compat: move from simple-mat.hpp to euler.hpp

4 files changed, 121 insertions, 112 deletions

diff --git a/compat/euler.cpp b/compat/euler.cpp
new file mode 100644
index 00000000..a1034bc9
--- /dev/null
+++ b/compat/euler.cpp
@@ -0,0 +1,96 @@
+#include "euler.hpp"
+#include <cmath>
+
+namespace euler {
+
+euler_t OPENTRACK_COMPAT_EXPORT rmat_to_euler(const rmat& R)
+{
+    using std::atan2;
+    using std::sqrt;
+
+    const double cy = sqrt(R(2,2)*R(2, 2) + R(2, 1)*R(2, 1));
+    const bool large_enough = cy > 1e-10;
+    if (large_enough)
+        return euler_t(atan2(-R(1, 0), R(0, 0)),
+                       atan2(R(2, 0), cy),
+                       atan2(-R(2, 1), R(2, 2)));
+    else
+        return euler_t(atan2(R(0, 1), R(1, 1)),
+                       atan2(R(2, 0), cy),
+                       0);
+}
+
+// tait-bryan angles, not euler
+rmat OPENTRACK_COMPAT_EXPORT euler_to_rmat(const euler_t& input)
+{
+    const double H = -input(0);
+    const double P = -input(1);
+    const double B = -input(2);
+
+    using std::cos;
+    using std::sin;
+
+    const auto c1 = cos(H);
+    const auto s1 = sin(H);
+    const auto c2 = cos(P);
+    const auto s2 = sin(P);
+    const auto c3 = cos(B);
+    const auto s3 = sin(B);
+
+    return rmat(
+                // z
+                c1 * c2,
+                c1 * s2 * s3 - c3 * s1,
+                s1 * s3 + c1 * c3 * s2,
+                // y
+                c2 * s1,
+                c1 * c3 + s1 * s2 * s3,
+                c3 * s1 * s2 - c1 * s3,
+                // x
+                -s2,
+                c2 * s3,
+                c2 * c3
+                );
+}
+
+// https://en.wikipedia.org/wiki/Davenport_chained_rotations#Tait.E2.80.93Bryan_chained_rotations
+void OPENTRACK_COMPAT_EXPORT tait_bryan_to_matrices(const euler_t& input,
+                                                    rmat& r_roll,
+                                                    rmat& r_pitch,
+                                                    rmat& r_yaw)
+{
+    using std::cos;
+    using std::sin;
+
+    {
+        const double phi = -input(2);
+        const double sin_phi = sin(phi);
+        const double cos_phi = cos(phi);
+
+        r_roll = rmat(1, 0, 0,
+                      0, cos_phi, -sin_phi,
+                      0, sin_phi, cos_phi);
+    }
+
+    {
+        const double theta = input(1);
+        const double sin_theta = sin(theta);
+        const double cos_theta = cos(theta);
+
+        r_pitch = rmat(cos_theta, 0, -sin_theta,
+                       0, 1, 0,
+                       sin_theta, 0, cos_theta);
+    }
+
+    {
+        const double psi = -input(0);
+        const double sin_psi = sin(psi);
+        const double cos_psi = cos(psi);
+
+        r_yaw = rmat(cos_psi, -sin_psi, 0,
+                     sin_psi, cos_psi, 0,
+                     0, 0, 1);
+    }
+}
+
+} // end ns euler
diff --git a/compat/euler.hpp b/compat/euler.hpp
new file mode 100644
index 00000000..6a1ea1a4
--- /dev/null
+++ b/compat/euler.hpp
@@ -0,0 +1,25 @@
+#pragma once
+
+#include "export.hpp"
+#include "simple-mat.hpp"
+
+namespace euler {
+
+template<int h_, int w_> using dmat = Mat<double, h_, w_>;
+
+using dvec2 = Mat<double, 2, 1>;
+using dvec3 = Mat<double, 3, 1>;
+
+using rmat = dmat<3, 3>;
+using euler_t = dmat<3, 1>;
+
+rmat OPENTRACK_COMPAT_EXPORT euler_to_rmat(const euler_t& input);
+
+euler_t OPENTRACK_COMPAT_EXPORT rmat_to_euler(const rmat& R);
+
+void OPENTRACK_COMPAT_EXPORT tait_bryan_to_matrices(const euler_t& input,
+                                                   rmat& r_roll,
+                                                   rmat& r_pitch,
+                                                   rmat& r_yaw);
+
+} // end ns euler
