rfreeimage 0.1.0

data/vendor/FreeImage/Source/OpenEXR/Imath/ImathEuler.h

@@ -0,0 +1,926 @@
+///////////////////////////////////////////////////////////////////////////
+//
+// Copyright (c) 2002-2012, Industrial Light & Magic, a division of Lucas
+// Digital Ltd. LLC
+// 
+// All rights reserved.
+// 
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+// *       Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+// *       Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+// *       Neither the name of Industrial Light & Magic nor the names of
+// its contributors may be used to endorse or promote products derived
+// from this software without specific prior written permission. 
+// 
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+///////////////////////////////////////////////////////////////////////////
+
+
+
+#ifndef INCLUDED_IMATHEULER_H
+#define INCLUDED_IMATHEULER_H
+
+//----------------------------------------------------------------------
+//
+//	template class Euler<T>
+//
+//      This class represents euler angle orientations. The class
+//	inherits from Vec3 to it can be freely cast. The additional
+//	information is the euler priorities rep. This class is
+//	essentially a rip off of Ken Shoemake's GemsIV code. It has
+//	been modified minimally to make it more understandable, but
+//	hardly enough to make it easy to grok completely.
+//
+//	There are 24 possible combonations of Euler angle
+//	representations of which 12 are common in CG and you will
+//	probably only use 6 of these which in this scheme are the
+//	non-relative-non-repeating types. 
+//
+//	The representations can be partitioned according to two
+//	criteria:
+//
+//	   1) Are the angles measured relative to a set of fixed axis
+//	      or relative to each other (the latter being what happens
+//	      when rotation matrices are multiplied together and is
+//	      almost ubiquitous in the cg community)
+//
+//	   2) Is one of the rotations repeated (ala XYX rotation)
+//
+//	When you construct a given representation from scratch you
+//	must order the angles according to their priorities. So, the
+//	easiest is a softimage or aerospace (yaw/pitch/roll) ordering
+//	of ZYX. 
+//
+//	    float x_rot = 1;
+//	    float y_rot = 2;
+//	    float z_rot = 3;
+//
+//	    Eulerf angles(z_rot, y_rot, x_rot, Eulerf::ZYX);
+//		-or-
+//	    Eulerf angles( V3f(z_rot,y_rot,z_rot), Eulerf::ZYX );
+//
+//	If instead, the order was YXZ for instance you would have to
+//	do this:
+//
+//	    float x_rot = 1;
+//	    float y_rot = 2;
+//	    float z_rot = 3;
+//
+//	    Eulerf angles(y_rot, x_rot, z_rot, Eulerf::YXZ);
+//		-or-
+//	    Eulerf angles( V3f(y_rot,x_rot,z_rot), Eulerf::YXZ );
+//
+//	Notice how the order you put the angles into the three slots
+//	should correspond to the enum (YXZ) ordering. The input angle
+//	vector is called the "ijk" vector -- not an "xyz" vector. The
+//	ijk vector order is the same as the enum. If you treat the
+//	Euler<> as a Vec<> (which it inherts from) you will find the
+//	angles are ordered in the same way, i.e.:
+//
+//	    V3f v = angles;
+//	    // v.x == y_rot, v.y == x_rot, v.z == z_rot
+//
+//	If you just want the x, y, and z angles stored in a vector in
+//	that order, you can do this:
+//
+//	    V3f v = angles.toXYZVector()
+//	    // v.x == x_rot, v.y == y_rot, v.z == z_rot
+//
+//	If you want to set the Euler with an XYZVector use the
+//	optional layout argument:
+//
+//	    Eulerf angles(x_rot, y_rot, z_rot, 
+//			  Eulerf::YXZ,
+//		          Eulerf::XYZLayout);
+//
+//	This is the same as:
+//
+//	    Eulerf angles(y_rot, x_rot, z_rot, Eulerf::YXZ);
+//	    
+//	Note that this won't do anything intelligent if you have a
+//	repeated axis in the euler angles (e.g. XYX)
+//
+//	If you need to use the "relative" versions of these, you will
+//	need to use the "r" enums. 
+//
+//      The units of the rotation angles are assumed to be radians.
