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#ifndef _RAY_EULER_H
#define _RAY_EULER_H
#include <math.h>
#include "ray_3f.h"
/* Desired order to apply euler angle rotations */
typedef enum ray_euler_order_t {
RAY_EULER_ORDER_PYR,
RAY_EULER_ORDER_YRP,
RAY_EULER_ORDER_RPY,
RAY_EULER_ORDER_PRY,
RAY_EULER_ORDER_RYP,
RAY_EULER_ORDER_YPR,
} ray_euler_order_t;
/* euler angles are convenient for describing orientation */
typedef struct ray_euler_t {
ray_euler_order_t order; /* order to apply rotations in */
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))
void ray_euler_basis(const ray_euler_t *e, ray_3f_t *forward, ray_3f_t *up, ray_3f_t *left);
#endif
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