LGram16
dd97ddec92
Move git root from Client/ to src/ to track all source code: - Client: Game client source (moved to Client/Client/) - Server: Game server source - GameTools: Development tools - CryptoSource: Encryption utilities - database: Database scripts - Script: Game scripts - rylCoder_16.02.2008_src: Legacy coder tools - GMFont, Game: Additional resources 🤖 Generated with [Claude Code](https://claude.com/claude-code) Co-Authored-By: Claude <noreply@anthropic.com>
76 lines
3.5 KiB
C
76 lines
3.5 KiB
C
/**** EulerAngles.h - Support for 24 angle schemes ****/
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/* Ken Shoemake, 1993 */
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#ifndef _H_EulerAngles
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#define _H_EulerAngles
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#include "quaternion.h"
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#include "matrix.h"
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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(0,EulParEven,EulRepNo,EulFrmS)
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#define EulOrdXYXs EulOrd(0,EulParEven,EulRepYes,EulFrmS)
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#define EulOrdXZYs EulOrd(0,EulParOdd,EulRepNo,EulFrmS)
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#define EulOrdXZXs EulOrd(0,EulParOdd,EulRepYes,EulFrmS)
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#define EulOrdYZXs EulOrd(1,EulParEven,EulRepNo,EulFrmS)
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#define EulOrdYZYs EulOrd(1,EulParEven,EulRepYes,EulFrmS)
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#define EulOrdYXZs EulOrd(1,EulParOdd,EulRepNo,EulFrmS)
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#define EulOrdYXYs EulOrd(1,EulParOdd,EulRepYes,EulFrmS)
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#define EulOrdZXYs EulOrd(2,EulParEven,EulRepNo,EulFrmS)
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#define EulOrdZXZs EulOrd(2,EulParEven,EulRepYes,EulFrmS)
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#define EulOrdZYXs EulOrd(2,EulParOdd,EulRepNo,EulFrmS)
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#define EulOrdZYZs EulOrd(2,EulParOdd,EulRepYes,EulFrmS)
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/* Rotating axes */
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#define EulOrdZYXr EulOrd(0,EulParEven,EulRepNo,EulFrmR)
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#define EulOrdXYXr EulOrd(0,EulParEven,EulRepYes,EulFrmR)
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#define EulOrdYZXr EulOrd(0,EulParOdd,EulRepNo,EulFrmR)
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#define EulOrdXZXr EulOrd(0,EulParOdd,EulRepYes,EulFrmR)
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#define EulOrdXZYr EulOrd(1,EulParEven,EulRepNo,EulFrmR)
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#define EulOrdYZYr EulOrd(1,EulParEven,EulRepYes,EulFrmR)
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#define EulOrdZXYr EulOrd(1,EulParOdd,EulRepNo,EulFrmR)
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#define EulOrdYXYr EulOrd(1,EulParOdd,EulRepYes,EulFrmR)
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#define EulOrdYXZr EulOrd(2,EulParEven,EulRepNo,EulFrmR)
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#define EulOrdZXZr EulOrd(2,EulParEven,EulRepYes,EulFrmR)
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#define EulOrdXYZr EulOrd(2,EulParOdd,EulRepNo,EulFrmR)
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#define EulOrdZYZr EulOrd(2,EulParOdd,EulRepYes,EulFrmR)
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quaternion Eul_(float ai, float aj, float ah, int order);
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quaternion Eul_ToQuat(quaternion ea);
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void Eul_ToMatrix(quaternion ea, matrix M);
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quaternion Eul_FromMatrix(matrix M, int order);
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quaternion Eul_FromQuat(quaternion q, int order);
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#endif
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