/* nicolas.janey@univ-fcomte.fr      */
/* Octobre 2005                      */
/* Classe de gestion de rotations    */

#include <math.h>

#include "Direction.h"
#include "Rotation.h"

static void calculMatrice(float a,Direction *nd,float m[4][4]) {
  a *= 0.017453292519943295769236907684886F;
  float c =(float) cos(a);
  float s =(float) sin(a);
  float x2 = nd->x*nd->x; 
  float y2 = nd->y*nd->y; 
  float z2 = nd->z*nd->z; 
  float xy = nd->x*nd->y;
  float xz = nd->x*nd->z;
  float yz = nd->y*nd->z;
  float unmoinsc = 1.0F-c;
  m[0][0] = x2+c*(1-x2);
  m[0][1] = xy*unmoinsc-nd->z*s;
  m[0][2] = xz*unmoinsc+nd->y*s;
  m[1][0] = xy*unmoinsc+nd->z*s;
  m[1][1] = y2+c*(1-y2);
  m[1][2] = yz*unmoinsc-nd->x*s;
  m[2][0] = xz*unmoinsc-nd->y*s;
  m[2][1] = yz*unmoinsc+nd->x*s;
  m[2][2] = z2+c*(1-z2);
}

Rotation::Rotation(float a,float ax,float ay,float az) : Transformation() {
  Direction *nd = new Direction(ax,ay,az);
  nd->normalise();
  calculMatrice(a,nd,m);
  delete(nd);
}

Rotation::Rotation(float a,Direction *d) : Transformation() {
  Direction *nd = new Direction(d);
  nd->normalise();
  calculMatrice(a,nd,m);
  delete(nd);
}