diff --git a/compat/simple-mat.cpp b/compat/simple-mat.cpp
index c9af9634..5d22fee6 100644
--- a/compat/simple-mat.cpp
+++ b/compat/simple-mat.cpp
@@ -1,96 +1 @@
 #include "simple-mat.hpp"
-#include <cmath>
-
-namespace euler {
-
-euler_t OPENTRACK_COMPAT_EXPORT rmat_to_euler(const rmat& R)
-{
-    using std::atan2;
-    using std::sqrt;
-
-    const double cy = sqrt(R(2,2)*R(2, 2) + R(2, 1)*R(2, 1));
-    const bool large_enough = cy > 1e-10;
-    if (large_enough)
-        return euler_t(atan2(-R(1, 0), R(0, 0)),
-                       atan2(R(2, 0), cy),
-                       atan2(-R(2, 1), R(2, 2)));
-    else
-        return euler_t(atan2(R(0, 1), R(1, 1)),
-                       atan2(R(2, 0), cy),
-                       0);
-}
-
-// tait-bryan angles, not euler
-rmat OPENTRACK_COMPAT_EXPORT euler_to_rmat(const euler_t& input)
-{
-    const double H = -input(0);
-    const double P = -input(1);
-    const double B = -input(2);
-
-    using std::cos;
-    using std::sin;
-
-    const auto c1 = cos(H);
-    const auto s1 = sin(H);
-    const auto c2 = cos(P);
-    const auto s2 = sin(P);
-    const auto c3 = cos(B);
-    const auto s3 = sin(B);
-
-    return rmat(
-                // z
-                c1 * c2,
-                c1 * s2 * s3 - c3 * s1,
-                s1 * s3 + c1 * c3 * s2,
-                // y
-                c2 * s1,
-                c1 * c3 + s1 * s2 * s3,
-                c3 * s1 * s2 - c1 * s3,
-                // x
-                -s2,
-                c2 * s3,
-                c2 * c3
-                );
-}
-
-// https://en.wikipedia.org/wiki/Davenport_chained_rotations#Tait.E2.80.93Bryan_chained_rotations
-void OPENTRACK_COMPAT_EXPORT tait_bryan_to_matrices(const euler_t& input,
-                                                   rmat& r_roll,
-                                                   rmat& r_pitch,
-                                                   rmat& r_yaw)
-{
-    using std::cos;
-    using std::sin;
-
-    {
-        const double phi = -input(2);
-        const double sin_phi = sin(phi);
-        const double cos_phi = cos(phi);
-
-        r_roll = rmat(1, 0, 0,
-                      0, cos_phi, -sin_phi,
-                      0, sin_phi, cos_phi);
-    }
-
-    {
-        const double theta = input(1);
-        const double sin_theta = sin(theta);
-        const double cos_theta = cos(theta);
-
-        r_pitch = rmat(cos_theta, 0, -sin_theta,
-                       0, 1, 0,
-                       sin_theta, 0, cos_theta);
-    }
-
-    {
-        const double psi = -input(0);
-        const double sin_psi = sin(psi);
-        const double cos_psi = cos(psi);
-
-        r_yaw = rmat(cos_psi, -sin_psi, 0,
-                     sin_psi, cos_psi, 0,
-                     0, 0, 1);
-    }
-}
-
-} // end ns euler
diff --git a/compat/simple-mat.hpp b/compat/simple-mat.hpp
index 9739be7f..a1509f4d 100644
--- a/compat/simple-mat.hpp
+++ b/compat/simple-mat.hpp
@@ -258,8 +258,6 @@ public:
     }
 };
 
-template<int h_, int w_> using dmat = Mat<double, h_, w_>;
-
 template<typename num, int h, int w>
 Mat<num, h, w> operator*(num scalar, const Mat<num, h, w>& mat)
 {
@@ -276,18 +274,3 @@ Mat<num, h_, w_> operator*(const Mat<num, h_, w_>& self, num other)
     return ret;
 }
 
-namespace euler {
-
-using rmat = dmat<3, 3>;
-using euler_t = dmat<3, 1>;
-
-rmat OPENTRACK_COMPAT_EXPORT euler_to_rmat(const euler_t& input);
-
-euler_t OPENTRACK_COMPAT_EXPORT rmat_to_euler(const rmat& R);
-
-void OPENTRACK_COMPAT_EXPORT tait_bryan_to_matrices(const euler_t& input,
-                                                   rmat& r_roll,
-                                                   rmat& r_pitch,
-                                                   rmat& r_yaw);
-
-} // end ns euler