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-rw-r--r--compat/euler.cpp96
-rw-r--r--compat/euler.hpp25
-rw-r--r--compat/simple-mat.cpp95
-rw-r--r--compat/simple-mat.hpp17
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
generated by cgit v1.2.3 (git 2.39.1) at 2024-11-17 01:00:56 +0000