101 lines
2.5 KiB
C
101 lines
2.5 KiB
C
#ifndef _BASIC_GEOMETRY_ROTATION3_H_
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#define _BASIC_GEOMETRY_ROTATION3_H_
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#include "basis.h"
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#include "angle.h"
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#include "vector3.h"
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typedef struct {
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vector3_fp32_t axis;
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float radians;
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} rotation3_fp32_t;
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typedef struct {
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vector3_fp64_t axis;
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double radians;
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} rotation3_fp64_t;
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extern const rotation3_fp32_t FP32_IDLE_ROTATION3;
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extern const rotation3_fp64_t FP64_IDLE_ROTATION3;
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// =================== Reset ==================== //
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inline void fp32_rotation_reset(rotation3_fp32_t* rotation)
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{
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rotation->axis.x1 = 0.0f;
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rotation->axis.x2 = 0.0f;
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rotation->axis.x3 = 0.0f;
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rotation->radians = 0.0f;
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}
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inline void fp64_rotation_reset(rotation3_fp64_t* rotation)
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{
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rotation->axis.x1 = 0.0;
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rotation->axis.x2 = 0.0;
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rotation->axis.x3 = 0.0;
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rotation->radians = 0.0;
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}
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// ==================== Make ==================== //
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inline void fp32_rotation_set_values(const float x1, const float x2, const float x3, const float angle, const angle_unit_t unit, rotation3_fp32_t* rotation)
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{
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rotation->axis.x1 = x1;
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rotation->axis.x2 = x2;
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rotation->axis.x3 = x3;
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if (vector3_normalize_fp32(&rotation->axis)) {
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rotation->radians = fp32_angle_to_radians(angle, unit);
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}
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else {
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rotation->radians = 0.0f;
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}
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}
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inline void fp64_rotation_set_values(const double x1, const double x2, const double x3, const double angle, const angle_unit_t unit, rotation3_fp64_t* rotation)
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{
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rotation->axis.x1 = x1;
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rotation->axis.x2 = x2;
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rotation->axis.x3 = x3;
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if (vector3_normalize_fp64(&rotation->axis)) {
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rotation->radians = fp64_angle_to_radians(angle, unit);
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}
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else {
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rotation->radians = 0.0;
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}
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}
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inline void fp32_rotation_set_with_axis(const vector3_fp32_t* axis, const float angle, const angle_unit_t unit, rotation3_fp32_t* rotation)
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{
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rotation->axis.x1 = axis->x1;
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rotation->axis.x2 = axis->x2;
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rotation->axis.x3 = axis->x3;
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if (vector3_normalize_fp32(&rotation->axis)) {
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rotation->radians = fp32_angle_to_radians(angle, unit);
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}
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else {
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rotation->radians = 0.0f;
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}
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}
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inline void fp64_rotation_set_with_axis(const vector3_fp64_t* axis, const double angle, const angle_unit_t unit, rotation3_fp64_t* rotation)
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{
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rotation->axis.x1 = axis->x1;
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rotation->axis.x2 = axis->x2;
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rotation->axis.x3 = axis->x3;
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if (vector3_normalize_fp64(&rotation->axis)) {
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rotation->radians = fp64_angle_to_radians(angle, unit);
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}
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else {
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rotation->radians = 0.0;
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}
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}
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#endif
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