/*
 * Copyright (c) 1992,1993-1995 by Argonaut Technologies Limited. All rights reserved.
 *
 * $Id: angles.h 1.9 1995/05/25 13:37:24 sam Exp $
 * $Locker:  $
 *
 */
#ifndef _ANGLES_H_
#define _ANGLES_H_

#ifdef __cplusplus
extern "C" {
#endif

/*
 * Angles are alway 0.16 fixed point
 */
typedef br_fixed_luf br_angle;

#define BR_ANGLE_DEG(deg) ((br_angle)((deg)*182))
#define BR_ANGLE_RAD(rad) ((br_angle)((rad)*10430))


#if BASED_FIXED

#define BrAngleToDegree(a) BR_MUL((a),BR_SCALAR(360.0))
#define BrDegreeToAngle(d) ((br_angle)BR_MULDIV((d),BR_SCALAR(1.0),BR_SCALAR(360.0)))
#define BrAngleToRadian(a) BR_MUL((a),BR_SCALAR(2.0*PI))
#define BrRadianToAngle(r) ((br_angle)(BR_MUL((r),BR_SCALAR(0.5/PI))))
#define BrDegreeToRadian(d) (BR_MULDIV((d),BR_SCALAR(PI),BR_SCALAR(180.0)))
#define BrRadianToDegree(r) (BR_MUL((r),BR_SCALAR(180.0/PI)))

#define BrAngleToScalar(a) ((br_scalar)(a))
#define BrScalarToAngle(s) ((br_angle)(s))

#define BR_SIN(a)					BrFixedSin(a)
#define BR_COS(a)					BrFixedCos(a)
#define BR_ASIN(a)					BrFixedASin(a)
#define BR_ACOS(a)					BrFixedACos(a)
#define BR_ATAN2(a,b)				BrFixedATan2(a,b)
#define BR_ATAN2FAST(a,b)			BrFixedATan2Fast(a,b)

#endif

#if BASED_FLOAT

#define BrAngleToDegree(a) ((a) * (180.0/32768.0))
#define BrDegreeToAngle(d) ((br_angle)((d) * (32768.0/180.0)))
#define BrAngleToRadian(a) ((a) * (PI/32768.0))
#define BrRadianToAngle(r) ((br_angle)((r)*(32768.0/PI)))
#define BrDegreeToRadian(d) ((d)*(PI/180.0))
#define BrRadianToDegree(r) ((r)*(180.0/PI))

#define BrAngleToScalar(a) ((a)*(1.0/(float)BR_ONE_LS))
#define BrScalarToAngle(s) ((br_angle)((s)*(float)BR_ONE_LS))

#define BR_SIN(a)					sin(BrAngleToRadian(a))
#define BR_COS(a)					cos(BrAngleToRadian(a))
#define BR_ASIN(a)					BrRadianToAngle(asin(a))
#define BR_ACOS(a)					BrRadianToAngle(acos(a))
#define BR_ATAN2(a,b)				BrRadianToAngle(atan2((a),(b)))
#define BR_ATAN2FAST(a,b)			RBradianToAngle(atan2((a),(b)))

#endif

/*
 * Fields that go into br_euler.order
 */
enum {
	BR_EULER_FIRST			= 0x03,
		BR_EULER_FIRST_X		= 0x00,
		BR_EULER_FIRST_Y		= 0x01,
		BR_EULER_FIRST_Z		= 0x02,

	BR_EULER_PARITY			= 0x04,
		BR_EULER_PARITY_EVEN	= 0x00,
		BR_EULER_PARITY_ODD		= 0x04,

	BR_EULER_REPEAT			= 0x08,
		BR_EULER_REPEAT_NO		= 0x00,
		BR_EULER_REPEAT_YES	= 0x08,

	BR_EULER_FRAME			= 0x10,
		BR_EULER_FRAME_STATIC	= 0x00,
		BR_EULER_FRAME_ROTATING	= 0x10
};

/*
 * Various possible orders
 */
#define BR_EULER_ORDER(a,p,r,f)\
	(BR_EULER_FIRST_##a |\
	 BR_EULER_PARITY_##p |\
	 BR_EULER_REPEAT_##r |\
	 BR_EULER_FRAME_##f)

enum {
	BR_EULER_XYZ_S = BR_EULER_ORDER(X,EVEN,NO ,STATIC  ),
	BR_EULER_XYX_S = BR_EULER_ORDER(X,EVEN,YES,STATIC  ),
	BR_EULER_XZY_S = BR_EULER_ORDER(X,ODD ,NO ,STATIC  ),
	BR_EULER_XZX_S = BR_EULER_ORDER(X,ODD ,YES,STATIC  ),
	BR_EULER_YZX_S = BR_EULER_ORDER(Y,EVEN,NO ,STATIC  ),
	BR_EULER_YZY_S = BR_EULER_ORDER(Y,EVEN,YES,STATIC  ),
	BR_EULER_YXZ_S = BR_EULER_ORDER(Y,ODD ,NO ,STATIC  ),
	BR_EULER_YXY_S = BR_EULER_ORDER(Y,ODD ,YES,STATIC  ),
	BR_EULER_ZXY_S = BR_EULER_ORDER(Z,EVEN,NO ,STATIC  ),
	BR_EULER_ZXZ_S = BR_EULER_ORDER(Z,EVEN,YES,STATIC  ),
	BR_EULER_ZYX_S = BR_EULER_ORDER(Z,ODD ,NO ,STATIC  ),
	BR_EULER_ZYZ_S = BR_EULER_ORDER(Z,ODD ,YES,STATIC  ),

	BR_EULER_ZYX_R = BR_EULER_ORDER(X,EVEN,NO ,ROTATING),
	BR_EULER_XYX_R = BR_EULER_ORDER(X,EVEN,YES,ROTATING),
	BR_EULER_YZX_R = BR_EULER_ORDER(X,ODD ,NO ,ROTATING),
	BR_EULER_XZX_R = BR_EULER_ORDER(X,ODD ,YES,ROTATING),
	BR_EULER_XZY_R = BR_EULER_ORDER(Y,EVEN,NO ,ROTATING),
	BR_EULER_YZY_R = BR_EULER_ORDER(Y,EVEN,YES,ROTATING),
	BR_EULER_ZXY_R = BR_EULER_ORDER(Y,ODD ,NO ,ROTATING),
	BR_EULER_YXY_R = BR_EULER_ORDER(Y,ODD ,YES,ROTATING),
	BR_EULER_YXZ_R = BR_EULER_ORDER(Z,EVEN,NO ,ROTATING),
	BR_EULER_ZXZ_R = BR_EULER_ORDER(Z,EVEN,YES,ROTATING),
	BR_EULER_XYZ_R = BR_EULER_ORDER(Z,ODD ,NO ,ROTATING),
	BR_EULER_ZYZ_R = BR_EULER_ORDER(Z,ODD ,YES,ROTATING)
};

/*
 * A triple of euler angles and a description of how they are to
 * be applied - loosely based on -
 * 	"Euler Angle Convertion" Ken Shoemake, Graphics Gems IV pp. 222
 */
typedef struct br_euler {
	br_angle a;
	br_angle b;
	br_angle c;
	br_uint_8 order;
} br_euler;

#ifdef __cplusplus
};
#endif
#endif