/*   from http://www1.acm.org/pubs/tog/GraphicsGems/index.html   This is the official on-line repository for the code from the    Graphics Gems series of books (from Academic Press). This series   focusses on short to medium length pieces of code which perform a    wide variety of computer graphics related tasks. All code   here can be used without restrictions. The code distributions here    contain all known bug fixes and enhancements. We also   provide errata listings for the text of each book. Please report any    new errata or bugs to Eric Haines (erich@acm.org).    http://www1.acm.org/pubs/tog/GraphicsGems/gemsiv/euler_angle/*//**** EulerAngles.h - Support for 24 angle schemes ****//* Ken Shoemake, 1993 */#ifndef _H_EulerAngles#define _H_EulerAngles#include "QuatTypes.h"/*** Order type constants, constructors, extractors ***/    /* There are 24 possible conventions, designated by:    */    /*	  o EulAxI = axis used initially		    */    /*	  o EulPar = parity of axis permutation		    */    /*	  o EulRep = repetition of initial axis as last	    */    /*	  o EulFrm = frame from which axes are taken	    */    /* Axes I,J,K will be a permutation of X,Y,Z.	    */    /* Axis H will be either I or K, depending on EulRep.   */    /* Frame S takes axes from initial static frame.	    */    /* If ord = (AxI=X, Par=Even, Rep=No, Frm=S), then	    */    /* {a,b,c,ord} means Rz(c)Ry(b)Rx(a), where Rz(c)v	    */    /* rotates v around Z by c radians.			    */#define EulFrmS	     0#define EulFrmR	     1#define EulFrm(ord)  ((unsigned)(ord)&1)#define EulRepNo     0#define EulRepYes    1#define EulRep(ord)  (((unsigned)(ord)>>1)&1)#define EulParEven   0#define EulParOdd    1#define EulPar(ord)  (((unsigned)(ord)>>2)&1)#define EulSafe	     "\000\001\002\000"#define EulNext	     "\001\002\000\001"#define EulAxI(ord)  ((int)(EulSafe[(((unsigned)(ord)>>3)&3)]))#define EulAxJ(ord)  ((int)(EulNext[EulAxI(ord)+(EulPar(ord)==EulParOdd)]))#define EulAxK(ord)  ((int)(EulNext[EulAxI(ord)+(EulPar(ord)!=EulParOdd)]))#define EulAxH(ord)  ((EulRep(ord)==EulRepNo)?EulAxK(ord):EulAxI(ord))    /* EulGetOrd unpacks all useful information about order simultaneously. */#define EulGetOrd(ord,i,j,k,h,n,s,f) {unsigned o=ord;f=o&1;o>>=1;s=o&1;o>>=1;\    n=o&1;o>>=1;i=EulSafe[o&3];j=EulNext[i+n];k=EulNext[i+1-n];h=s?k:i;}    /* EulOrd creates an order value between 0 and 23 from 4-tuple choices. */#define EulOrd(i,p,r,f)	   (((((((i)<<1)+(p))<<1)+(r))<<1)+(f))    /* Static axes */#define EulOrdXYZs    EulOrd(X,EulParEven,EulRepNo,EulFrmS)#define EulOrdXYXs    EulOrd(X,EulParEven,EulRepYes,EulFrmS)#define EulOrdXZYs    EulOrd(X,EulParOdd,EulRepNo,EulFrmS)#define EulOrdXZXs    EulOrd(X,EulParOdd,EulRepYes,EulFrmS)#define EulOrdYZXs    EulOrd(Y,EulParEven,EulRepNo,EulFrmS)#define EulOrdYZYs    EulOrd(Y,EulParEven,EulRepYes,EulFrmS)#define EulOrdYXZs    EulOrd(Y,EulParOdd,EulRepNo,EulFrmS)#define EulOrdYXYs    EulOrd(Y,EulParOdd,EulRepYes,EulFrmS)#define EulOrdZXYs    EulOrd(Z,EulParEven,EulRepNo,EulFrmS)#define EulOrdZXZs    EulOrd(Z,EulParEven,EulRepYes,EulFrmS)#define EulOrdZYXs    EulOrd(Z,EulParOdd,EulRepNo,EulFrmS)#define EulOrdZYZs    EulOrd(Z,EulParOdd,EulRepYes,EulFrmS)    /* Rotating axes */#define EulOrdZYXr    EulOrd(X,EulParEven,EulRepNo,EulFrmR)#define EulOrdXYXr    EulOrd(X,EulParEven,EulRepYes,EulFrmR)#define EulOrdYZXr    EulOrd(X,EulParOdd,EulRepNo,EulFrmR)#define EulOrdXZXr    EulOrd(X,EulParOdd,EulRepYes,EulFrmR)#define EulOrdXZYr    EulOrd(Y,EulParEven,EulRepNo,EulFrmR)#define EulOrdYZYr    EulOrd(Y,EulParEven,EulRepYes,EulFrmR)#define EulOrdZXYr    EulOrd(Y,EulParOdd,EulRepNo,EulFrmR)#define EulOrdYXYr    EulOrd(Y,EulParOdd,EulRepYes,EulFrmR)#define EulOrdYXZr    EulOrd(Z,EulParEven,EulRepNo,EulFrmR)#define EulOrdZXZr    EulOrd(Z,EulParEven,EulRepYes,EulFrmR)#define EulOrdXYZr    EulOrd(Z,EulParOdd,EulRepNo,EulFrmR)#define EulOrdZYZr    EulOrd(Z,EulParOdd,EulRepYes,EulFrmR)EulerAngles Eul_(float ai, float aj, float ah, int order);Quat Eul_ToQuat(EulerAngles ea);void Eul_ToHMatrix(EulerAngles ea, HMatrix M);EulerAngles Eul_FromHMatrix(HMatrix M, int order);EulerAngles Eul_FromQuat(Quat q, int order);#endif