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#include "base/axisangle.h" |
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#include "assert/assert.h" |
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#include "base/quat.h" |
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namespace eu |
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{ |
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AA::AA(const n3 &ax, const An &ang) |
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: axis(ax), angle(ang) |
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{ |
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ASSERT(ax.is_valid()); |
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} |
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[[nodiscard]] std::optional<AA> |
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AA::from(const Q& q) |
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{ |
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const float cos_a = q.w; |
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const auto angle = acos(cos_a) * 2; |
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const auto sin_a = clamp_zero(std::sqrt(1.0f - cos_a * cos_a), 1, 0.0005f); |
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// todo(Gustav): do we need to normalize here? |
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const auto axis = (q.get_vec_part() / sin_a).get_normalized(); |
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if (!axis) |
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{ return std::nullopt; } |
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return rha(*axis, angle); |
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} |
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AA |
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rha(const n3 &axis, const An &angle) |
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{ |
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ASSERT(axis.is_valid()); |
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return {axis, An::from_radians(angle.as_radians())}; |
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} |
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std::string |
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string_from(const AA &aa) |
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{ |
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return fmt::format("({} {})", aa.axis, aa.angle); |
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} |
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std::string |
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string_from(const Ypr& x) |
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{ |
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return fmt::format("({}, {}, {})", x.yaw, x.pitch, x.roll); |
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} |
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ADD_CATCH_FORMATTER_IMPL(AA) |
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ADD_CATCH_FORMATTER_IMPL(Ypr) |
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} |
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