// This Source Code Form is subject to the terms of the Mozilla Public
// License, v. 2.0.If a copy of the MPL was not distributed with this
// file, You can obtain one at https ://mozilla.org/MPL/2.0/.

#include "AngleAxis.h"

template <typename T>
AngleAxis<T>::AngleAxis() {
  this->angle = AngleOf<T>();
  this->axis = Direction<T>();
}

template <typename T>
AngleAxis<T>::AngleAxis(AngleOf<T> angle, Direction<T> axis) {
  this->angle = angle;
  this->axis = axis;
}

template <typename T>
AngleAxis<T>::AngleAxis(float angle, Vector3 axis) {
  this->angle = AngleOf<T>(angle);
  this->axis = Direction<T>(axis);
}

template <typename T>
AngleAxis<T>::AngleAxis(Quaternion q) {
  float angle;
  Vector3 axis;
  q.ToAngleAxis(&angle, &axis);
  this->angle = AngleOf<T>(angle);
  this->axis = Direction<T>(axis);
}

template <typename T>
Quaternion AngleAxis<T>::ToQuaternion() {
  Vector3 axisVector = this->axis.ToVector3();
  float angleFloat = this->angle.ToFloat();
  Quaternion q = Quaternion::AngleAxis(angleFloat, axisVector);
  return q;
}

template <typename T>
Direction<T> AngleAxis<T>::GetSwing() {
  return this->axis;
}

template class AngleAxis<float>;
template class AngleAxis<signed short>;