rotate_vector_2d.hpp

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#ifndef FANG_ROBOTICS_MCB_UTIL_MATH_GEOMETRY_ROTATE_VECTOR_2D
#define FANG_ROBOTICS_MCB_UTIL_MATH_GEOMETRY_ROTATE_VECTOR_2D
#include "util/math/linear/vector_2d.hpp"
#include "wrap/units/units_alias.hpp"
 
namespace fang::math
{
    template<typename Unit>
    Vector2D<Unit> rotateVector2D(const Vector2D<Unit>& vector, const Radians& rotationAngle)
    {
        //Rotation matrix
        //https://www.youtube.com/watch?v=1oYEo7PNIBQ
        //I know it's Wikipedia but it's will help wwith the youtube video
        //In general, Wikipedia is pretty good as a math reference, too.
        //https://en.wikipedia.org/wiki/Rotation_matrix
 
        const double angle{rotationAngle.to<double>()};
        const double rotatedx{vector.x * (std::cos(angle)) - vector.y * (std::sin(angle))};
        const double rotatedy{vector.x * (std::sin(angle)) + vector.y * (std::cos(angle))};
 
        return Vector2D<Unit>{Unit{rotatedx}, Unit{rotatedy}};
    }
}
#endif