/** \file sr_euler.h 
 * euler angles tools */

# ifndef SR_EULER_H
# define SR_EULER_H

//================================ Angles from Mat ================================

class SrMat;

/*! Extract from the rotation matrix m the x,y,z Euler angles, 
    assuming they were encoded in m in the given order.
    Parameter order should be: 123 for XYZ, 132 for XZY, etc.
    The other sr_euler_angles* functions are similar, but specific to the desired order. */
void sr_euler_angles ( int order, const SrMat& m, float& rx, float& ry, float& rz );

void sr_euler_angles_xyz ( const SrMat& m, float& rx, float& ry, float& rz );
void sr_euler_angles_xzy ( const SrMat& m, float& rx, float& ry, float& rz );
void sr_euler_angles_yxz ( const SrMat& m, float& rx, float& ry, float& rz );
void sr_euler_angles_yzx ( const SrMat& m, float& rx, float& ry, float& rz );
void sr_euler_angles_zxy ( const SrMat& m, float& rx, float& ry, float& rz );
void sr_euler_angles_zyx ( const SrMat& m, float& rx, float& ry, float& rz );

//================================ Mat from Angles ================================
    
/*! Set the rotation matrix m according to the given x,y,z Euler angles.
    Parameter order should be: 123 for XYZ, 132 for XZY, etc.
    Note: the 4th line and column of m are not changed.
    The other sr_euler_mat* functions are similar, but specific to the desired order. */
void sr_euler_mat ( int order, SrMat& m, float rx, float ry, float rz );

void sr_euler_mat_xyz ( SrMat& m, float rx, float ry, float rz );
void sr_euler_mat_xzy ( SrMat& m, float rx, float ry, float rz );
void sr_euler_mat_yxz ( SrMat& m, float rx, float ry, float rz );
void sr_euler_mat_yzx ( SrMat& m, float rx, float ry, float rz );
void sr_euler_mat_zxy ( SrMat& m, float rx, float ry, float rz );
void sr_euler_mat_zyx ( SrMat& m, float rx, float ry, float rz );

//============================== end of file ===============================

# endif // SR_EULER_H