/*==LICENSE==*

CyanWorlds.com Engine - MMOG client, server and tools
Copyright (C) 2011  Cyan Worlds, Inc.

This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.

This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU General Public License for more details.

You should have received a copy of the GNU General Public License
along with this program.  If not, see <http://www.gnu.org/licenses/>.

Additional permissions under GNU GPL version 3 section 7

If you modify this Program, or any covered work, by linking or
combining it with any of RAD Game Tools Bink SDK, Autodesk 3ds Max SDK,
NVIDIA PhysX SDK, Microsoft DirectX SDK, OpenSSL library, Independent
JPEG Group JPEG library, Microsoft Windows Media SDK, or Apple QuickTime SDK
(or a modified version of those libraries),
containing parts covered by the terms of the Bink SDK EULA, 3ds Max EULA,
PhysX SDK EULA, DirectX SDK EULA, OpenSSL and SSLeay licenses, IJG
JPEG Library README, Windows Media SDK EULA, or QuickTime SDK EULA, the
licensors of this Program grant you additional
permission to convey the resulting work. Corresponding Source for a
non-source form of such a combination shall include the source code for
the parts of OpenSSL and IJG JPEG Library used as well as that of the covered
work.

You can contact Cyan Worlds, Inc. by email legal@cyan.com
 or by snail mail at:
      Cyan Worlds, Inc.
      14617 N Newport Hwy
      Mead, WA   99021

*==LICENSE==*/
#ifndef HS_EULER_inc
#define HS_EULER_inc

#include "hsGeometry3.h"

//
//////////////////////////////////////////////////////////////////////////
// EULER STUFF
// See Gems IV, Ken Shoemake
//////////////////////////////////////////////////////////////////////////
//

/*** 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)

struct hsMatrix44;
class hsQuat;
class hsEuler 
{
public:
    float fX,fY,fZ;
    uint32_t fOrder;

    hsEuler(float ai, float aj, float ah, uint32_t order) : fX(ai),fY(aj),fZ(ah),fOrder(order) {}
    
    // getters, converters
    void GetQuat(hsQuat* res );
    void GetMatrix44(hsMatrix44* M);

    // setters, converters
    void SetFromMatrix44(const hsMatrix44* M, uint32_t order);
    void SetFromQuat(const hsQuat* q, uint32_t order);
};

#endif  // HS_EULER_inc
