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117 lines
4.8 KiB
117 lines
4.8 KiB
14 years ago
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/*==LICENSE==*
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CyanWorlds.com Engine - MMOG client, server and tools
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Copyright (C) 2011 Cyan Worlds, Inc.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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You can contact Cyan Worlds, Inc. by email legal@cyan.com
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or by snail mail at:
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Cyan Worlds, Inc.
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14617 N Newport Hwy
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Mead, WA 99021
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*==LICENSE==*/
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#ifndef HS_EULER_inc
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#define HS_EULER_inc
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#include "hsGeometry3.h"
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//
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//////////////////////////////////////////////////////////////////////////
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// EULER STUFF
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// See Gems IV, Ken Shoemake
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//////////////////////////////////////////////////////////////////////////
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//
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/*** Order type constants, constructors, extractors ***/
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/* There are 24 possible conventions, designated by: */
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/* o EulAxI = axis used initially */
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/* o EulPar = parity of axis permutation */
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/* o EulRep = repetition of initial axis as last */
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/* o EulFrm = frame from which axes are taken */
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/* Axes I,J,K will be a permutation of X,Y,Z. */
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/* Axis H will be either I or K, depending on EulRep. */
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/* Frame S takes axes from initial static frame. */
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/* If ord = (AxI=X, Par=Even, Rep=No, Frm=S), then */
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/* {a,b,c,ord} means Rz(c)Ry(b)Rx(a), where Rz(c)v */
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/* rotates v around Z by c radians. */
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#define EulFrmS 0
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#define EulFrmR 1
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#define EulFrm(ord) ((unsigned)(ord)&1)
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#define EulRepNo 0
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#define EulRepYes 1
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#define EulRep(ord) (((unsigned)(ord)>>1)&1)
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#define EulParEven 0
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#define EulParOdd 1
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#define EulPar(ord) (((unsigned)(ord)>>2)&1)
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#define EulSafe "\000\001\002\000"
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#define EulNext "\001\002\000\001"
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#define EulAxI(ord) ((int)(EulSafe[(((unsigned)(ord)>>3)&3)]))
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#define EulAxJ(ord) ((int)(EulNext[EulAxI(ord)+(EulPar(ord)==EulParOdd)]))
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#define EulAxK(ord) ((int)(EulNext[EulAxI(ord)+(EulPar(ord)!=EulParOdd)]))
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#define EulAxH(ord) ((EulRep(ord)==EulRepNo)?EulAxK(ord):EulAxI(ord))
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/* EulGetOrd unpacks all useful information about order simultaneously. */
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#define EulGetOrd(ord,i,j,k,h,n,s,f) {unsigned o=ord;f=o&1;o>>=1;s=o&1;o>>=1;\
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n=o&1;o>>=1;i=EulSafe[o&3];j=EulNext[i+n];k=EulNext[i+1-n];h=s?k:i;}
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/* EulOrd creates an order value between 0 and 23 from 4-tuple choices. */
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#define EulOrd(i,p,r,f) (((((((i)<<1)+(p))<<1)+(r))<<1)+(f))
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/* Static axes */
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#define EulOrdXYZs EulOrd(X,EulParEven,EulRepNo,EulFrmS)
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#define EulOrdXYXs EulOrd(X,EulParEven,EulRepYes,EulFrmS)
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#define EulOrdXZYs EulOrd(X,EulParOdd,EulRepNo,EulFrmS)
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#define EulOrdXZXs EulOrd(X,EulParOdd,EulRepYes,EulFrmS)
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#define EulOrdYZXs EulOrd(Y,EulParEven,EulRepNo,EulFrmS)
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#define EulOrdYZYs EulOrd(Y,EulParEven,EulRepYes,EulFrmS)
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#define EulOrdYXZs EulOrd(Y,EulParOdd,EulRepNo,EulFrmS)
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#define EulOrdYXYs EulOrd(Y,EulParOdd,EulRepYes,EulFrmS)
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#define EulOrdZXYs EulOrd(Z,EulParEven,EulRepNo,EulFrmS)
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#define EulOrdZXZs EulOrd(Z,EulParEven,EulRepYes,EulFrmS)
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#define EulOrdZYXs EulOrd(Z,EulParOdd,EulRepNo,EulFrmS)
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#define EulOrdZYZs EulOrd(Z,EulParOdd,EulRepYes,EulFrmS)
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/* Rotating axes */
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#define EulOrdZYXr EulOrd(X,EulParEven,EulRepNo,EulFrmR)
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#define EulOrdXYXr EulOrd(X,EulParEven,EulRepYes,EulFrmR)
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#define EulOrdYZXr EulOrd(X,EulParOdd,EulRepNo,EulFrmR)
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#define EulOrdXZXr EulOrd(X,EulParOdd,EulRepYes,EulFrmR)
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#define EulOrdXZYr EulOrd(Y,EulParEven,EulRepNo,EulFrmR)
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#define EulOrdYZYr EulOrd(Y,EulParEven,EulRepYes,EulFrmR)
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#define EulOrdZXYr EulOrd(Y,EulParOdd,EulRepNo,EulFrmR)
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#define EulOrdYXYr EulOrd(Y,EulParOdd,EulRepYes,EulFrmR)
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#define EulOrdYXZr EulOrd(Z,EulParEven,EulRepNo,EulFrmR)
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#define EulOrdZXZr EulOrd(Z,EulParEven,EulRepYes,EulFrmR)
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#define EulOrdXYZr EulOrd(Z,EulParOdd,EulRepNo,EulFrmR)
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#define EulOrdZYZr EulOrd(Z,EulParOdd,EulRepYes,EulFrmR)
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struct hsMatrix44;
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class hsQuat;
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class hsEuler
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{
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public:
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hsScalar fX,fY,fZ;
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UInt32 fOrder;
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hsEuler(hsScalar ai, hsScalar aj, hsScalar ah, UInt32 order) : fX(ai),fY(aj),fZ(ah),fOrder(order) {}
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// getters, converters
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void GetQuat(hsQuat* res );
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void GetMatrix44(hsMatrix44* M);
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// setters, converters
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void SetFromMatrix44(const hsMatrix44* M, UInt32 order);
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void SetFromQuat(const hsQuat* q, UInt32 order);
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};
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#endif // HS_EULER_inc
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