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- /*
- * Copyright (C) 2021 Christopher J. Howard
- *
- * This file is part of Antkeeper source code.
- *
- * Antkeeper source code is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * Antkeeper source code is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with Antkeeper source code. If not, see <http://www.gnu.org/licenses/>.
- */
-
- #ifndef ANTKEEPER_COORDINATES_RECTANGULAR_HPP
- #define ANTKEEPER_COORDINATES_RECTANGULAR_HPP
-
- #include "utility/fundamental-types.hpp"
- #include <cmath>
-
- namespace coordinates {
-
- /// Rectangular (Cartesian) coordinate systems.
- namespace rectangular {
-
- /**
- * Produces a matrix which rotates rectangular coordinates about the x-axis by a given angle.
- *
- * @param angle Angle of rotation, in radians.
- * @return Rotation matrix.
- */
- template <class T>
- math::matrix3<T> rotate_x(T angle);
-
- /**
- * Rotates rectangular coordinates about the x-axis.
- *
- * @param v Rectangular coordinates to rotate.
- * @param angle Angle of rotation, in radians.
- * @return Rotated rectangular coordinates.
- */
- template <class T>
- math::vector3<T> rotate_x(const math::vector3<T>& v, T angle);
-
- /**
- * Produces a matrix which rotates rectangular coordinates about the y-axis by a given angle.
- *
- * @param angle Angle of rotation, in radians.
- * @return Rotation matrix.
- */
- template <class T>
- math::matrix3<T> rotate_y(T angle);
-
- /**
- * Rotates rectangular coordinates about the y-axis.
- *
- * @param v Rectangular coordinates to rotate.
- * @param angle Angle of rotation, in radians.
- * @return Rotated rectangular coordinates.
- */
- template <class T>
- math::vector3<T> rotate_y(const math::vector3<T>& v, T angle);
-
- /**
- * Produces a matrix which rotates rectangular coordinates about the z-axis by a given angle.
- *
- * @param angle Angle of rotation, in radians.
- * @return Rotation matrix.
- */
- template <class T>
- math::matrix3<T> rotate_z(T angle);
-
- /**
- * Rotates rectangular coordinates about the z-axis.
- *
- * @param v Rectangular coordinates to rotate.
- * @param angle Angle of rotation, in radians.
- * @return Rotated rectangular coordinates.
- */
- template <class T>
- math::vector3<T> rotate_z(const math::vector3<T>& v, T angle);
-
- /**
- * Converts rectangular coordinates to spherical coordinates.
- *
- * @param v Rectangular coordinates.
- * @return Spherical coordinates, in the ISO order of radial distance, polar angle (radians), and azimuthal angle (radians).
- *
- * @see coordinates::spherical
- */
- template <class T>
- math::vector3<T> to_spherical(const math::vector3<T>& v);
-
- template <class T>
- math::vector3<T> to_spherical(const math::vector3<T>& v)
- {
- const T xx_yy = v.x * v.x + v.y * v.y;
-
- return math::vector3<T>
- {
- std::sqrt(xx_yy + v.z * v.z),
- std::atan2(v.z, std::sqrt(xx_yy)),
- std::atan2(v.y, v.x)
- };
- }
-
- template <class T>
- math::matrix3<T> rotate_x(T angle)
- {
- const T c = std::cos(angle);
- const T s = std::sin(angle);
-
- return math::matrix3<T>
- {
- T(1), T(0), T(0),
- T(0), c, -s,
- T(0), s, c
- };
- }
-
- template <class T>
- math::vector3<T> rotate_x(const math::vector3<T>& v, T angle)
- {
- return rotate_x(angle) * v;
- }
-
- template <class T>
- math::matrix3<T> rotate_y(T angle)
- {
- const T c = std::cos(angle);
- const T s = std::sin(angle);
-
- return math::matrix3<T>
- {
- c, T(0), s,
- T(0), T(1), T(0),
- -s, T(0), c
- };
- }
-
- template <class T>
- math::vector3<T> rotate_y(const math::vector3<T>& v, T angle)
- {
- return rotate_y(angle) * v;
- }
-
- template <class T>
- math::matrix3<T> rotate_z(T angle)
- {
- const T c = std::cos(angle);
- const T s = std::sin(angle);
-
- return math::matrix3<T>
- {
- c, -s, T(0),
- s, c, T(0),
- T(0), T(0), T(1)
- };
- }
-
- template <class T>
- math::vector3<T> rotate_z(const math::vector3<T>& v, T angle)
- {
- return rotate_z(angle) * v;
- }
-
- } // namespace rectangular
- } // namespace coordinates
-
- #endif // ANTKEEPER_COORDINATES_RECTANGULAR_HPP
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