#ifndef BLUECORE_TRANSFORMATION_H
#define BLUECORE_TRANSFORMATION_H

#include "Quaternion.h"
#include "Vector.h"

namespace BlueCore
{
template<class T> class TransformationTemplate
{
  public:

    QuaternionTemplate<T> rotation;
    Vector3Template<T> translation;

    TransformationTemplate()
    {
    }

    template<class S> TransformationTemplate(
        const QuaternionTemplate<S> &rot) :
      rotation(rot)
    {
    }

    template<class S> TransformationTemplate(
        const Vector3Template<S> &trans) :
      translation(trans)
    {
    }

    template<class R, class S> TransformationTemplate(
        const QuaternionTemplate<S> &rot,
        const Vector3Template<S> &trans) :
      rotation(rot), translation(trans)
    {
    }

    template<class S> Vector3Template<T> transform(const Vector3Template<S> &v)
    {
      return rotation.apply(v) + translation;
    }
};

typedef TransformationTemplate<float> TransformationFloat;
typedef TransformationTemplate<double> TransformationDouble;
typedef TransformationTemplate<Scalar> Transformation;

} // namespace BlueCore

#endif /*TRANSFORMATION_H_*/