///////////////////////////////////////////////////////////////////////////////////////////////////
// OpenGL Mathematics Copyright (c) 2005 - 2011 G-Truc Creation (www.g-truc.net)
///////////////////////////////////////////////////////////////////////////////////////////////////
// Created : 2005-12-21
// Updated : 2007-08-14
// Licence : This source is under MIT License
// File    : glm/gtx/euler_angles.inl
///////////////////////////////////////////////////////////////////////////////////////////////////

namespace glm{
namespace gtx{
namespace euler_angles{

template <typename valType> 
GLM_FUNC_QUALIFIER detail::tmat4x4<valType> eulerAngleX
(
	valType const & angleX
)
{
	valType cosX = glm::cos(angleX);
	valType sinX = glm::sin(angleX);
	
	return detail::tmat4x4<valType>(
		valType(1), valType(0), valType(0), valType(0),
		valType(0), cosX,		sinX,		valType(0),
		valType(0),-sinX,		cosX,		valType(0),
		valType(0), valType(0), valType(0), valType(1));
}

template <typename valType> 
GLM_FUNC_QUALIFIER detail::tmat4x4<valType> eulerAngleY
(
	valType const & angleY
)
{
	valType cosY = glm::cos(angleY);
	valType sinY = glm::sin(angleY);

	return detail::tmat4x4<valType>(
		cosY,		valType(0),	sinY,		valType(0),
		valType(0),	valType(1),	valType(0), valType(0),
		-sinY,		valType(0),	cosY,		valType(0),
		valType(0),	valType(0),	valType(0), valType(1));
}

template <typename valType> 
GLM_FUNC_QUALIFIER detail::tmat4x4<valType> eulerAngleZ
(
	valType const & angleZ
)
{
	valType cosZ = glm::cos(angleZ); 
	valType sinZ = glm::sin(angleZ);

	return detail::tmat4x4<valType>(
		cosZ,		sinZ,		valType(0), valType(0),
		-sinZ,		cosZ,		valType(0), valType(0),
		valType(0),	valType(0),	valType(1), valType(0),
		valType(0),	valType(0),	valType(0), valType(1));
}

template <typename valType> 
GLM_FUNC_QUALIFIER detail::tmat4x4<valType> eulerAngleXY
(
	valType const & angleX, 
	valType const & angleY
)
{
	valType cosX = glm::cos(angleX);
	valType sinX = glm::sin(angleX);
	valType cosY = glm::cos(angleY);
	valType sinY = glm::sin(angleY);

	return detail::tmat4x4<valType>(
		cosY,		-sinX * sinY,	cosX * sinY,	valType(0),
		valType(0), cosX,			sinX,			valType(0),
		-sinY ,		-sinX * cosY,	cosX * cosY,	valType(0),
		valType(0), valType(0),     valType(0),		valType(1));
}

template <typename valType> 
GLM_FUNC_QUALIFIER detail::tmat4x4<valType> eulerAngleYX
(
	valType const & angleY, 
	valType const & angleX
)
{
	valType cosX = glm::cos(angleX); 
	valType sinX = glm::sin(angleX); 
	valType cosY = glm::cos(angleY); 
	valType sinY = glm::sin(angleY);

	return detail::tmat4x4<valType>(
		cosY,			valType(0),		sinY,			valType(0),
		-sinX * sinY,	cosX,			sinX * cosY,	valType(0),
		-cosX * sinY,	-sinX,			cosX * cosY,	valType(0),
		valType(0),		valType(0),		valType(0),		valType(1));
}

template <typename valType> 
GLM_FUNC_QUALIFIER detail::tmat4x4<valType> eulerAngleXZ
(
	valType const & angleX, 
	valType const & angleZ
)
{
	return eulerAngleX(angleX) * eulerAngleZ(angleZ);
}

template <typename valType> 
GLM_FUNC_QUALIFIER detail::tmat4x4<valType> eulerAngleZX
(
	valType const & angleZ, 
	valType const & angleX
)
{
	return eulerAngleZ(angleZ) * eulerAngleX(angleX);
}

template <typename valType> 
GLM_FUNC_QUALIFIER detail::tmat4x4<valType> eulerAngleYXZ
(
	valType const & yaw, 
	valType const & pitch, 
	valType const & roll
)
{
    valType tmp_ch = glm::cos(yaw);
    valType tmp_sh = glm::sin(yaw);
    valType tmp_cp = glm::cos(pitch);
    valType tmp_sp = glm::sin(pitch);
    valType tmp_cb = glm::cos(roll);
    valType tmp_sb = glm::sin(roll);

