rotate3d.h

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#pragma once
 
/*  3-D rotation matrix */
 
class Rotation3d: public Resource {
  public:
    Rotation3d();
    virtual ~Rotation3d();
 
    void rotate(float x, float y, float z, float* tr) const;
    void rotate(float* r, float* tr) const;
    void inverse_rotate(float* tr, float* r) const;
 
    void identity();
 
    // relative transformation of the transformation
    void rotate_x(float radians);
    void rotate_y(float radians);
    void rotate_z(float radians);
    void origin(float x, float y, float z);
    void offset(float x, float y);
    void post_multiply(Rotation3d&);
    void x_axis(float& x, float& y) const;
    void y_axis(float& x, float& y) const;
    void z_axis(float& x, float& y) const;
 
  private:
    float a_[3][3];
    float o_[2][3];
};