177 lines
3.6 KiB
C++
177 lines
3.6 KiB
C++
// Copyright (C) 2014 Jérôme Leclercq
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// This file is part of the "Nazara Engine - Mathematics module"
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// For conditions of distribution and use, see copyright notice in Config.hpp
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#include <Nazara/Core/StringStream.hpp>
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#include <Nazara/Math/Basic.hpp>
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#include <Nazara/Math/Config.hpp>
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#include <Nazara/Math/Quaternion.hpp>
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#include <Nazara/Math/Vector3.hpp>
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#include <cstring>
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#include <Nazara/Core/Debug.hpp>
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#define F(a) static_cast<T>(a)
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template<typename T>
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NzEulerAngles<T>::NzEulerAngles(T P, T Y, T R)
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{
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Set(P, Y, R);
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}
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template<typename T>
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NzEulerAngles<T>::NzEulerAngles(const T angles[3])
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{
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Set(angles);
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}
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template<typename T>
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NzEulerAngles<T>::NzEulerAngles(const NzQuaternion<T>& quat)
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{
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Set(quat);
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}
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template<typename T>
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template<typename U>
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NzEulerAngles<T>::NzEulerAngles(const NzEulerAngles<U>& angles)
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{
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Set(angles);
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}
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template<typename T>
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void NzEulerAngles<T>::MakeZero()
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{
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Set(F(0.0), F(0.0), F(0.0));
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}
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template<typename T>
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void NzEulerAngles<T>::Normalize()
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{
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pitch = NzNormalizeAngle(pitch);
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yaw = NzNormalizeAngle(yaw);
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roll = NzNormalizeAngle(roll);
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}
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template<typename T>
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void NzEulerAngles<T>::Set(T P, T Y, T R)
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{
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pitch = P;
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yaw = Y;
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roll = R;
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}
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template<typename T>
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void NzEulerAngles<T>::Set(const T angles[3])
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{
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pitch = angles[0];
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yaw = angles[1];
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roll = angles[2];
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}
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template<typename T>
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void NzEulerAngles<T>::Set(const NzEulerAngles& angles)
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{
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std::memcpy(this, &angles, sizeof(NzEulerAngles));
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}
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template<typename T>
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void NzEulerAngles<T>::Set(const NzQuaternion<T>& quat)
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{
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Set(quat.ToEulerAngles());
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}
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template<typename T>
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template<typename U>
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void NzEulerAngles<T>::Set(const NzEulerAngles<U>& angles)
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{
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pitch = static_cast<T>(angles.pitch);
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yaw = static_cast<T>(angles.yaw);
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roll = static_cast<T>(angles.roll);
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}
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template<typename T>
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NzQuaternion<T> NzEulerAngles<T>::ToQuaternion() const
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{
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NzQuaternion<T> rotX(pitch, NzVector3<T>::UnitX());
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NzQuaternion<T> rotY(yaw, NzVector3<T>::UnitY());
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NzQuaternion<T> rotZ(roll, NzVector3<T>::UnitZ());
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return rotY * rotX * rotZ;
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}
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template<typename T>
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NzString NzEulerAngles<T>::ToString() const
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{
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NzStringStream ss;
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return ss << "EulerAngles(" << pitch << ", " << yaw << ", " << roll << ')';
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}
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template<typename T>
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NzEulerAngles<T> NzEulerAngles<T>::operator+(const NzEulerAngles& angles) const
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{
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return NzEulerAngles(pitch + angles.pitch,
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yaw + angles.yaw,
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roll + angles.roll);
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}
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template<typename T>
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NzEulerAngles<T> NzEulerAngles<T>::operator-(const NzEulerAngles& angles) const
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{
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return NzEulerAngles(pitch - angles.pitch,
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yaw - angles.yaw,
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roll - angles.roll);
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}
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template<typename T>
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NzEulerAngles<T> NzEulerAngles<T>::operator+=(const NzEulerAngles& angles)
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{
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pitch += angles.pitch;
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yaw += angles.yaw;
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roll += angles.roll;
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return *this;
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}
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template<typename T>
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NzEulerAngles<T> NzEulerAngles<T>::operator-=(const NzEulerAngles& angles)
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{
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pitch -= angles.pitch;
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yaw -= angles.yaw;
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roll -= angles.roll;
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return *this;
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}
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template<typename T>
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bool NzEulerAngles<T>::operator==(const NzEulerAngles& angles) const
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{
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return NzNumberEquals(pitch, angles.pitch) &&
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NzNumberEquals(yaw, angles.yaw) &&
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NzNumberEquals(roll, angles.roll);
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}
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template<typename T>
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bool NzEulerAngles<T>::operator!=(const NzEulerAngles& angles) const
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{
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return !operator==(angles);
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}
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template<typename T>
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NzEulerAngles<T> NzEulerAngles<T>::Zero()
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{
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NzEulerAngles angles;
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angles.MakeZero();
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return angles;
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}
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template<typename T>
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std::ostream& operator<<(std::ostream& out, const NzEulerAngles<T>& angles)
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{
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return out << angles.ToString();
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}
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#undef F
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#include <Nazara/Core/DebugOff.hpp>
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