// copyright Min Zhong, cs838 proj2, April, 2000



#ifndef ROTCONVERTER_H
#define ROTCONVERTER_H	 



typedef enum {
	
	Scalar = 0,
	XCoord = 1,
	YCoord = 2,
	ZCoord = 3

} QUATER_ORDER;


typedef enum {

	MAP_X = 0,
	MAP_Y = 1,
	MAP_Z = 2

} EMAP_ORDER;


/****** API used in parse to fill quatern array */
void euler3ToQuatern(double zRotDeg, double xRotDeg, double yRotDeg, double* resultQ);
	/* composes 3 euler rot ez, ex, ey, into a quat resultQ.
		assume euler rot in the order of Z, X and then Y.
			ez=(zRotDeg, 0, 0, 1)
			ex=(xRotDeg, 1, 0, 0)
			ey=(yRotDeg, 0, 1, 0)
		ASSUME resultQ[4] has mem alloc before call
	*/

/******* API used in viewer.cpp drawing routine to do a rot */
void quaternToRot(double *q, double &aDeg, double &x, double &y, double &z);
	/* convert a quater (q[4]) to a rotation about vect(x,y,z) for angle aDeg.
	*/



/******* API used in viewer.cpp drawing routine to do a rot */
/* emap m[3] to UNIT rot axis <x,y,z> and rot angle aDeg */
void emapToRot(double *m, double &aDeg, double &x, double &y, double &z);

/* converts a quat q[4] to an emap m[3] */
void quatToEmap(double *q, double *m);

void emapToQuat(double *m, double *q);


void EulerToQuat(double yaw, double pitch, double roll, double *quat);



#endif