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#ifndef _RAY_EULER_H
#define _RAY_EULER_H
#include <math.h>
#include "ray_3f.h"
/* euler angles are convenient for describing orientation */
typedef struct ray_euler_t {
float pitch; /* pitch in radiasn */
float yaw; /* yaw in radians */
float roll; /* roll in radians */
} ray_euler_t;
/* convenience macro for converting degrees to radians */
#define RAY_EULER_DEGREES(_deg) \
(_deg * (2 * M_PI / 360.0f))
/* produce basis vectors from euler angles */
static inline void ray_euler_basis(ray_euler_t *e, ray_3f_t *forward, ray_3f_t *up, ray_3f_t *left)
{
float cos_yaw = cosf(e->yaw);
float sin_yaw = sinf(e->yaw);
float cos_roll = cosf(e->roll);
float sin_roll = sinf(e->roll);
float cos_pitch = cosf(e->pitch);
float sin_pitch = sinf(e->pitch);
forward->x = sin_yaw;
forward->y = -sin_pitch * cos_yaw;
forward->z = cos_pitch * cos_yaw;
up->x = -cos_yaw * sin_roll;
up->y = -sin_pitch * sin_yaw * sin_roll + cos_pitch * cos_roll;
up->z = cos_pitch * sin_yaw * sin_roll + sin_pitch * cos_roll;
left->x = cos_yaw * cos_roll;
left->y = sin_pitch * sin_yaw * cos_roll + cos_pitch * sin_roll;
left->z = -cos_pitch * sin_yaw * cos_roll + sin_pitch * sin_roll;
}
#endif
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