GEEKING

Network/include/network/CompactCFrame.h

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+#pragma once
+
+#include "Util/Math.h"
+
+namespace RBX
+{
+	class CompactCFrame
+	{
+		Vector3 rotationaxis;
+		float   rotationangle; // angle is always positive.
+	public:
+		Vector3 translation;
+
+		CompactCFrame()
+			: rotationangle(0)
+		{}
+		CompactCFrame(const CoordinateFrame& cframe)
+			: translation(cframe.translation)
+		{ 
+			cframe.rotation.toAxisAngle(rotationaxis, rotationangle);
+			RBXASSERT(!Math::hasNanOrInf(rotationaxis));
+			RBXASSERT(!Math::isNanInf(rotationangle));
+		}
+
+		CompactCFrame(const Vector3& translation, const Vector3& axisAngle)
+			: translation(translation)
+			, rotationaxis(axisAngle)
+		{ 
+			rotationangle = rotationaxis.unitize();
+			RBXASSERT(!Math::hasNanOrInf(rotationaxis));
+			RBXASSERT(!Math::isNanInf(rotationangle));
+		}
+
+		CompactCFrame(const Vector3& translation, const Vector3& axis, float angle)
+			: translation(translation)
+		{
+			setAxisAngle(axis, angle);
+			RBXASSERT(!Math::hasNanOrInf(rotationaxis));
+			RBXASSERT(!Math::isNanInf(rotationangle));
+		}
+
+		void setAxisAngle(const Vector3& axis, float angle)
+		{
+			// enforce angle > 0.
+			if(angle >= 0)
+			{
+				rotationaxis = axis;
+				rotationangle = angle;
+			}
+			else
+			{
+				rotationaxis = axis * -1.0f;
+				rotationangle = -angle;
+			}
+		}
+
+		CoordinateFrame getCFrame() const
+		{
+			CoordinateFrame answer(Matrix3::fromAxisAngleFast(rotationaxis, rotationangle), translation);
+			RBXASSERT(!Math::hasNanOrInf(answer));
+			return answer;
+		}
+
+		Vector3 getAxisAngle() const
+		{
+			return rotationaxis * rotationangle;
+		}
+
+		const Vector3& getAxis() const
+		{
+			return rotationaxis;
+		}
+
+		float getAngle() const
+		{
+			return rotationangle;
+		}
+
+	};
+}