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/**
 * @file rotation.cpp
 *
 * Vector rotation library
 */

#include "rotation.h"

__EXPORT matrix::Dcmf
get_rot_matrix(enum Rotation rot)
{
	return matrix::Dcmf{matrix::Eulerf{
			math::radians((float)rot_lookup[rot].roll),
			math::radians((float)rot_lookup[rot].pitch),
			math::radians((float)rot_lookup[rot].yaw)}};
}

__EXPORT matrix::Quatf
get_rot_quaternion(enum Rotation rot)
{
	return matrix::Quatf{matrix::Eulerf{
			math::radians((float)rot_lookup[rot].roll),
			math::radians((float)rot_lookup[rot].pitch),
			math::radians((float)rot_lookup[rot].yaw)}};
}

__EXPORT void
rotate_3i(enum Rotation rot, int16_t &x, int16_t &y, int16_t &z)
{
	if (!rotate_3(rot, x, y, z)) {
		// otherwise use full rotation matrix for valid rotations
		if (rot < ROTATION_MAX) {
			const matrix::Vector3f r{get_rot_matrix(rot) *matrix::Vector3f{(float)x, (float)y, (float)z}};
			x = math::constrain(roundf(r(0)), (float)INT16_MIN, (float)INT16_MAX);
			y = math::constrain(roundf(r(1)), (float)INT16_MIN, (float)INT16_MAX);
			z = math::constrain(roundf(r(2)), (float)INT16_MIN, (float)INT16_MAX);
		}
	}
}

__EXPORT void
rotate_3f(enum Rotation rot, float &x, float &y, float &z)
{
	if (!rotate_3(rot, x, y, z)) {
		// otherwise use full rotation matrix for valid rotations
		if (rot < ROTATION_MAX) {
			const matrix::Vector3f r{get_rot_matrix(rot) *matrix::Vector3f{x, y, z}};
			x = r(0);
			y = r(1);
			z = r(2);
		}
	}
}