RotateOrder.h

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/*

             *
            ***
           *****
   *********************       Mercenaries Engineering SARL
     *****************              Copyright (C) 2023
       *************
         *********        http://www.mercenaries-engineering.com
        ***********
       ****     ****
      **           **

*/
#pragma once

namespace maquina
{

enum class RotateOrder
{
  xyz = 0,
  yzx,
  zxy,
  xzy,
  yxz,
  zyx
};

inline Imath::Eulerd::Order imath_rotate_order(RotateOrder ro)
{
  switch (ro)
  {
  case RotateOrder::xyz:
    return Imath::Eulerd::Order::XYZ;
  case RotateOrder::xzy:
    return Imath::Eulerd::Order::XZY;
  case RotateOrder::yxz:
    return Imath::Eulerd::Order::YXZ;
  case RotateOrder::yzx:
    return Imath::Eulerd::Order::YZX;
  case RotateOrder::zxy:
    return Imath::Eulerd::Order::ZXY;
  case RotateOrder::zyx:
    return Imath::Eulerd::Order::ZYX;
  }
  assert(false);
  return Imath::Eulerd::Order::XYZ;
}

}