/**
 *  \file Transformation3D.cpp
 *  \brief Simple 3D transformation class.
 *
 *  Copyright 2007-2013 IMP Inventors. All rights reserved.
 */
#include "IMP/algebra/Transformation3D.h"
#include "IMP/algebra/Transformation2D.h"
#include "IMP/algebra/Sphere3D.h"
#include "IMP/algebra/vector_generators.h"

IMPALGEBRA_BEGIN_NAMESPACE

Transformation3D::~Transformation3D(){}
Transformation3D Transformation3D::get_inverse() const{
  Rotation3D inv_rot = rot_.get_inverse();
  return Transformation3D(inv_rot,-(inv_rot.get_rotated(trans_)));
}

Transformation3D get_transformation_3d(const Transformation2D &t2d) {
  Rotation3D R = get_rotation_from_fixed_zyz(
                          t2d.get_rotation().get_angle(),0.0,0.0);
  Vector3D t(t2d.get_translation()[0],t2d.get_translation()[1],0);
  return Transformation3D(R,t);
}
Transformation3D get_random_local_transformation(Vector3D origin,
                       double max_translation,
                       double max_angle_in_rad) {
  algebra::Vector3D translation
    = algebra::get_random_vector_in(algebra::Sphere3D(algebra::Vector3D(0,0,0),
                                                      max_translation));
  algebra::Vector3D axis =
    algebra::get_random_vector_on(algebra::Sphere3D(origin,1.));
  ::boost::uniform_real<> rand(-max_angle_in_rad,
                               max_angle_in_rad);
  Float angle =rand(base::random_number_generator);
  algebra::Rotation3D r
    = algebra::get_rotation_about_axis(axis, angle);
  return algebra::Transformation3D(r, translation);
}


IMPALGEBRA_END_NAMESPACE