+	///
+ 	bool           		operator==(const MEulerRotation &other) const;
+	///
+ 	bool          		operator!=(const MEulerRotation &other) const;
+	///
+ 	bool          		isEquivalent(const MEulerRotation &other, 
+									 double tolerance = kEulerRotationEpsilon) 
+		                             const;
+	///
+ 	bool          		isZero(double tolerance = kEulerRotationEpsilon) const;
+	///
+	MEulerRotation &	incrementalRotateBy(const MVector &axis,
+											double angle);
+	///
+	MEulerRotation		inverse() const;
+	///
+	MEulerRotation &	invertIt();
+	///
+	MEulerRotation		reorder(RotationOrder ord) const;
+	///
+	MEulerRotation &	reorderIt(RotationOrder ord);
+	///
+	static MEulerRotation bound(const MEulerRotation &src);
+	///
+	MEulerRotation		bound() const;
+	///
+	MEulerRotation &	boundIt(const MEulerRotation &src);
+	///
+	MEulerRotation &	boundIt();
+	///
+	static MEulerRotation alternateSolution(const MEulerRotation &src);
+	///
+	MEulerRotation		alternateSolution() const;
+	///
+	MEulerRotation &	setToAlternateSolution(const MEulerRotation &src);
+	///
+	MEulerRotation &	setToAlternateSolution();
+	///
+	static MEulerRotation closestSolution(const MEulerRotation &src,
+										  const MEulerRotation &dst);
+	///
+	MEulerRotation		closestSolution(const MEulerRotation &dst) const;
+	///
+	MEulerRotation &	setToClosestSolution(const MEulerRotation &src,
+											 const MEulerRotation &dst);
+	///
+	MEulerRotation &	setToClosestSolution(const MEulerRotation &dst);
+	///
+	static MEulerRotation closestCut(const MEulerRotation &src,
+									 const MEulerRotation &dst);
+	///
+	MEulerRotation		closestCut(const MEulerRotation &dst) const;
+	///
+	MEulerRotation &	setToClosestCut(const MEulerRotation &src,
+										const MEulerRotation &dst);
+	///
+	MEulerRotation &	setToClosestCut(const MEulerRotation &dst);
+	///
+	static MEulerRotation decompose(const MMatrix &matrix, RotationOrder ord);
+	///
+	friend OPENMAYA_EXPORT IOS_REF(ostream) &operator<<(IOS_REF(ostream) &os, 
+											   const MEulerRotation &rotation);
+	/// The euler rotation identity.  The rotation order is XYZ.
+	static const MEulerRotation identity;
+
+	/// The x component of the euler rotation in radians
+	double x;
+	/// The y component of the euler rotation in radians
+	double y;
+	/// The z component of the euler rotation in radians
+	double z;
+	/// The rotation order of the euler rotation
+	RotationOrder order;
+#if defined(LINUX)
+	char			_padding[4];		// Pad out sizeof class
+#endif
+
+protected:
+	// No protected members
+
+private:
+	// No private members
+};
+
+#if defined(_WIN32)
+#pragma warning(default: 4522)
+#endif // _WIN32
+
+// *****************************************************************************
+#endif /* __cplusplus */
+#endif /* _MEulerRotation */