magba 0.5.0

Magnetic computation library for Rust
Documentation 
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/*
 * Magba is licensed under The 3-Clause BSD, see LICENSE.
 * Copyright 2025 Sira Pornsiriprasert <code@psira.me>
 */

//! Coordinate conversion and calculation utilities for 3D geometry.

use nalgebra::{Point3, RealField, UnitQuaternion, Vector3};

/// Convert Cartesian coordinates *(x, y)* to cylindrical coordinates *(r, phi)*.
pub fn cart2cyl<T: RealField + Copy>(x: T, y: T) -> (T, T) {
    let r = (x * x + y * y).sqrt();
    let phi = y.atan2(x);
    (r, phi)
}

/// Convert vector with component *(r, phi)* in cylindrical to Cartesian CS.
/// - `theta`: Angle of the vector on XY plane
pub fn vec_cyl2cart<T: RealField + Copy>(r: T, phi: T, theta: T) -> (T, T) {
    let x = r * theta.cos() - phi * theta.sin();
    let y = r * theta.sin() + phi * theta.cos();
    (x, y)
}

/// Convenience macro for transforming function arguments to local frame
/// and convert back the result to global frame.
macro_rules! compute_in_local {
    ($func: ident, $point: expr, $position: expr, $orientation: expr, ($($func_args:expr),*),) => {
        {
            let local_point = crate::base::coordinate::global_to_local_point($point, $position, $orientation);
            let local_result_vector = $func(local_point, $($func_args),*);
            crate::base::coordinate::local_to_global_vector(local_result_vector, $orientation)
        }
    };
}
pub(crate) use compute_in_local;

/// Transform global point to the local frame of the object.
pub(crate) fn global_to_local_point<T: RealField + Copy>(
    point: Point3<T>,
    position: Point3<T>,
    orientation: UnitQuaternion<T>,
) -> Point3<T> {
    orientation.inverse() * Point3::from(point.coords - position.coords)
}

/// Transform local vector to the global frame.
pub(crate) fn local_to_global_vector<T: RealField + Copy>(
    vector: Vector3<T>,
    orientation: UnitQuaternion<T>,
) -> Vector3<T> {
    orientation * vector
}