OrthonormalBasis.h

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/*  Copyright (C) 2003-2021 Free Electron Organization
    Any use of this software requires a license.  If a valid license
    was not distributed with this file, visit freeelectron.org. */

/** @file */

#ifndef __math_OrthonormalBasis_h__
#define __math_OrthonormalBasis_h__

namespace fe
{

/**************************************************************************//**
    \brief OrthonormalBasis for 3D transformations

    @ingroup math

    HACK Currently assumes Z-forward Y-up

    TODO care about specified direction and up
*//***************************************************************************/
template <typename T>
class OrthonormalBasis: public Matrix<3,4,T>
{
    public:
                OrthonormalBasis<T>(Axis a_direction,Axis a_up)
                {
                    setIdentity(*this);
                }

                template <typename U>
        void    adapt(const Matrix<3,4,U>& a_rMatrix);

    private:
        Axis    m_direction;
        Axis    m_up;

};

template <typename T>
template <typename U>
inline void OrthonormalBasis<T>::adapt(const Matrix<3,4,U>& a_rMatrix)
{
    Matrix<3,4,T>::direction()=
            Vector<3,T>(
            a_rMatrix.left()[1],
            a_rMatrix.left()[2],
            a_rMatrix.left()[0]);

    Matrix<3,4,T>::up()=
            Vector<3,T>(
            a_rMatrix.direction()[1],
            a_rMatrix.direction()[2],
            a_rMatrix.direction()[0]);

    Matrix<3,4,T>::left()=
            Vector<3,T>(
            a_rMatrix.up()[1],
            a_rMatrix.up()[2],
            a_rMatrix.up()[0]);

    setTranslation((Matrix<3,4,T>&)*this,
            Vector<3,T>(
            a_rMatrix.translation()[1],
            a_rMatrix.translation()[2],
            a_rMatrix.translation()[0]));
}

typedef OrthonormalBasis<F32>   OrthonormalBasisf;
typedef OrthonormalBasis<F64>   OrthonormalBasisd;
typedef OrthonormalBasis<Real>  SpatialBasis;

} /* namespace */

#endif /* __math_OrthonormalBasis_h__ */