fsb_rotation.h

 
#ifndef FSB_ROTATION_H
#define FSB_ROTATION_H
 
#include "fsb_quaternion.h"
#include "fsb_types.h"
 
namespace fsb
{
 
Mat3 skew_symmetric(const Vec3& vec);
 
Vec3 quat_to_ezyx(const Quaternion& quat);
 
Quaternion ezyx_to_quat(const Vec3& ezyx);
 
Mat3 quat_to_rot(const Quaternion& quat);
 
Quaternion rot_to_quat(const Mat3& rot);
 
Vec3 quat_to_rotvec(const Quaternion& quat);
 
Quaternion rotvec_to_quat(const Vec3& rotvec);
 
Mat3 rot_identity();
 
Mat3 rot_rx(real_t rx);
 
Mat3 rot_ry(real_t ry);
 
Mat3 rot_rz(real_t rz);
 
Vec3 rotate_mat3(const Mat3& rot, const Vec3& vec);
 
Vec3 rotate_mat3_transpose(const Mat3& rot, const Vec3& vec);
 
} // namespace fsb
 
#endif