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