+//
+//----------------------------------------------------------------------
+
+
+#include "ImathMath.h"
+#include "ImathVec.h"
+#include "ImathQuat.h"
+#include "ImathMatrix.h"
+#include "ImathLimits.h"
+#include "ImathNamespace.h"
+
+#include <iostream>
+
+IMATH_INTERNAL_NAMESPACE_HEADER_ENTER
+
+#if (defined _WIN32 || defined _WIN64) && defined _MSC_VER
+// Disable MS VC++ warnings about conversion from double to float
+#pragma warning(disable:4244)
+#endif
+
+template <class T>
+class Euler : public Vec3<T>
+{
+  public:
+ 
+    using Vec3<T>::x;
+    using Vec3<T>::y;
+    using Vec3<T>::z;
+
+    enum Order
+    {
+	//
+	//  All 24 possible orderings
+	//
+
+	XYZ	= 0x0101,	// "usual" orderings
+	XZY	= 0x0001,
+	YZX	= 0x1101,
+	YXZ	= 0x1001,
+	ZXY	= 0x2101,
+	ZYX	= 0x2001,
+	
+	XZX	= 0x0011,	// first axis repeated
+	XYX	= 0x0111,
+	YXY	= 0x1011,
+	YZY	= 0x1111,
+	ZYZ	= 0x2011,
+	ZXZ	= 0x2111,
+
+	XYZr	= 0x2000,	// relative orderings -- not common
+	XZYr	= 0x2100,
+	YZXr	= 0x1000,
+	YXZr	= 0x1100,
+	ZXYr	= 0x0000,
+	ZYXr	= 0x0100,
+	
+	XZXr	= 0x2110,	// relative first axis repeated 
+	XYXr	= 0x2010,
+	YXYr	= 0x1110,
+	YZYr	= 0x1010,
+	ZYZr	= 0x0110,
+	ZXZr	= 0x0010,
+	//          ||||
+	//          VVVV
+	//  Legend: ABCD
+	//  A -> Initial Axis (0==x, 1==y, 2==z)
+	//  B -> Parity Even (1==true)
+	//  C -> Initial Repeated (1==true)
+	//  D -> Frame Static (1==true)
+	//
+
+	Legal	=   XYZ | XZY | YZX | YXZ | ZXY | ZYX |
+		    XZX | XYX | YXY | YZY | ZYZ | ZXZ |
+		    XYZr| XZYr| YZXr| YXZr| ZXYr| ZYXr|
+		    XZXr| XYXr| YXYr| YZYr| ZYZr| ZXZr,
+
+	Min	= 0x0000,
+	Max	= 0x2111,
+	Default	= XYZ
+    };
+
+    enum Axis { X = 0, Y = 1, Z = 2 };
+
+    enum InputLayout { XYZLayout, IJKLayout };
+
+    //--------------------------------------------------------------------
+    //	Constructors -- all default to ZYX non-relative ala softimage
+    //			(where there is no argument to specify it)
+    //
+    // The Euler-from-matrix constructors assume that the matrix does
+    // not include shear or non-uniform scaling, but the constructors
+    // do not examine the matrix to verify this assumption.  If necessary,
+    // you can adjust the matrix by calling the removeScalingAndShear()
+    // function, defined in ImathMatrixAlgo.h.
+    //--------------------------------------------------------------------
+
+    Euler();
+    Euler(const Euler&);
+    Euler(Order p);
+    Euler(const Vec3<T> &v, Order o = Default, InputLayout l = IJKLayout);
+    Euler(T i, T j, T k, Order o = Default, InputLayout l = IJKLayout);
+    Euler(const Euler<T> &euler, Order newp);
+    Euler(const Matrix33<T> &, Order o = Default);
+    Euler(const Matrix44<T> &, Order o = Default);
+
+    //---------------------------------
+    //  Algebraic functions/ Operators
+    //---------------------------------
+
+    const Euler<T>&	operator=  (const Euler<T>&);
+    const Euler<T>&	operator=  (const Vec3<T>&);
+
+    //--------------------------------------------------------
+    //	Set the euler value
+    //  This does NOT convert the angles, but setXYZVector() 
+    //	does reorder the input vector.
