/* 

 * MODULE NAME: rotate.c

 *

 * FUNCTION:

 * This module contains three different routines that compute rotation

 * matricies and load them into GL.

 * Detailed description is provided below.

 *

 * DEPENDENCIES:

 * The routines call GL matrix routines.

 *

 * HISTORY:

 * Developed & written, Linas Vepstas, Septmeber 1991

 * Double precision port, March 1993

 *

 * DETAILED DESCRIPTION:

 * This module contains three routines:

 * --------------------------------------------------------------------

 *

 * void urot_about_axis (float m[4][4],      --- returned

 *                       float angle,        --- input 

 *                       float axis[3])      --- input

 * Computes a rotation matrix.

 * The rotation is around the the direction specified by the argument

 * argument axis[3].  User may specify vector which is not of unit

 * length.  The angle of rotation is specified in degrees, and is in the

 * right-handed direction.

 *

 * void rot_about_axis (float angle,        --- input 

 *                      float axis[3])      --- input

 * Same as above routine, except that the matrix is multiplied into the

 * GL matrix stack.

 *

 * --------------------------------------------------------------------

 *

 * void urot_axis (float m[4][4],      --- returned

 *                 float omega,        --- input

 *                 float axis[3])      --- input

 * Same as urot_about_axis(), but angle specified in radians.

 * It is assumed that the argument axis[3] is a vector of unit length.

 * If it is not of unit length, the returned matrix will not be correct.

 *

 * void rot_axis (float omega,        --- input

 *                float axis[3])      --- input

 * Same as above routine, except that the matrix is multiplied into the

 * GL matrix stack.

 *

 * --------------------------------------------------------------------

 *

 * void urot_omega (float m[4][4],       --- returned

 *                  float omega[3])      --- input

 * same as urot_axis(), but the angle is taken as the length of the

 * vector omega[3]

 *

 * void rot_omega (float omega[3])      --- input

 * Same as above routine, except that the matrix is multiplied into the

 * GL matrix stack.

 *

 * --------------------------------------------------------------------

 */

#ifdef __APPLE__

#include "gle_osx.h"

#endif

#include "gutil.h"

#include "port.h"

/* ========================================================== */

#ifdef __GUTIL_DOUBLE

void rot_axis_d (double omega,      /* input */

               double axis[3])      /* input */

{

   double m[4][4];

   (void) urot_axis_d (m, omega, axis);

   MULTMATRIX_D (m);

}

#else 

void rot_axis_f (float omega,       /* input */

               float axis[3])       /* input */

{

   float m[4][4];

   (void) urot_axis_f (m, omega, axis);

   MULTMATRIX_F (m);

}

#endif 

/* ========================================================== */

#ifdef __GUTIL_DOUBLE

void rot_about_axis_d (double angle,        /* input */

                       double axis[3])      /* input */

{

   double m[4][4];

   (void) urot_about_axis_d (m, angle, axis);

   MULTMATRIX_D (m);

}

#else

void rot_about_axis_f (float angle,         /* input */

                       float axis[3])       /* input */

{

   float m[4][4];

   (void) urot_about_axis_f (m, angle, axis);

   MULTMATRIX_F (m);

}

#endif

/* ========================================================== */

#ifdef __GUTIL_DOUBLE

void rot_omega_d (double axis[3])       /* input */

{

   double m[4][4];

   (void) urot_omega_d (m, axis);

   MULTMATRIX_D(m);

}

#else

void rot_omega_f (float axis[3])        /* input */

{

   float m[4][4];

   (void) urot_omega_f (m, axis);

   MULTMATRIX_F(m);

}

#endif

/* ========================================================== */