class qpoint3d
    {
    public:
        float x;
        float y;
        float z;

        qpoint3d(){x=y=x=0;}
        qpoint3d(float x,float y,float z) : x(x),y(y),z(z){}
    };

    class worldqpoint3d
    {
    public:
        qpoint3d osp;//Object Space qpoint
        qpoint3d wsp;//World Space qpoint

        worldqpoint3d()
        {
        }
        worldqpoint3d(float x,float y,float z) : osp(x,y,z){}
    };

    class worldqpoint3drot:public worldqpoint3d
    {
    public:
        float yaw;
        float pitch;
        float roll;
        worldqpoint3drot()
        {
            yaw=pitch=roll=0;
        }
        worldqpoint3drot(float x,float y,float z,float Yaw,float Pitch,float Roll)
        {
            osp=qpoint3d(x,y,z);
            yaw=Yaw;
            pitch=Pitch;
            roll=Roll;
        }

        void rotate2d(float& X,float& Y,float angle)
        {
            if(angle)  //the same as if(angle!=0)   != means NOT EQUAL
            {
                float NewX=X*cos(angle)-Y*sin(angle);
                float NewY=X*sin(angle)+Y*cos(angle);
                X=NewX;
                Y=NewY;
            }
        }

    };


    class qpointcloud:public worldqpoint3drot
    {
    public:
        CString name;
        vector<worldqpoint3d> qpoints;

        void rotateqpoints()
        {
            for(int i=0;i<qpoints.size();i++)
            {
                rotateqpoint(qpoints[i]);
            }
        }
        qpointcloud(CString Name,float X=0,float Y=0,float Z=0,float Pitch=0,float Yaw=0,float Roll=0)
        {
            name=Name;
            osp.x=X;
            osp.y=Y;
            osp.z=Z;
            pitch=Pitch;
            yaw=Yaw;
            roll=Roll;
        }
    private:
        void rotateqpoint(worldqpoint3d& qPoint)
        {
            qPoint.wsp=qPoint.osp;
            rotate2d(qPoint.wsp.y,qPoint.wsp.z,roll);
            rotate2d(qPoint.wsp.x,qPoint.wsp.z,pitch);
            rotate2d(qPoint.wsp.x,qPoint.wsp.y,yaw);
            qPoint.wsp.x+=wsp.x;
            qPoint.wsp.y+=wsp.y;
            qPoint.wsp.z+=wsp.z;
        }
    };

    class world:public worldqpoint3drot
    {
    private:

        void rotateqpoint(worldqpoint3d& qPoint)
        {
            qPoint.wsp=qPoint.osp;
            rotate2d(qPoint.wsp.x,qPoint.wsp.y,roll);
            rotate2d(qPoint.wsp.y,qPoint.wsp.z,pitch);
            rotate2d(qPoint.wsp.x,qPoint.wsp.z,yaw);
            qPoint.wsp.x-=osp.x;
            qPoint.wsp.y-=osp.y;
            qPoint.wsp.z-=osp.z;
        }


    public:
        vector<qpointcloud> qpoints;
        void rotateqpoints()
        {
            for(int i=0;i<qpoints.size();i++)
            {

                rotateqpoint(qpoints[i]);
                qpoints[i].rotateqpoints();


            }
        }
    };

    world World;