+    //--------------------------------------------------------
+
+    static bool		legal(Order);
+
+    void		setXYZVector(const Vec3<T> &);
+
+    Order		order() const;
+    void		setOrder(Order);
+
+    void		set(Axis initial,
+			    bool relative,
+			    bool parityEven,
+			    bool firstRepeats);
+
+    //------------------------------------------------------------
+    //	Conversions, toXYZVector() reorders the angles so that
+    //  the X rotation comes first, followed by the Y and Z
+    //  in cases like XYX ordering, the repeated angle will be
+    //	in the "z" component
+    //
+    // The Euler-from-matrix extract() functions assume that the
+    // matrix does not include shear or non-uniform scaling, but
+    // the extract() functions do not examine the matrix to verify
+    // this assumption.  If necessary, you can adjust the matrix
+    // by calling the removeScalingAndShear() function, defined
+    // in ImathMatrixAlgo.h.
+    //------------------------------------------------------------
+
+    void		extract(const Matrix33<T>&);
+    void		extract(const Matrix44<T>&);
+    void		extract(const Quat<T>&);
+
+    Matrix33<T>		toMatrix33() const;
+    Matrix44<T>		toMatrix44() const;
+    Quat<T>		toQuat() const;
+    Vec3<T>		toXYZVector() const;
+
+    //---------------------------------------------------
+    //	Use this function to unpack angles from ijk form
+    //---------------------------------------------------
+
+    void		angleOrder(int &i, int &j, int &k) const;
+
+    //---------------------------------------------------
+    //	Use this function to determine mapping from xyz to ijk
+    // - reshuffles the xyz to match the order
+    //---------------------------------------------------
+    
+    void		angleMapping(int &i, int &j, int &k) const;
+
+    //----------------------------------------------------------------------
+    //
+    //  Utility methods for getting continuous rotations. None of these
+    //  methods change the orientation given by its inputs (or at least
+    //  that is the intent).
+    //
+    //    angleMod() converts an angle to its equivalent in [-PI, PI]
+    //
+    //    simpleXYZRotation() adjusts xyzRot so that its components differ
+    //                        from targetXyzRot by no more than +-PI
+    //
+    //    nearestRotation() adjusts xyzRot so that its components differ
+    //                      from targetXyzRot by as little as possible.
+    //                      Note that xyz here really means ijk, because
+    //                      the order must be provided.
+    //
+    //    makeNear() adjusts "this" Euler so that its components differ
+    //               from target by as little as possible. This method
+    //               might not make sense for Eulers with different order
+    //               and it probably doesn't work for repeated axis and
+    //               relative orderings (TODO).
+    //
+    //-----------------------------------------------------------------------
+
+    static float	angleMod (T angle);
+    static void		simpleXYZRotation (Vec3<T> &xyzRot,
+					   const Vec3<T> &targetXyzRot);
+    static void		nearestRotation (Vec3<T> &xyzRot,
+					 const Vec3<T> &targetXyzRot,
+					 Order order = XYZ);
+
+    void		makeNear (const Euler<T> &target);
+
+    bool		frameStatic() const { return _frameStatic; }
+    bool		initialRepeated() const { return _initialRepeated; }
+    bool		parityEven() const { return _parityEven; }
+    Axis		initialAxis() const { return _initialAxis; }
+
+  protected:
+
+    bool		_frameStatic	 : 1;	// relative or static rotations
+    bool		_initialRepeated : 1;	// init axis repeated as last
+    bool		_parityEven	 : 1;	// "parity of axis permutation"
+#if defined _WIN32 || defined _WIN64
