class Updateable
{
	D3DXVECTOR3 Pos,Vel,Omega;	//position vector in world coord, velocity in local coords, angular velocities 

	D3DXMATRIX Axes,T;	//store a matrix for compound rotations, and the final transformation matrix

public:
	Updateable(	float yaw,	float pitch,	float roll,
				float Px,	float Py,		float Pz,
				float Vx,	float Vy,		float Vz,
				float Wx,	float Wy,		float Wz
				);
	void Update();
};

Updateable::Updateable(	float yaw,	float pitch,	float roll,
				float Px,	float Py,		float Pz,
				float Vx,	float Vy,		float Vz,
				float Wx,	float Wy,		float Wz ) : Pos(Px,Py,Pz) , Vel(Vx,Vy,Vz) , Omega(Wx,Wy,Wz)
{
	//set up initial rotations

	D3DXMatrixRotationYawPitchRoll(&Axes,yaw,pitch,roll);
	//Set the Transformation matrix

	D3DXMatrixTranslation(&T,Px,Py,Pz);
	D3DXMatrixMultiply(&T,&Axes,&T);
}

void Updateable::SetVel(float x,float y,float z)
{
	Vel.x=x;	Vel.y=y;	Vel.z=z;
}

void Updateable::SetOmega(float x,float y,float z)
{
	Omega.x=x;	Omega.y=y;	Omega.z=z;
}

void Updateable::Update()
{
	D3DXMATRIX RotateBy;	//how much the model rotates each frame

	D3DXMatrixRotationYawPitchRoll(&RotateBy,Omega.y,Omega.x,Omega.z);
	D3DXMatrixMultiply(&Axes,&Axes,&RotateBy);	//update rotation matrix

	//Axes/=D3DXMatrixfDeterminant(&Axes);	//aim of this: normalise axes vectors?


	D3DXVECTOR3 TranslateBy;	//how much world coords will change by

	D3DXVec3TransformCoord(&TranslateBy,&Vel,&Axes);
	Pos+=TranslateBy;

	//Now build our 4x4 combined 'rotate then translate' matrix

	D3DXMatrixTranslation(&T,Pos.x,Pos.y,Pos.z);
	D3DXMatrixMultiply(&T,&Axes,&T);
}