42 lines
2.0 KiB
C++
42 lines
2.0 KiB
C++
/** \file sr_euler.h
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* euler angles tools */
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# ifndef SR_EULER_H
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# define SR_EULER_H
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//================================ Angles from Mat ================================
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class SrMat;
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/*! Extract from the rotation matrix m the x,y,z Euler angles,
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assuming they were encoded in m in the given order.
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Parameter order should be: 123 for XYZ, 132 for XZY, etc.
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The other sr_euler_angles* functions are similar, but specific to the desired order. */
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void sr_euler_angles ( int order, const SrMat& m, float& rx, float& ry, float& rz );
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void sr_euler_angles_xyz ( const SrMat& m, float& rx, float& ry, float& rz );
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void sr_euler_angles_xzy ( const SrMat& m, float& rx, float& ry, float& rz );
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void sr_euler_angles_yxz ( const SrMat& m, float& rx, float& ry, float& rz );
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void sr_euler_angles_yzx ( const SrMat& m, float& rx, float& ry, float& rz );
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void sr_euler_angles_zxy ( const SrMat& m, float& rx, float& ry, float& rz );
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void sr_euler_angles_zyx ( const SrMat& m, float& rx, float& ry, float& rz );
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//================================ Mat from Angles ================================
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/*! Set the rotation matrix m according to the given x,y,z Euler angles.
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Parameter order should be: 123 for XYZ, 132 for XZY, etc.
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Note: the 4th line and column of m are not changed.
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The other sr_euler_mat* functions are similar, but specific to the desired order. */
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void sr_euler_mat ( int order, SrMat& m, float rx, float ry, float rz );
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void sr_euler_mat_xyz ( SrMat& m, float rx, float ry, float rz );
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void sr_euler_mat_xzy ( SrMat& m, float rx, float ry, float rz );
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void sr_euler_mat_yxz ( SrMat& m, float rx, float ry, float rz );
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void sr_euler_mat_yzx ( SrMat& m, float rx, float ry, float rz );
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void sr_euler_mat_zxy ( SrMat& m, float rx, float ry, float rz );
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void sr_euler_mat_zyx ( SrMat& m, float rx, float ry, float rz );
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//============================== end of file ===============================
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# endif // SR_EULER_H
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