+    Axis		_initialAxis	 ;	// First axis of rotation
+#else
+    Axis		_initialAxis	 : 2;	// First axis of rotation
+#endif
+};
+
+
+//--------------------
+// Convenient typedefs
+//--------------------
+
+typedef Euler<float>	Eulerf;
+typedef Euler<double>	Eulerd;
+
+
+//---------------
+// Implementation
+//---------------
+
+template<class T>
+inline void
+ Euler<T>::angleOrder(int &i, int &j, int &k) const
+{
+    i = _initialAxis;
+    j = _parityEven ? (i+1)%3 : (i > 0 ? i-1 : 2);
+    k = _parityEven ? (i > 0 ? i-1 : 2) : (i+1)%3;
+}
+
+template<class T>
+inline void
+ Euler<T>::angleMapping(int &i, int &j, int &k) const
+{
+    int m[3];
+
+    m[_initialAxis] = 0;
+    m[(_initialAxis+1) % 3] = _parityEven ? 1 : 2;
+    m[(_initialAxis+2) % 3] = _parityEven ? 2 : 1;
+    i = m[0];
+    j = m[1];
+    k = m[2];
+}
+
+template<class T>
+inline void
+Euler<T>::setXYZVector(const Vec3<T> &v)
+{
+    int i,j,k;
+    angleMapping(i,j,k);
+    (*this)[i] = v.x;
+    (*this)[j] = v.y;
+    (*this)[k] = v.z;
+}
+
+template<class T>
+inline Vec3<T>
+Euler<T>::toXYZVector() const
+{
+    int i,j,k;
+    angleMapping(i,j,k);
+    return Vec3<T>((*this)[i],(*this)[j],(*this)[k]);
+}
+
+
+template<class T>
+Euler<T>::Euler() :
+    Vec3<T>(0,0,0),
+    _frameStatic(true),
+    _initialRepeated(false),
+    _parityEven(true),
+    _initialAxis(X)
+{}
+
+template<class T>
+Euler<T>::Euler(typename Euler<T>::Order p) :
+    Vec3<T>(0,0,0),
+    _frameStatic(true),
+    _initialRepeated(false),
+    _parityEven(true),
+    _initialAxis(X)
+{
+    setOrder(p);
+}
+
+template<class T>
+inline Euler<T>::Euler( const Vec3<T> &v, 
+			typename Euler<T>::Order p, 
+			typename Euler<T>::InputLayout l ) 
+{
+    setOrder(p); 
+    if ( l == XYZLayout ) setXYZVector(v);
+    else { x = v.x; y = v.y; z = v.z; }
+}
+
+template<class T>
+inline Euler<T>::Euler(const Euler<T> &euler)
+{
+    operator=(euler);
+}
+
+template<class T>
+inline Euler<T>::Euler(const Euler<T> &euler,Order p)
+{
+    setOrder(p);
+    Matrix33<T> M = euler.toMatrix33();
+    extract(M);
+}
+
+template<class T>
+inline Euler<T>::Euler( T xi, T yi, T zi, 
+			typename Euler<T>::Order p,
+			typename Euler<T>::InputLayout l)
+{
+    setOrder(p);
+    if ( l == XYZLayout ) setXYZVector(Vec3<T>(xi,yi,zi));
+    else { x = xi; y = yi; z = zi; }
+}
+
+template<class T>
+inline Euler<T>::Euler( const Matrix33<T> &M, typename Euler::Order p )
+{
+    setOrder(p);
+    extract(M);
+}
+
+template<class T>
+inline Euler<T>::Euler( const Matrix44<T> &M, typename Euler::Order p )
+{
+    setOrder(p);
+    extract(M);
+}
+
+template<class T>
+inline void Euler<T>::extract(const Quat<T> &q)
+{
+    extract(q.toMatrix33());
+}
+
+template<class T>
+void Euler<T>::extract(const Matrix33<T> &M)
+{
+    int i,j,k;
+    angleOrder(i,j,k);
+
+    if (_initialRepeated)
+    {
+	//
+	// Extract the first angle, x.
+	// 
+
+	x = Math<T>::atan2 (M[j][i], M[k][i]);
+
+	//
+	// Remove the x rotation from M, so that the remaining
+	// rotation, N, is only around two axes, and gimbal lock
+	// cannot occur.
+	//
+
+	Vec3<T> r (0, 0, 0);
+	r[i] = (_parityEven? -x: x);
+
+	Matrix44<T> N;
+	N.rotate (r);
+
+	N = N * Matrix44<T> (M[0][0], M[0][1], M[0][2], 0,
+			     M[1][0], M[1][1], M[1][2], 0,
+			     M[2][0], M[2][1], M[2][2], 0,
+			     0,       0,       0,       1);
+	//
+	// Extract the other two angles, y and z, from N.
+	//
+
+	T sy = Math<T>::sqrt (N[j][i]*N[j][i] + N[k][i]*N[k][i]);
+	y = Math<T>::atan2 (sy, N[i][i]);
+	z = Math<T>::atan2 (N[j][k], N[j][j]);
+    }
+    else
+    {
+	//
+	// Extract the first angle, x.
+	// 
+
+	x = Math<T>::atan2 (M[j][k], M[k][k]);
+
+	//
+	// Remove the x rotation from M, so that the remaining
+	// rotation, N, is only around two axes, and gimbal lock
+	// cannot occur.
