---

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euler.h File Reference

Go to the source code of this file.

Classes
struct	QuatX
Defines
#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))
#define	EulGetOrd(ord, i, j, k, h, n, s, f)
#define	EulOrd(i, p, r, f)   (((((((i)<<1)+(p))<<1)+(r))<<1)+(f))
#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)
#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)
Typedefs
typedef float	HMatrix [4][4]
typedef QuatX	EulerAngles
Enumerations
enum	QuatPart {   X,   Y,   Z,   W }
Functions
EulerAngles	Eul_ (float ai, float aj, float ah, int order)
QuatX	Eul_ToQuat (EulerAngles ea)
void	Eul_ToHMatrix (EulerAngles ea, HMatrix M)
EulerAngles	Eul_FromHMatrix (HMatrix M, int order)
EulerAngles	Eul_FromQuat (QuatX q, int order)

---

Define Documentation

#define EulAxH

(

ord

)

((EulRep(ord)==EulRepNo)?EulAxK(ord):EulAxI(ord))

#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 EulFrm

(

ord

)

((unsigned)(ord)&1)

#define EulFrmR   1

#define EulFrmS   0

#define EulGetOrd	(	ord,
		i,
		j,
		k,
		h,
		n,
		s,
		f		)

Value:

{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;}

#define EulNext   "\001\002\000\001"

#define EulOrd	(	i,
		p,
		r,
		f		)	(((((((i)<<1)+(p))<<1)+(r))<<1)+(f))

#define EulOrdXYXr   EulOrd(X,EulParEven,EulRepYes,EulFrmR)

#define EulOrdXYXs   EulOrd(X,EulParEven,EulRepYes,EulFrmS)

#define EulOrdXYZr   EulOrd(Z,EulParOdd,EulRepNo,EulFrmR)

#define EulOrdXYZs   EulOrd(X,EulParEven,EulRepNo,EulFrmS)

#define EulOrdXZXr   EulOrd(X,EulParOdd,EulRepYes,EulFrmR)

#define EulOrdXZXs   EulOrd(X,EulParOdd,EulRepYes,EulFrmS)

#define EulOrdXZYr   EulOrd(Y,EulParEven,EulRepNo,EulFrmR)

#define EulOrdXZYs   EulOrd(X,EulParOdd,EulRepNo,EulFrmS)

#define EulOrdYXYr   EulOrd(Y,EulParOdd,EulRepYes,EulFrmR)

#define EulOrdYXYs   EulOrd(Y,EulParOdd,EulRepYes,EulFrmS)

#define EulOrdYXZr   EulOrd(Z,EulParEven,EulRepNo,EulFrmR)

#define EulOrdYXZs   EulOrd(Y,EulParOdd,EulRepNo,EulFrmS)

#define EulOrdYZXr   EulOrd(X,EulParOdd,EulRepNo,EulFrmR)

#define EulOrdYZXs   EulOrd(Y,EulParEven,EulRepNo,EulFrmS)

#define EulOrdYZYr   EulOrd(Y,EulParEven,EulRepYes,EulFrmR)

#define EulOrdYZYs   EulOrd(Y,EulParEven,EulRepYes,EulFrmS)

#define EulOrdZXYr   EulOrd(Y,EulParOdd,EulRepNo,EulFrmR)

#define EulOrdZXYs   EulOrd(Z,EulParEven,EulRepNo,EulFrmS)

#define EulOrdZXZr   EulOrd(Z,EulParEven,EulRepYes,EulFrmR)

#define EulOrdZXZs   EulOrd(Z,EulParEven,EulRepYes,EulFrmS)

#define EulOrdZYXr   EulOrd(X,EulParEven,EulRepNo,EulFrmR)

#define EulOrdZYXs   EulOrd(Z,EulParOdd,EulRepNo,EulFrmS)

#define EulOrdZYZr   EulOrd(Z,EulParOdd,EulRepYes,EulFrmR)

#define EulOrdZYZs   EulOrd(Z,EulParOdd,EulRepYes,EulFrmS)

#define EulPar

(

ord

)

(((unsigned)(ord)>>2)&1)

#define EulParEven   0

#define EulParOdd   1

#define EulRep

(

ord

)

(((unsigned)(ord)>>1)&1)

#define EulRepNo   0

#define EulRepYes   1

#define EulSafe   "\000\001\002\000"

---

Typedef Documentation

typedef QuatX EulerAngles

typedef float HMatrix[4][4]

---

Enumeration Type Documentation

enum QuatPart

Enumerator:

X
Y
Z
W

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Function Documentation

EulerAngles Eul_	(	float	ai,
		float	aj,
		float	ah,
		int	order
	)

EulerAngles Eul_FromHMatrix	(	HMatrix	M,
		int	order
	)

EulerAngles Eul_FromQuat	(	QuatX	q,
		int	order
	)

void Eul_ToHMatrix	(	EulerAngles	ea,
		HMatrix	M
	)

QuatX Eul_ToQuat

(

EulerAngles

ea

)

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