#ifndef COIN_SBROTATION_H
#define COIN_SBROTATION_H

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 * Copyright (c) Kongsberg Oil & Gas Technologies AS
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 * Redistributions of source code must retain the above copyright notice,
 * this list of conditions and the following disclaimer.
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 * this software without specific prior written permission.
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\**************************************************************************/

#include <cstdio>
#include <Inventor/SbVec4f.h>
#include <Inventor/SbString.h>

class SbMatrix;
class SbVec3f;

class COIN_DLL_API SbRotation {
public:
  SbRotation(void);
  SbRotation(const SbVec3f & axis, const float radians);
  SbRotation(const float q[4]);
  SbRotation(const float q0, const float q1, const float q2, const float q3);
  SbRotation(const SbMatrix & m);
  SbRotation(const SbVec3f & rotateFrom, const SbVec3f & rotateTo);
  const float * getValue(void) const;
  void getValue(float & q0, float & q1, float & q2, float & q3) const;
  SbRotation & setValue(const float q0, const float q1,
                        const float q2, const float q3);
  void getValue(SbVec3f & axis, float & radians) const;
  void getValue(SbMatrix & matrix) const;
  SbRotation & invert(void);
  SbRotation inverse(void) const;
  SbRotation & setValue(const float q[4]);
  SbRotation & setValue(const SbMatrix & m);
  SbRotation & setValue(const SbVec3f & axis, const float radians);
  SbRotation & setValue(const SbVec3f & rotateFrom, const SbVec3f & rotateTo);
  SbRotation & operator*=(const SbRotation & q);
  SbRotation & operator*=(const float s);
  friend COIN_DLL_API int operator==(const SbRotation & q1, const SbRotation & q2);
  friend COIN_DLL_API int operator!=(const SbRotation & q1, const SbRotation & q2);
  float operator[] (int n) const;

  SbBool equals(const SbRotation & r, float tolerance) const;
  friend COIN_DLL_API SbRotation operator *(const SbRotation & q1, const SbRotation & q2);
  void multVec(const SbVec3f & src, SbVec3f & dst) const;

  void scaleAngle(const float scaleFactor);
  static SbRotation slerp(const SbRotation & rot0, const SbRotation & rot1,
                          float t);
  static SbRotation identity(void);

  SbString toString() const;
  SbBool fromString(const SbString & str);

  void print(FILE * fp) const;

private:
  SbVec4f quat;
};

COIN_DLL_API int operator ==(const SbRotation & q1, const SbRotation & q2);
COIN_DLL_API int operator !=(const SbRotation & q1, const SbRotation & q2);
COIN_DLL_API SbRotation operator *(const SbRotation & q1, const SbRotation & q2);

inline float SbRotation::operator[](int n) const
{
  //Any limit checking is delegated to SbVec4f
  return quat[n];
}

#endif // !COIN_SBROTATION_H