+	//
+
+	Vec3<T> r (0, 0, 0);
+	r[i] = (_parityEven? -x: x);
+
+	Matrix44<T> N;
+	N.rotate (r);
+
+	N = N * Matrix44<T> (M[0][0], M[0][1], M[0][2], 0,
+			     M[1][0], M[1][1], M[1][2], 0,
+			     M[2][0], M[2][1], M[2][2], 0,
+			     0,       0,       0,       1);
+	//
+	// Extract the other two angles, y and z, from N.
+	//
+
+	T cy = Math<T>::sqrt (N[i][i]*N[i][i] + N[i][j]*N[i][j]);
+	y = Math<T>::atan2 (-N[i][k], cy);
+	z = Math<T>::atan2 (-N[j][i], N[j][j]);
+    }
+
+    if (!_parityEven)
+	*this *= -1;
+
+    if (!_frameStatic)
+    {
+	T t = x;
+	x = z;
+	z = t;
+    }
+}
+
+template<class T>
+void Euler<T>::extract(const Matrix44<T> &M)
+{
+    int i,j,k;
+    angleOrder(i,j,k);
+
+    if (_initialRepeated)
+    {
+	//
+	// Extract the first angle, x.
+	// 
+
+	x = Math<T>::atan2 (M[j][i], M[k][i]);
+
+	//
+	// Remove the x rotation from M, so that the remaining
+	// rotation, N, is only around two axes, and gimbal lock
+	// cannot occur.
+	//
+
+	Vec3<T> r (0, 0, 0);
+	r[i] = (_parityEven? -x: x);
+
+	Matrix44<T> N;
+	N.rotate (r);
+	N = N * M;
+
+	//
+	// Extract the other two angles, y and z, from N.
+	//
+
+	T sy = Math<T>::sqrt (N[j][i]*N[j][i] + N[k][i]*N[k][i]);
+	y = Math<T>::atan2 (sy, N[i][i]);
+	z = Math<T>::atan2 (N[j][k], N[j][j]);
+    }
+    else
+    {
+	//
+	// Extract the first angle, x.
+	// 
+
+	x = Math<T>::atan2 (M[j][k], M[k][k]);
+
+	//
+	// Remove the x rotation from M, so that the remaining
+	// rotation, N, is only around two axes, and gimbal lock
+	// cannot occur.
+	//
+
+	Vec3<T> r (0, 0, 0);
+	r[i] = (_parityEven? -x: x);
+
+	Matrix44<T> N;
+	N.rotate (r);
+	N = N * M;
+
+	//
+	// Extract the other two angles, y and z, from N.
+	//
+
+	T cy = Math<T>::sqrt (N[i][i]*N[i][i] + N[i][j]*N[i][j]);
+	y = Math<T>::atan2 (-N[i][k], cy);
+	z = Math<T>::atan2 (-N[j][i], N[j][j]);
+    }
+
+    if (!_parityEven)
+	*this *= -1;
+
+    if (!_frameStatic)
+    {
+	T t = x;
+	x = z;
+	z = t;
+    }
+}
+
+template<class T>
+Matrix33<T> Euler<T>::toMatrix33() const
+{
+    int i,j,k;
+    angleOrder(i,j,k);
+
+    Vec3<T> angles;
+
+    if ( _frameStatic ) angles = (*this);
+    else angles = Vec3<T>(z,y,x);
+
+    if ( !_parityEven ) angles *= -1.0;
+
+    T ci = Math<T>::cos(angles.x);
+    T cj = Math<T>::cos(angles.y);
+    T ch = Math<T>::cos(angles.z);
+    T si = Math<T>::sin(angles.x);
+    T sj = Math<T>::sin(angles.y);
+    T sh = Math<T>::sin(angles.z);
+
+    T cc = ci*ch;
+    T cs = ci*sh;
+    T sc = si*ch;
+    T ss = si*sh;
+
+    Matrix33<T> M;
+
+    if ( _initialRepeated )
+    {
+	M[i][i] = cj;	  M[j][i] =  sj*si;    M[k][i] =  sj*ci;
+	M[i][j] = sj*sh;  M[j][j] = -cj*ss+cc; M[k][j] = -cj*cs-sc;
+	M[i][k] = -sj*ch; M[j][k] =  cj*sc+cs; M[k][k] =  cj*cc-ss;
+    }
+    else
+    {
