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42 lines
1.0 KiB
42 lines
1.0 KiB
3 months ago
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// David Eberly, Geometric Tools, Redmond WA 98052
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// Copyright (c) 1998-2021
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// Distributed under the Boost Software License, Version 1.0.
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// https://www.boost.org/LICENSE_1_0.txt
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// https://www.geometrictools.com/License/Boost/LICENSE_1_0.txt
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// Version: 4.0.2019.08.13
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#pragma once
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#include <Mathematics/Vector.h>
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namespace gte
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{
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// Axis-angle representation for N = 3 or N = 4. When N = 4, the axis
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// must be a vector of the form (x,y,z,0) [affine representation of the
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// 3-tuple direction].
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template <int N, typename Real>
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class AxisAngle
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{
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public:
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AxisAngle()
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:
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axis(Vector<N, Real>::Zero()),
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angle((Real)0)
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{
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static_assert(N == 3 || N == 4, "Dimension must be 3 or 4.");
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}
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AxisAngle(Vector<N, Real> const& inAxis, Real inAngle)
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:
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axis(inAxis),
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angle(inAngle)
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{
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static_assert(N == 3 || N == 4, "Dimension must be 3 or 4.");
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}
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Vector<N, Real> axis;
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Real angle;
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};
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}
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