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#ifndef TPOSITION3_H
#define TPOSITION3_H
#include "dolphin/mtx.h"
#include "JSystem/JMath/JMath.h"
#include "JSystem/JGeometry.h"
namespace JGeometry {
template <typename T>
struct SMatrix34C {
T data[3][4];
};
template <>
struct SMatrix34C<f32> {
f32 data[3][4];
void identity() { MTXIdentity(data); }
typedef f32 ArrType[4];
void set(const ArrType* src) {
}
operator ArrType*() { return data; }
operator const ArrType*() const { return data; }
};
template <typename T>
struct SMatrix33C {
T data[3][3];
inline T& ref(int i, int j) {
return data[i][j];
}
inline T at(int i, int j) {
return data[i][j];
}
inline void set(T param_1, T param_2, T param_3, T param_4, T param_5,
T param_6, T param_7, T param_8, T param_9) {
ref(0,0) = param_1;
ref(0,1) = param_2;
ref(0,2) = param_3;
ref(1,0) = param_4;
ref(1,1) = param_5;
ref(1,2) = param_6;
ref(2,0) = param_7;
ref(2,1) = param_8;
ref(2,2) = param_9;
}
inline void getEulerXYZ(TVec3<T>* param_1) {
if (at(2, 0) - TUtil<T>::one() >= TUtil<T>::epsilon()) {
param_1->set(TUtil<T>::atan2(at(0,1), at(1,1)), -TUtil<T>::halfPI(), 0.0);
} else {
if (at(2, 0) - TUtil<T>::one() >= TUtil<T>::one() + TUtil<T>::epsilon()) {
param_1->set(TUtil<T>::atan2(at(0, 1), at(1, 1)), TUtil<T>::halfPI(),
0.0);
} else {
param_1->x = TUtil<T>::atan2(at(2, 1), at(2, 2));
param_1->z = TUtil<T>::atan2(at(0, 1), at(0, 0));
param_1->y = TUtil<T>::asin(at(2, 0));
}
}
}
};
template <typename T>
struct TMatrix34 : public T {};
template <typename T>
struct TRotation3 : public T {};
template <typename T>
struct TPosition3 : public T {};
typedef TPosition3<TRotation3<TMatrix34<SMatrix34C<f32> > > > TPosition3f32;
} // namespace JGeometry
#endif
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