/*************************************************************************

 *                                                                       *

 * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *

 * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *

 *                                                                       *

 * This library is free software; you can redistribute it and/or         *

 * modify it under the terms of EITHER:                                  *

 *   (1) The GNU Lesser General Public License as published by the Free  *

 *       Software Foundation; either version 2.1 of the License, or (at  *

 *       your option) any later version. The text of the GNU Lesser      *

 *       General Public License is included with this library in the     *

 *       file LICENSE.TXT.                                               *

 *   (2) The BSD-style license that is included with this library in     *

 *       the file LICENSE-BSD.TXT.                                       *

 *                                                                       *

 * This library is distributed in the hope that it will be useful,       *

 * but WITHOUT ANY WARRANTY; without even the implied warranty of        *

 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *

 * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *

 *                                                                       *

 *************************************************************************/

#ifndef _ODE_ROTATION_H_

#define _ODE_ROTATION_H_

#include <ode/common.h>

#include <ode/compatibility.h>

#ifdef __cplusplus

extern "C" {

#endif

ODE_API IMPORT_C void dRSetIdentity (dMatrix3 R);

ODE_API IMPORT_C void dRFromAxisAndAngle (dMatrix3 R, dReal ax, dReal ay, dReal az,

			 dReal angle);

ODE_API IMPORT_C void dRFromEulerAngles (dMatrix3 R, dReal phi, dReal theta, dReal psi);

ODE_API IMPORT_C void dRFrom2Axes (dMatrix3 R, dReal ax, dReal ay, dReal az,

		  dReal bx, dReal by, dReal bz);

ODE_API IMPORT_C void dRFromZAxis (dMatrix3 R, dReal ax, dReal ay, dReal az);

ODE_API IMPORT_C void dQSetIdentity (dQuaternion q);

ODE_API IMPORT_C void dQFromAxisAndAngle (dQuaternion q, dReal ax, dReal ay, dReal az,

			 dReal angle);

/* Quaternion multiplication, analogous to the matrix multiplication routines. */

/* qa = rotate by qc, then qb */

ODE_API IMPORT_C void dQMultiply0 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc);

/* qa = rotate by qc, then by inverse of qb */

ODE_API IMPORT_C void dQMultiply1 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc);

/* qa = rotate by inverse of qc, then by qb */

ODE_API IMPORT_C void dQMultiply2 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc);

/* qa = rotate by inverse of qc, then by inverse of qb */

ODE_API IMPORT_C void dQMultiply3 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc);

ODE_API IMPORT_C void dRfromQ (dMatrix3 R, const dQuaternion q);

ODE_API IMPORT_C void dQfromR (dQuaternion q, const dMatrix3 R);

ODE_API IMPORT_C void dDQfromW (dReal dq[4], const dVector3 w, const dQuaternion q);

#ifdef __cplusplus

}

#endif

#endif