﻿// [[[[INFO>
// Copyright 2015 Epicycle (http://epicycle.org, https://github.com/open-epicycle)
// 
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
// 
//     http://www.apache.org/licenses/LICENSE-2.0
// 
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
// 
// For more information check https://github.com/open-epicycle/Epicycle.Math-cs
// ]]]]

using Epicycle.Commons;
using Epicycle.Math.LinearAlgebra;

namespace Epicycle.Math.Geometry.Differential
{
    public sealed class Rotation2Manifold : IManifold
    {
        public int Dimension
        {
            get { return 1; }
        }

        public IManifoldPoint Translate(IManifoldPoint point, OVector tangentVector)
        {
            ArgAssert.Equal(tangentVector.Dimension, "tangentVector.Dimension", 1, "1");

            return (Rotation2)point * new Rotation2(tangentVector[0]);
        }

        public OVector GetTranslation(IManifoldPoint to, IManifoldPoint from)
        {
            return new Vector((((Rotation2)from).Inv * (Rotation2)to).Angle);
        }
    }
}
