src/Math/Rotation.hpp


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#pragma once

#include <cmath>
#include "Vector.hpp"

struct Rotation {
    Rotation() = default;

    Rotation(Vector<3> vector) : vector{ wrap(vector) } {}

    explicit Rotation(Real angles[3]) : Rotation(angles[0], angles[1], angles[2]) {}

    Rotation(Real pitch, Real yaw, Real roll) {
        vector = wrap({pitch, yaw, roll });
    }

    Rotation operator+(Rotation other) const {
        return wrap(vector + other.vector);
    }

    std::string string() const {
        return vector.string();
    }

    static Vector<3> wrap(Vector<3> v) {
        return v.map([](auto a) { return fmod(a, 360.0f); });
    }

    Real& pitch() {
        return vector[0];
    }

    Real& yaw() {
        return vector[1];
    }

    Real& roll() {
        return vector[2];
    }

    Vector<3> vector;
};