///////////////////////////////////////////////////////////////////////////////////
/// OpenGL Mathematics (glm.g-truc.net)
///
/// Copyright (c) 2005 - 2015 G-Truc Creation (www.g-truc.net)
/// Permission is hereby granted, free of charge, to any person obtaining a copy
/// of this software and associated documentation files (the "Software"), to deal
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/// furnished to do so, subject to the following conditions:
/// 
/// The above copyright notice and this permission notice shall be included in
/// all copies or substantial portions of the Software.
/// 
/// Restrictions:
///             By making use of the Software for military purposes, you choose to make
///             a Bunny unhappy.
/// 
/// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
/// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
/// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
/// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
/// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
/// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
/// THE SOFTWARE.
///
/// @ref gtx_euler_angles
/// @file glm/gtx/euler_angles.inl
/// @date 2005-12-21 / 2011-06-07
/// @author Christophe Riccio
///////////////////////////////////////////////////////////////////////////////////////////////////

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

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

                return tmat4x4<T, defaultp>(
                        cosY,   T(0),   -sinY,  T(0),
                        T(0),   T(1),   T(0),   T(0),
                        sinY,   T(0),   cosY,   T(0),
                        T(0),   T(0),   T(0),   T(1));
        }

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

                return tmat4x4<T, defaultp>(
                        cosZ,   sinZ,   T(0), T(0),
                        -sinZ,  cosZ,   T(0), T(0),
                        T(0),   T(0),   T(1), T(0),
                        T(0),   T(0),   T(0), T(1));
        }

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

                return tmat4x4<T, defaultp>(
                        cosY,   -sinX * -sinY,  cosX * -sinY,   T(0),
                        T(0),   cosX,           sinX,           T(0),
                        sinY,   -sinX * cosY,   cosX * cosY,    T(0),
                        T(0),   T(0),           T(0),           T(1));
        }

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

                return tmat4x4<T, defaultp>(
                        cosY,          0,      -sinY,    T(0),
                        sinY * sinX,  cosX, cosY * sinX, T(0),
                        sinY * cosX, -sinX, cosY * cosX, T(0),
                        T(0),         T(0),     T(0),    T(1));
        }

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

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

        template <typename T>
        GLM_FUNC_QUALIFIER tmat4x4<T, defaultp> eulerAngleYZ
        (
                T const & angleY,
                T const & angleZ
        )
        {
                return eulerAngleY(angleY) * eulerAngleZ(angleZ);
        }

        template <typename T>
        GLM_FUNC_QUALIFIER tmat4x4<T, defaultp> eulerAngleZY
        (
                T const & angleZ,
                T const & angleY
        )
        {
                return eulerAngleZ(angleZ) * eulerAngleY(angleY);
        }

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

                tmat4x4<T, defaultp> 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] = static_cast<T>(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] = static_cast<T>(0);
                Result[2][0] = tmp_sh * tmp_cp;
                Result[2][1] = -tmp_sp;
                Result[2][2] = tmp_ch * tmp_cp;
                Result[2][3] = static_cast<T>(0);
                Result[3][0] = static_cast<T>(0);
                Result[3][1] = static_cast<T>(0);
                Result[3][2] = static_cast<T>(0);
                Result[3][3] = static_cast<T>(1);
                return Result;
        }

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

                tmat4x4<T, defaultp> 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] = static_cast<T>(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] = static_cast<T>(0);
                Result[2][0] = tmp_sh * tmp_cp;
                Result[2][1] = -tmp_sp;
                Result[2][2] = tmp_ch * tmp_cp;
                Result[2][3] = static_cast<T>(0);
                Result[3][0] = static_cast<T>(0);
                Result[3][1] = static_cast<T>(0);
                Result[3][2] = static_cast<T>(0);
                Result[3][3] = static_cast<T>(1);
                return Result;
        }

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

                tmat2x2<T, defaultp> Result;
                Result[0][0] = c;
                Result[0][1] = s;
                Result[1][0] = -s;
                Result[1][1] = c;
                return Result;
        }

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

                tmat3x3<T, defaultp> 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 T, precision P>
        GLM_FUNC_QUALIFIER tmat3x3<T, P> orientate3
        (
                tvec3<T, P> const & angles
        )
        {
                return tmat3x3<T, P>(yawPitchRoll(angles.z, angles.x, angles.y));
        }

        template <typename T, precision P>
        GLM_FUNC_QUALIFIER tmat4x4<T, P> orientate4
        (
                tvec3<T, P> const & angles
        )
        {
                return yawPitchRoll(angles.z, angles.x, angles.y);
        }
}//namespace glm