yes

2025-06-16 15:18:27 +02:00
parent 15510fa8a7
commit cd7e5ad26f
165 changed files with 78107 additions and 0 deletions
--- a/Runtime/Includes/Maths/EulerAngles.inl
+++ b/Runtime/Includes/Maths/EulerAngles.inl
@@ -0,0 +1,169 @@
+#pragma once
+#include <Maths/EulerAngles.h>
+
+namespace Scop
+{
+	template<typename T>
+	constexpr EulerAngles<T>::EulerAngles(DegreeAngle<T> P, DegreeAngle<T> Y, DegreeAngle<T> R) :
+		pitch(P), yaw(Y), roll(R)
+	{}
+
+	template<typename T>
+	constexpr EulerAngles<T>::EulerAngles(const DegreeAngle<T> angles[3]) :
+		EulerAngles(angles[0], angles[1], angles[2])
+	{}
+
+	template<typename T>
+	template<AngleUnit Unit>
+	constexpr EulerAngles<T>::EulerAngles(const Angle<Unit, T>& angle) :
+		EulerAngles(angle.ToEulerAngles())
+	{}
+
+	template<typename T>
+	constexpr EulerAngles<T>::EulerAngles(const Quat<T>& quat) :
+		EulerAngles(quat.ToEulerAngles())
+	{}
+
+	template<typename T>
+	template<typename U>
+	constexpr EulerAngles<T>::EulerAngles(const EulerAngles<U>& angles) :
+		pitch(DegreeAngle<T>(angles.pitch)), yaw(DegreeAngle<T>(angles.yaw)), roll(DegreeAngle<T>(angles.roll))
+	{}
+
+	template<typename T>
+	constexpr bool EulerAngles<T>::ApproxEqual(const EulerAngles& angles, T maxDifference) const
+	{
+		return pitch.ApproxEqual(angles.pitch, maxDifference) && yaw.ApproxEqual(angles.yaw, maxDifference) && roll.ApproxEqual(angles.roll, maxDifference);
+	}
+
+	template<typename T>
+	constexpr EulerAngles<T>& EulerAngles<T>::Normalize()
+	{
+		pitch.Normalize();
+		yaw.Normalize();
+		roll.Normalize();
+		return *this;
+	}
+
+	template<typename T>
+	Quat<T> EulerAngles<T>::ToQuat() const
+	{
+		// XYZ
+		auto [s1, c1] = (yaw / T(2.0)).GetSinCos();
+		auto [s2, c2] = (roll / T(2.0)).GetSinCos();
+		auto [s3, c3] = (pitch / T(2.0)).GetSinCos();
+
+		return Quat<T>(c1 * c2 * c3 - s1 * s2 * s3,
+						s1 * s2 * c3 + c1 * c2 * s3,
+						s1 * c2 * c3 + c1 * s2 * s3,
+						c1 * s2 * c3 - s1 * c2 * s3);
+	}
+
+	template<typename T>
+	std::string EulerAngles<T>::ToString() const
+	{
+		std::ostringstream ss;
+		ss << *this;
+		return ss.str();
+	}
+
+	template<typename T>
+	constexpr EulerAngles<T> EulerAngles<T>::operator+(const EulerAngles& angles) const
+	{
+		return EulerAngles(pitch + angles.pitch, yaw + angles.yaw, roll + angles.roll);
+	}
+
+	template<typename T>
+	constexpr EulerAngles<T> EulerAngles<T>::operator-(const EulerAngles& angles) const
+	{
+		return EulerAngles(pitch - angles.pitch, yaw - angles.yaw, roll - angles.roll);
+	}
+
+	template<typename T>
+	constexpr EulerAngles<T>& EulerAngles<T>::operator+=(const EulerAngles& angles)
+	{
+		pitch += angles.pitch;
+		yaw += angles.yaw;
+		roll += angles.roll;
+		return *this;
+	}
+
+	template<typename T>
+	constexpr EulerAngles<T>& EulerAngles<T>::operator-=(const EulerAngles& angles)
+	{
+		pitch -= angles.pitch;
+		yaw -= angles.yaw;
+		roll -= angles.roll;
+		return *this;
+	}
+
+	template<typename T>
+	constexpr bool EulerAngles<T>::operator==(const EulerAngles& angles) const
+	{
+		return pitch == angles.pitch && yaw == angles.yaw && roll == angles.roll;
+	}
+
+	template<typename T>
+	constexpr bool EulerAngles<T>::operator!=(const EulerAngles& angles) const
+	{
+		return !operator==(angles);
+	}
+
+	template<typename T>
+	constexpr bool EulerAngles<T>::operator<(const EulerAngles& angles) const
+	{
+		if (pitch != angles.pitch)
+			return pitch < angles.pitch;
+		if (yaw != angles.yaw)
+			return yaw < angles.yaw;
+		return roll < angles.roll;
+	}
+
+	template<typename T>
+	constexpr bool EulerAngles<T>::operator<=(const EulerAngles& angles) const
+	{
+		if (pitch != angles.pitch)
+			return pitch < angles.pitch;
+		if (yaw != angles.yaw)
+			return yaw < angles.yaw;
+		return roll <= angles.roll;
+	}
+
+	template<typename T>
+	constexpr bool EulerAngles<T>::operator>(const EulerAngles& angles) const
+	{
+		if (pitch != angles.pitch)
+			return pitch > angles.pitch;
+		if (yaw != angles.yaw)
+			return yaw > angles.yaw;
+		return roll > angles.roll;
+	}
+
+	template<typename T>
+	constexpr bool EulerAngles<T>::operator>=(const EulerAngles& angles) const
+	{
+		if (pitch != angles.pitch)
+			return pitch > angles.pitch;
+		if (yaw != angles.yaw)
+			return yaw > angles.yaw;
+		return roll >= angles.roll;
+	}
+
+	template<typename T>
+	constexpr bool EulerAngles<T>::ApproxEqual(const EulerAngles& lhs, const EulerAngles& rhs, T maxDifference)
+	{
+		return lhs.ApproxEqual(rhs, maxDifference);
+	}
+
+	template<typename T>
+	constexpr EulerAngles<T> EulerAngles<T>::Zero()
+	{
+		return EulerAngles(0, 0, 0);
+	}
+
+	template<typename T>
+	std::ostream& operator<<(std::ostream& out, const EulerAngles<T>& angles)
+	{
+		return out << "EulerAngles(" << angles.pitch << ", " << angles.yaw << ", " << angles.roll << ')';
+	}
+}