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src/Source/OpenEXR/Imath/ImathEuler.h  view on Meta::CPAN

	//
	//  All 24 possible orderings
	//

	XYZ	= 0x0101,	// "usual" orderings
	XZY	= 0x0001,
	YZX	= 0x1101,
	YXZ	= 0x1001,
	ZXY	= 0x2101,
	ZYX	= 0x2001,
	
	XZX	= 0x0011,	// first axis repeated
	XYX	= 0x0111,
	YXY	= 0x1011,
	YZY	= 0x1111,
	ZYZ	= 0x2011,
	ZXZ	= 0x2111,

	XYZr	= 0x2000,	// relative orderings -- not common
	XZYr	= 0x2100,
	YZXr	= 0x1000,
	YXZr	= 0x1100,
	ZXYr	= 0x0000,
	ZYXr	= 0x0100,
	
	XZXr	= 0x2110,	// relative first axis repeated 
	XYXr	= 0x2010,
	YXYr	= 0x1110,
	YZYr	= 0x1010,
	ZYZr	= 0x0110,
	ZXZr	= 0x0010,
	//          ||||
	//          VVVV
	//  Legend: ABCD
	//  A -> Initial Axis (0==x, 1==y, 2==z)
	//  B -> Parity Even (1==true)
	//  C -> Initial Repeated (1==true)
	//  D -> Frame Static (1==true)
	//

	Legal	=   XYZ | XZY | YZX | YXZ | ZXY | ZYX |
		    XZX | XYX | YXY | YZY | ZYZ | ZXZ |
		    XYZr| XZYr| YZXr| YXZr| ZXYr| ZYXr|
		    XZXr| XYXr| YXYr| YZYr| ZYZr| ZXZr,

	Min	= 0x0000,
	Max	= 0x2111,
	Default	= XYZ
    };

    enum Axis { X = 0, Y = 1, Z = 2 };

    enum InputLayout { XYZLayout, IJKLayout };

    //--------------------------------------------------------------------
    //	Constructors -- all default to ZYX non-relative ala softimage
    //			(where there is no argument to specify it)
    //
    // The Euler-from-matrix constructors assume that the matrix does
    // not include shear or non-uniform scaling, but the constructors
    // do not examine the matrix to verify this assumption.  If necessary,
    // you can adjust the matrix by calling the removeScalingAndShear()
    // function, defined in ImathMatrixAlgo.h.
    //--------------------------------------------------------------------

    Euler();
    Euler(const Euler&);
    Euler(Order p);
    Euler(const Vec3<T> &v, Order o = Default, InputLayout l = IJKLayout);
    Euler(T i, T j, T k, Order o = Default, InputLayout l = IJKLayout);
    Euler(const Euler<T> &euler, Order newp);
    Euler(const Matrix33<T> &, Order o = Default);
    Euler(const Matrix44<T> &, Order o = Default);

    //---------------------------------
    //  Algebraic functions/ Operators
    //---------------------------------

    const Euler<T>&	operator=  (const Euler<T>&);
    const Euler<T>&	operator=  (const Vec3<T>&);

    //--------------------------------------------------------
    //	Set the euler value
    //  This does NOT convert the angles, but setXYZVector() 
    //	does reorder the input vector.
    //--------------------------------------------------------

    static bool		legal(Order);

    void		setXYZVector(const Vec3<T> &);

    Order		order() const;
    void		setOrder(Order);

    void		set(Axis initial,
			    bool relative,
			    bool parityEven,
			    bool firstRepeats);

    //------------------------------------------------------------
    //	Conversions, toXYZVector() reorders the angles so that
    //  the X rotation comes first, followed by the Y and Z
    //  in cases like XYX ordering, the repeated angle will be
    //	in the "z" component
    //
    // The Euler-from-matrix extract() functions assume that the
    // matrix does not include shear or non-uniform scaling, but
    // the extract() functions do not examine the matrix to verify
    // this assumption.  If necessary, you can adjust the matrix
    // by calling the removeScalingAndShear() function, defined
    // in ImathMatrixAlgo.h.
    //------------------------------------------------------------

    void		extract(const Matrix33<T>&);
    void		extract(const Matrix44<T>&);
    void		extract(const Quat<T>&);

    Matrix33<T>		toMatrix33() const;
    Matrix44<T>		toMatrix44() const;
    Quat<T>		toQuat() const;
    Vec3<T>		toXYZVector() const;

    //---------------------------------------------------
    //	Use this function to unpack angles from ijk form
    //---------------------------------------------------

    void		angleOrder(int &i, int &j, int &k) const;

    //---------------------------------------------------
    //	Use this function to determine mapping from xyz to ijk
    // - reshuffles the xyz to match the order
    //---------------------------------------------------
    
    void		angleMapping(int &i, int &j, int &k) const;

    //----------------------------------------------------------------------
    //
    //  Utility methods for getting continuous rotations. None of these
    //  methods change the orientation given by its inputs (or at least
    //  that is the intent).
    //
    //    angleMod() converts an angle to its equivalent in [-PI, PI]
    //
    //    simpleXYZRotation() adjusts xyzRot so that its components differ
    //                        from targetXyzRot by no more than +-PI
    //
    //    nearestRotation() adjusts xyzRot so that its components differ
    //                      from targetXyzRot by as little as possible.
    //                      Note that xyz here really means ijk, because
    //                      the order must be provided.
    //
    //    makeNear() adjusts "this" Euler so that its components differ
    //               from target by as little as possible. This method
    //               might not make sense for Eulers with different order
    //               and it probably doesn't work for repeated axis and
    //               relative orderings (TODO).
    //
    //-----------------------------------------------------------------------

    static float	angleMod (T angle);
    static void		simpleXYZRotation (Vec3<T> &xyzRot,
					   const Vec3<T> &targetXyzRot);
    static void		nearestRotation (Vec3<T> &xyzRot,
					 const Vec3<T> &targetXyzRot,
					 Order order = XYZ);

    void		makeNear (const Euler<T> &target);