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101 lines
2.3 KiB
C++
101 lines
2.3 KiB
C++
//
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// AngleUtil.h
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// libraries/shared/src
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//
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// Created by Tobias Schwinger on 3/23/13.
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// Copyright 2013 High Fidelity, Inc.
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//
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// Distributed under the Apache License, Version 2.0.
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// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
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//
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#ifndef hifi_AngleUtil_h
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#define hifi_AngleUtil_h
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#include <math.h>
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struct Degrees {
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static float pi() { return 180.0f; }
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static float twicePi() { return 360.0f; }
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static float halfPi() { return 90.0f; }
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};
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struct Radians {
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static float pi() { return 3.141592653589793f; }
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static float twicePi() { return 6.283185307179586f; }
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static float halfPi() { return 1.5707963267948966f; }
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};
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struct Rotations {
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static float pi() { return 0.5f; }
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static float twicePi() { return 1.0f; }
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static float halfPi() { return 0.25f; }
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};
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//
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// Converts an angle from one unit to another.
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//
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template< class UnitFrom, class UnitTo >
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float angleConvert(float a) {
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return a * (UnitTo::halfPi() / UnitFrom::halfPi());
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}
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//
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// Clamps an angle to the range of [-180; 180) degrees.
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//
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template< class Unit >
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float angleSignedNormal(float a) {
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// result is remainder(a, Unit::twicePi());
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float result = fmod(a, Unit::twicePi());
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if (result >= Unit::pi()) {
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result -= Unit::twicePi();
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} else if (result < -Unit::pi()) {
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result += Unit::twicePi();
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}
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return result;
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}
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//
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// Clamps an angle to the range of [0; 360) degrees.
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//
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template< class Unit >
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float angleUnsignedNormal(float a) {
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return angleSignedNormal<Unit>(a - Unit::pi()) + Unit::pi();
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}
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//
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// Clamps a polar direction so that azimuth is in the range of [0; 360)
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// degrees and altitude is in the range of [-90; 90] degrees.
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//
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// The so normalized angle still contains ambiguity due to gimbal lock:
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// Both poles can be reached from any azimuthal direction.
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//
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template< class Unit >
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void angleHorizontalPolar(float& azimuth, float& altitude) {
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altitude = angleSignedNormal<Unit>(altitude);
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if (altitude > Unit::halfPi()) {
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altitude = Unit::pi() - altitude;
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azimuth += Unit::pi();
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} else if (altitude < -Unit::halfPi()) {
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altitude = -Unit::pi() - altitude;
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azimuth += Unit::pi();
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}
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azimuth = angleUnsignedNormal<Unit>(azimuth);
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}
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#endif // hifi_AngleUtil_h
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