// %flair:license{
// This file is part of the Flair framework distributed under the
// CECILL-C License, Version 1.0.
// %flair:license}
//  created:    2013/04/17
//  filename:   OneAxisRotation_impl.cpp
//
//  author:     Guillaume Sanahuja
//              Copyright Heudiasyc UMR UTC/CNRS 7253
//
//  version:    $Id: $
//
//  purpose:    objet integrant pour une rotation sur un axe
//
//
/*********************************************************************/

#include "OneAxisRotation_impl.h"
#include "GroupBox.h"
#include "ComboBox.h"
#include "DoubleSpinBox.h"
#include <Vector3D.h>
#include <Euler.h>
#include <Quaternion.h>

using std::string;
using namespace flair::core;
using namespace flair::gui;

OneAxisRotation_impl::OneAxisRotation_impl(GroupBox* box)
{
    rot_value=new DoubleSpinBox(box->NewRow(),"value"," deg",-180.,180.,10.,1);
    rot_axe=new ComboBox(box->LastRowLastCol(),"axis");
    rot_axe->AddItem("x");
    rot_axe->AddItem("y");
    rot_axe->AddItem("z");
}

OneAxisRotation_impl::~OneAxisRotation_impl()
{

}

//compute rotation of each axis through ComputeRotation(Vector3D& vector)
void OneAxisRotation_impl::ComputeRotation(Quaternion& quat) const {
    Vector3D rot=Vector3D(quat.q1,quat.q2,quat.q3);
    ComputeRotation(rot);
    quat.q1=rot.x;
    quat.q2=rot.y;
    quat.q3=rot.z;
}

void OneAxisRotation_impl::ComputeRotation(RotationMatrix& matrix) const {
printf("not yet implemented\n");
}

//on utilise la rotation d'un vector pour faire une rotation de repere
//d'ou le signe negatif
void OneAxisRotation_impl::ComputeRotation(Vector3D& vector) const
{
    switch(rot_axe->CurrentIndex())
    {
        case 0:
            vector.RotateXDeg(-rot_value->Value());
            break;
        case 1:
            vector.RotateYDeg(-rot_value->Value());
            break;
        case 2:
            vector.RotateZDeg(-rot_value->Value());
            break;
    }
}

void OneAxisRotation_impl::ComputeRotation(Euler& euler) const
{
    Quaternion quat;
    euler.ToQuaternion(quat);
    ComputeRotation(quat);
    quat.ToEuler(euler);
}