+	M[i][i] = cj*ch; M[j][i] = sj*sc-cs; M[k][i] = sj*cc+ss;
+	M[i][j] = cj*sh; M[j][j] = sj*ss+cc; M[k][j] = sj*cs-sc;
+	M[i][k] = -sj;	 M[j][k] = cj*si;    M[k][k] = cj*ci;
+    }
+
+    return M;
+}
+
+template<class T>
+Matrix44<T> Euler<T>::toMatrix44() const
+{
+    int i,j,k;
+    angleOrder(i,j,k);
+
+    Vec3<T> angles;
+
+    if ( _frameStatic ) angles = (*this);
+    else angles = Vec3<T>(z,y,x);
+
+    if ( !_parityEven ) angles *= -1.0;
+
+    T ci = Math<T>::cos(angles.x);
+    T cj = Math<T>::cos(angles.y);
+    T ch = Math<T>::cos(angles.z);
+    T si = Math<T>::sin(angles.x);
+    T sj = Math<T>::sin(angles.y);
+    T sh = Math<T>::sin(angles.z);
+
+    T cc = ci*ch;
+    T cs = ci*sh;
+    T sc = si*ch;
+    T ss = si*sh;
+
+    Matrix44<T> M;
+
+    if ( _initialRepeated )
+    {
+	M[i][i] = cj;	  M[j][i] =  sj*si;    M[k][i] =  sj*ci;
+	M[i][j] = sj*sh;  M[j][j] = -cj*ss+cc; M[k][j] = -cj*cs-sc;
+	M[i][k] = -sj*ch; M[j][k] =  cj*sc+cs; M[k][k] =  cj*cc-ss;
+    }
+    else
+    {
+	M[i][i] = cj*ch; M[j][i] = sj*sc-cs; M[k][i] = sj*cc+ss;
+	M[i][j] = cj*sh; M[j][j] = sj*ss+cc; M[k][j] = sj*cs-sc;
+	M[i][k] = -sj;	 M[j][k] = cj*si;    M[k][k] = cj*ci;
+    }
+
+    return M;
+}
+
+template<class T>
+Quat<T> Euler<T>::toQuat() const
+{
+    Vec3<T> angles;
+    int i,j,k;
+    angleOrder(i,j,k);
+
+    if ( _frameStatic ) angles = (*this);
+    else angles = Vec3<T>(z,y,x);
+
+    if ( !_parityEven ) angles.y = -angles.y;
+
+    T ti = angles.x*0.5;
+    T tj = angles.y*0.5;
+    T th = angles.z*0.5;
+    T ci = Math<T>::cos(ti);
+    T cj = Math<T>::cos(tj);
+    T ch = Math<T>::cos(th);
+    T si = Math<T>::sin(ti);
+    T sj = Math<T>::sin(tj);
+    T sh = Math<T>::sin(th);
+    T cc = ci*ch;
+    T cs = ci*sh;
+    T sc = si*ch;
+    T ss = si*sh;
+
+    T parity = _parityEven ? 1.0 : -1.0;
+
+    Quat<T> q;
+    Vec3<T> a;
+
+    if ( _initialRepeated )
+    {
+	a[i]	= cj*(cs + sc);
+	a[j]	= sj*(cc + ss) * parity,
+	a[k]	= sj*(cs - sc);
+	q.r	= cj*(cc - ss);
+    }
+    else
+    {
+	a[i]	= cj*sc - sj*cs,
+	a[j]	= (cj*ss + sj*cc) * parity,
+	a[k]	= cj*cs - sj*sc;
+	q.r	= cj*cc + sj*ss;
+    }
+
+    q.v = a;
+
+    return q;
+}
+
+template<class T>
+inline bool
+Euler<T>::legal(typename Euler<T>::Order order)
+{
+    return (order & ~Legal) ? false : true;
+}
+
+template<class T>
+typename Euler<T>::Order
+Euler<T>::order() const
+{
+    int foo = (_initialAxis == Z ? 0x2000 : (_initialAxis == Y ? 0x1000 : 0));
+
+    if (_parityEven)	  foo |= 0x0100;
+    if (_initialRepeated) foo |= 0x0010;
+    if (_frameStatic)	  foo++;
+
+    return (Order)foo;
+}
+
+template<class T>
+inline void Euler<T>::setOrder(typename Euler<T>::Order p)
+{
+    set( p & 0x2000 ? Z : (p & 0x1000 ? Y : X),	// initial axis
+	 !(p & 0x1),	    			// static?
