Angle.h

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/*--------------------------------------------------------------------------------------+
|
|   Supplied under applicable software license agreement.
|
|   Copyright (c) 2018 Bentley Systems, Incorporated. All rights reserved.
|
+---------------------------------------------------------------------------------------*/
#pragma once
BEGIN_BENTLEY_GEOMETRY_NAMESPACE

struct GEOMDLLIMPEXP Angle
{
friend struct YawPitchRollAngles;
friend GEOMDLLIMPEXP Angle operator *(Angle const &, double);
friend GEOMDLLIMPEXP Angle operator *(double, Angle const &);
friend GEOMDLLIMPEXP Angle operator -(Angle const &);
friend GEOMDLLIMPEXP Angle operator +(Angle const &, Angle const &);
friend GEOMDLLIMPEXP Angle operator -(Angle const &, Angle const &);

private: double m_radians;
// the constructor is PRIVATE so that callers MUST say FromDegrees or FromRadians and cannot accidentally get degrees/radians mixed up.
private: Angle (double radians);
public: Angle (AngleCR source);
public:
static Angle FromDegrees (double degrees);
public:
static Angle FromRadians (double radians);
public:
static Angle FromAtan2 (double sine, double cosine);

public:
double Sin () const;

public:
double Cos () const;

public:
    double Tan () const;


public:
Angle ();


public:
double Radians () const;
public:
double Degrees () const;

static bool IsFullCircle (double radians);

static bool IsNearZero (double radians);
static bool IsNearZeroAllowPeriodShift (double radians);

static bool NearlyEqual (double radiansA, double radiansB);
static bool NearlyEqualAllowPeriodShift (double radiansA, double radiansB); 

static double SmallAngle ();

static double TinyAngle ();


static double MediumAngle ();

static double Pi ();
static double TwoPi ();
static double PiOver2 ();

static double DegreesToRadians (double degrees);
static double RadiansToDegrees (double radians);

static double CircleFractionToRadians (double fraction);


static double AdjustToSweep (double theta, double thetaStart, double sweep);

static double NormalizeToSweep (double theta, double thetaStart, double sweep);

static double NormalizeToSweep (double theta, double thetaStart, double sweep, bool extend0, bool extend1);

static bool InExactSweep (double theta, double thetaStart, double sweep);

static bool InSweepAllowPeriodShift (double theta, double thetaStart, double sweep);

static double PeriodShift (double theta, double periods);

static double ReverseComplement (double radians);

static double ForwardComplement (double radians);

static void HalfAngleFuctions (double &cosA, double &sinA, double rCos2A, double rSin2A);

static void Rotate90UntilSmallAngle (double &x1, double &y1, double x0, double y0);

static void TrigCombinationRangeInSweep
        (
        double constCoff, double cosCoff, double sinCoff,
        double thetaA, double sweep,
        double &thetaMin, double &fMin,
        double &thetaMax, double &fMax
        );

static void TrigCombinationRange
        (
        double constCoff, double cosCoff, double sinCoff,
        double &thetaMin, double &fMin,
        double &thetaMax, double &fMax
        );

static double EvaluateTrigCombination (double constCoff, double cosCoff, double sinCoff, double theta);
static double Atan2 (double numerator, double denominator);
static double Acos (double arg);
static double Asin (double arg);



static int Cyclic2dAxis (int i);
static int Cyclic3dAxis (int i);
static void Cyclic3dAxes (int &i0, int &i1, int &i2, int i);

static void ApplyGivensWeights
(
double &aOut,
double &bOut,
double a,
double b,
double cos,
double sin
);

static void ConstructGivensWeights
(
double      &cosine,
double      &sine,
double      a,
double      b
);

static void TrigIntegrals (double theta0, double theta1, RotMatrixR integrals);
};


 struct GEOMDLLIMPEXP AngleInDegrees
{
private:
double m_degrees;
// Private constructor with degrees as input.  public users must specfiy FromDegrees or FromRadians
// via the static methods.
AngleInDegrees (double degrees);

public:
AngleInDegrees ();
AngleInDegrees (AngleInDegrees const &other);
AngleInDegrees (Angle const &other);

static AngleInDegrees SmallAngleInDegrees ();

bool operator == (AngleInDegrees const &other) const;
bool operator < (AngleInDegrees const &other) const;
bool operator <= (AngleInDegrees const &other) const;
bool operator > (AngleInDegrees const &other) const;
bool operator >= (AngleInDegrees const &other) const;
bool operator != (AngleInDegrees const &other) const;

AngleInDegrees operator+ (AngleInDegrees const &other) const {return AngleInDegrees (m_degrees + other.m_degrees);}

bool AlmostEqual (AngleInDegrees const &other);
static AngleInDegrees FromRadians (double radians);
static AngleInDegrees FromDegrees (double degrees);

double Degrees ()const ;
double Radians () const;
double Cos () const;
double Sin () const;
static AngleInDegrees FromAtan2 (double y, double x);
};

 struct GEOMDLLIMPEXP YawPitchRollAngles
{
private:
AngleInDegrees m_yaw, m_pitch, m_roll;
public:
YawPitchRollAngles ();

YawPitchRollAngles (AngleInDegrees Yaw, AngleInDegrees pitch, AngleInDegrees roll);
YawPitchRollAngles (Angle yaw, Angle pitch, Angle roll);

AngleInDegrees GetYaw   () const;
AngleInDegrees GetPitch () const;
AngleInDegrees GetRoll  () const;

static YawPitchRollAngles FromRadians (double yawRadians, double pitchRadians, double rollRadians);

static YawPitchRollAngles FromDegrees (double yawDegrees, double pitchDegrees, double rollDegrees);

static bool TryFromRotMatrix (YawPitchRollAnglesR angles, RotMatrixCR matrix);
RotMatrix ToRotMatrix () const;
Transform ToTransform (DPoint3dCR origin) const;

bool IsIdentity () const;
double MaxAbsRadians () const;

double MaxDiffRadians (YawPitchRollAngles const &other) const;

double MaxAbsDegrees () const;

double MaxDiffDegrees (YawPitchRollAngles const &other) const;

};
END_BENTLEY_GEOMETRY_NAMESPACE