    detail::tmat4x4<valType> Result;
    Result[0][0] = tmp_ch * tmp_cb + tmp_sh * tmp_sp * tmp_sb;
    Result[0][1] = tmp_sb * tmp_cp;
    Result[0][2] = -tmp_sh * tmp_cb + tmp_ch * tmp_sp * tmp_sb;
    Result[0][3] = valType(0);
    Result[1][0] = -tmp_ch * tmp_sb + tmp_sh * tmp_sp * tmp_cb;
    Result[1][1] = tmp_cb * tmp_cp;
    Result[1][2] = tmp_sb * tmp_sh + tmp_ch * tmp_sp * tmp_cb;
    Result[1][3] = valType(0);
    Result[2][0] = tmp_sh * tmp_cp;
    Result[2][1] = -tmp_sp;
    Result[2][2] = tmp_ch * tmp_cp;
    Result[2][3] = valType(0);
    Result[3][0] = valType(0);
    Result[3][1] = valType(0);
    Result[3][2] = valType(0);
    Result[3][3] = valType(1);
    return Result;
}

template <typename valType> 
GLM_FUNC_QUALIFIER detail::tmat4x4<valType> yawPitchRoll
(
	valType const & yaw, 
	valType const & pitch, 
	valType const & roll
)
{
    valType tmp_ch = glm::cos(yaw);
    valType tmp_sh = glm::sin(yaw);
    valType tmp_cp = glm::cos(pitch);
    valType tmp_sp = glm::sin(pitch);
    valType tmp_cb = glm::cos(roll);
    valType tmp_sb = glm::sin(roll);

    detail::tmat4x4<valType> Result;
    Result[0][0] = tmp_ch * tmp_cb + tmp_sh * tmp_sp * tmp_sb;
    Result[0][1] = tmp_sb * tmp_cp;
    Result[0][2] = -tmp_sh * tmp_cb + tmp_ch * tmp_sp * tmp_sb;
    Result[0][3] = valType(0);
    Result[1][0] = -tmp_ch * tmp_sb + tmp_sh * tmp_sp * tmp_cb;
    Result[1][1] = tmp_cb * tmp_cp;
    Result[1][2] = tmp_sb * tmp_sh + tmp_ch * tmp_sp * tmp_cb;
    Result[1][3] = valType(0);
    Result[2][0] = tmp_sh * tmp_cp;
    Result[2][1] = -tmp_sp;
    Result[2][2] = tmp_ch * tmp_cp;
    Result[2][3] = valType(0);
    Result[3][0] = valType(0);
    Result[3][1] = valType(0);
    Result[3][2] = valType(0);
    Result[3][3] = valType(1);
    return Result;
}

template <typename valType>
GLM_FUNC_QUALIFIER detail::tmat2x2<valType> orientate2
(
	valType const & angle
)
{
    valType c = glm::cos(angle);
    valType s = glm::sin(angle);

	detail::tmat2x2<valType> Result;
    Result[0][0] = c;
    Result[0][1] = s;
    Result[1][0] = -s;
    Result[1][1] = c;
	return Result;
}

template <typename valType>
GLM_FUNC_QUALIFIER detail::tmat3x3<valType> orientate3
(
	valType const & angle
)
{
    valType c = glm::cos(angle);
    valType s = glm::sin(angle);

	detail::tmat3x3<valType> Result;
    Result[0][0] = c;
    Result[0][1] = s;
	Result[0][2] = 0.0f;
    Result[1][0] = -s;
    Result[1][1] = c;
	Result[1][2] = 0.0f;
	Result[2][0] = 0.0f;
	Result[2][1] = 0.0f;
	Result[2][2] = 1.0f;
	return Result;
}

template <typename valType>
GLM_FUNC_QUALIFIER detail::tmat3x3<valType> orientate3
(
	detail::tvec3<valType> const & angles
)
{
	return detail::tmat3x3<valType>(yawPitchRoll(angles.x, angles.y, angles.z));
}

template <typename valType>
GLM_FUNC_QUALIFIER detail::tmat4x4<valType> orientate4
(
	detail::tvec3<valType> const & angles
)
{
    return yawPitchRoll(angles.z, angles.x, angles.y);
}

}//namespace euler_angles
}//namespace gtx
}//namespace glm