+	 !!(p & 0x100),				// permutation even?
+	 !!(p & 0x10));				// initial repeats?
+}
+
+template<class T>
+void Euler<T>::set(typename Euler<T>::Axis axis,
+		   bool relative,
+		   bool parityEven,
+		   bool firstRepeats)
+{
+    _initialAxis	= axis;
+    _frameStatic	= !relative;
+    _parityEven		= parityEven;
+    _initialRepeated	= firstRepeats;
+}
+
+template<class T>
+const Euler<T>& Euler<T>::operator= (const Euler<T> &euler)
+{
+    x = euler.x;
+    y = euler.y;
+    z = euler.z;
+    _initialAxis = euler._initialAxis;
+    _frameStatic = euler._frameStatic;
+    _parityEven	 = euler._parityEven;
+    _initialRepeated = euler._initialRepeated;
+    return *this;
+}
+
+template<class T>
+const Euler<T>& Euler<T>::operator= (const Vec3<T> &v)
+{
+    x = v.x;
+    y = v.y;
+    z = v.z;
+    return *this;
+}
+
+template<class T>
+std::ostream& operator << (std::ostream &o, const Euler<T> &euler)
+{
+    char a[3] = { 'X', 'Y', 'Z' };
+
+    const char* r = euler.frameStatic() ? "" : "r";
+    int i,j,k;
+    euler.angleOrder(i,j,k);
+
+    if ( euler.initialRepeated() ) k = i;
+
+    return o << "("
+	     << euler.x << " "
+	     << euler.y << " "
+	     << euler.z << " "
+	     << a[i] << a[j] << a[k] << r << ")";
+}
+
+template <class T>
+float
+Euler<T>::angleMod (T angle)
+{
+    angle = fmod(T (angle), T (2 * M_PI));
+
+    if (angle < -M_PI)	angle += 2 * M_PI;
+    if (angle > +M_PI)	angle -= 2 * M_PI;
+
+    return angle;
+}
+
+template <class T>
+void
+Euler<T>::simpleXYZRotation (Vec3<T> &xyzRot, const Vec3<T> &targetXyzRot)
+{
+    Vec3<T> d  = xyzRot - targetXyzRot;
+    xyzRot[0]  = targetXyzRot[0] + angleMod(d[0]);
+    xyzRot[1]  = targetXyzRot[1] + angleMod(d[1]);
+    xyzRot[2]  = targetXyzRot[2] + angleMod(d[2]);
+}
+
+template <class T>
+void
+Euler<T>::nearestRotation (Vec3<T> &xyzRot, const Vec3<T> &targetXyzRot,
+			   Order order)
+{
+    int i,j,k;
+    Euler<T> e (0,0,0, order);
+    e.angleOrder(i,j,k);
+
+    simpleXYZRotation(xyzRot, targetXyzRot);
+
+    Vec3<T> otherXyzRot;
+    otherXyzRot[i] = M_PI+xyzRot[i];
+    otherXyzRot[j] = M_PI-xyzRot[j];
+    otherXyzRot[k] = M_PI+xyzRot[k];
+
+    simpleXYZRotation(otherXyzRot, targetXyzRot);
+	    
+    Vec3<T> d  = xyzRot - targetXyzRot;
+    Vec3<T> od = otherXyzRot - targetXyzRot;
+    T dMag     = d.dot(d);
+    T odMag    = od.dot(od);
+
+    if (odMag < dMag)
+    {
+	xyzRot = otherXyzRot;
+    }
+}
+
+template <class T>
+void
+Euler<T>::makeNear (const Euler<T> &target)
+{
+    Vec3<T> xyzRot = toXYZVector();
+    Vec3<T> targetXyz;
+    if (order() != target.order())
+    {
+        Euler<T> targetSameOrder = Euler<T>(target, order());
+        targetXyz = targetSameOrder.toXYZVector();
+    }
+    else
+    {
+        targetXyz = target.toXYZVector();
+    }
+
+    nearestRotation(xyzRot, targetXyz, order());
+
+    setXYZVector(xyzRot);
+}
+
+#if (defined _WIN32 || defined _WIN64) && defined _MSC_VER
+#pragma warning(default:4244)
+#endif
+
+IMATH_INTERNAL_NAMESPACE_HEADER_EXIT
+
+
+#endif // INCLUDED_IMATHEULER_H