rotation.h

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#ifndef MECACELL_ROTATION_H
#define MECACELL_ROTATION_H
#include <cmath>
using namespace std;
namespace MecaCell {
 
template <typename V> struct Rotation {
    V n = V(0, 1, 0);
    double teta = 0;
 
    Rotation() {}
 
    Rotation(const V& v, const double& f) : n(v), teta(f) {}
 
    void randomize() {
        n.random();
        n.normalize();
        teta = 1.0;
    }
 
    Rotation operator+(const V& v) const {
        Rotation R(n, teta);
        V::addAsAngularVelocity(v, R);
        R.compress();
        return R;
    }
 
    Rotation rotated(const Rotation& r) const { return V::rotateRotation(*this, r); }
 
    void compress() {  // teta will be < pi
        if (teta > M_PI) {
            if (teta > M_PI * 2.0) teta = fmod(teta, M_PI * 2.0);
            n = -n;
            teta = (2.0 * M_PI) - teta;
        }
    }
 
    Rotation compressed() const {
        Rotation res(n, teta);
        res.compress();
        return res;
    }
 
    Rotation inverted() const { return Rotation(-n, teta); }
 
    Rotation operator+(const Rotation& R2) const {
        Rotation R = V::addRotations(R2, *this);
        R.compress();
        return R;
    }
    Rotation operator-(const Rotation& R2) const {
        Rotation R = V::addRotations(-R2, *this);
        R.compress();
        return R;
    }
};
}
 
#endif