rotmat.h

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/*
  Copyright (c) Mircea Neacsu (2014-2025) Licensed under MIT License.
  This file is part of MLIB project. See LICENSE file for full license terms.
*/

 
#pragma once
 
#if __has_include("defs.h")
#include "defs.h"
#endif
 
namespace mlib {

class RotMat
{
public:
  RotMat ();

  RotMat (double rx, double ry, double rz);

  void x_rotation (double angle);

  void y_rotation (double angle);

  void z_rotation (double angle);

  void rotate (double& x, double& y, double& z) const;

  void rotate (double* vec) const;

  double (&matrix ())[3][3];
 
private:
  double r[3][3];
  void multiply (double m[3][3]);
};
 
inline double (&RotMat::matrix ())[3][3]
{
  return r;
}
 
} // namespace mlib