basis.hpp

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#ifndef MECACELL_BASIS_H
#define MECACELL_BASIS_H
#include <iostream>
#include "rotation.h"
 
namespace MecaCell {
template <typename V> struct Basis {
    V X = V(1, 0, 0), Y = V(0, 1, 0);
    Basis() {}
    Basis(const V &x, const V &y) : X(x), Y(y) {}
 
    V getZ() { return X.cross(Y).normalized(); }
 
    void updateWithRotation(const Rotation<V> &r) {
        X = V(1, 0, 0).rotated(r).normalized();
        Y = V(0, 1, 0).rotated(r).normalized();
    }
 
    void rotate(const Rotation<V> &r) {
        X = X.rotated(r);
        Y = Y.rotated(r);
        normalize();
    }
 
    void normalize() {
        X.normalize();
        Y.normalize();
    }
 
    Basis rotated(const Rotation<V> &r) {
        return Basis(X.rotated(r).normalized(), Y.rotated(r).normalized());
    }
 
    template <typename T>
    friend std::ostream &operator<<(std::ostream &out, const Basis<T> &b);
};
 
template <typename T> inline std::ostream &operator<<(std::ostream &out, const Basis<T> &b) {
    out << "[ " << b.X << ", " << b.Y << ", "<<b.Z<<" ]";
    return out;
}
}
#endif