/***************************************************************************************
*****                           CLASS FRAME HEADER                                 *****
****************************************************************************************
** Author: Peter Stuart
** Date:   3/7/98
** Description: This class represents a coordinate frame. The frame is made up of three
**   orthogonal vectors u, v, w, and origin point o. Methods include finding the 
**   matrix to trasform coordinates from frame space to cartesian space, changing
**   orientation and position in both frame and cartesian coordinates, and the 
**   standard relational, assignment, and output stream methods.
**
** Note: All of these graphics classes use a right-handed coordinate system.
**
***************************************************************************************/

#include <stdio.h>
#include "Vector.hpp"
#include "Point.hpp"
#include "Matrix4D.hpp"

#ifndef __GGFRAME__
#define __GGFRAME__

#ifndef FALSE
#define FALSE 0
#endif

#ifndef TRUE
#define TRUE !FALSE
#endif

class Frame 
{
private:
   /* Private Variables:
   _u: vector corresponding to the frame's x axis
   _v: vector corresponding to the frame's y axis
   _w: vector corresponding to the frame's z axis
   _o: point representing the frame's origin
   */

   Vector _u, _v, _w;
   Point  _o;

public:
   // Constructors, Copy Constructor, and Destructor
   Frame (const Vector& u = xVector, const Vector& v = yVector, 
          const Vector& w = zVector, const Point& p = zeroPoint);
   Frame (const Frame&);
   virtual ~Frame (void);
	
   // Assignment operator, relational operators, and output stream
          Frame&    operator =  (const Frame&);
   friend int       operator == (const Frame&, const Frame&);
   friend int       operator != (const Frame&, const Frame&);
   friend ostream&  operator << (ostream&, const Frame&);

   // operations to change frame's orientation
   void   transformFrame (const Matrix4D&);
   void   translateFrame (const double&, const double&, const double&);
   void   rotateFrame (const double&, const double&, const double&);

   // coordinate transformation matrices
   Matrix4D cartTransform(void);
   Matrix4D frameTransform(void);

   // variable access
   Vector u (void) const { return _u; };
   Vector v (void) const { return _v; };
   Vector w (void) const { return _w; };
   Point  o (void) const { return _o; };

   void u (const Vector& vec)  { _u = vec; };
   void v (const Vector& vec)  { _v = vec; };
   void w (const Vector& vec)  { _w = vec; };
   void o (const Point& pt)    { _o = pt; };
};

// common Frame declartation
const Frame cartFrame;

#endif