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author | LaG1924 <12997935+LaG1924@users.noreply.github.com> | 2017-05-12 15:49:50 +0200 |
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committer | LaG1924 <12997935+LaG1924@users.noreply.github.com> | 2017-05-12 15:49:50 +0200 |
commit | e62817b8252974b8a98393275874ee303840bf13 (patch) | |
tree | 4565935f06e369f4a84410b0c098958e07a750c7 /depedencies/include/glm/gtx/euler_angles.inl | |
parent | 2017-05-10 (diff) | |
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-rw-r--r-- | depedencies/include/glm/gtx/euler_angles.inl | 312 |
1 files changed, 312 insertions, 0 deletions
diff --git a/depedencies/include/glm/gtx/euler_angles.inl b/depedencies/include/glm/gtx/euler_angles.inl new file mode 100644 index 0000000..dbe0a48 --- /dev/null +++ b/depedencies/include/glm/gtx/euler_angles.inl @@ -0,0 +1,312 @@ +/// @ref gtx_euler_angles +/// @file glm/gtx/euler_angles.inl + +#include "compatibility.hpp" // glm::atan2 + +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> eulerAngleXYZ + ( + T const & t1, + T const & t2, + T const & t3 + ) + { + T c1 = glm::cos(-t1); + T c2 = glm::cos(-t2); + T c3 = glm::cos(-t3); + T s1 = glm::sin(-t1); + T s2 = glm::sin(-t2); + T s3 = glm::sin(-t3); + + tmat4x4<T, defaultp> Result; + Result[0][0] = c2 * c3; + Result[0][1] =-c1 * s3 + s1 * s2 * c3; + Result[0][2] = s1 * s3 + c1 * s2 * c3; + Result[0][3] = static_cast<T>(0); + Result[1][0] = c2 * s3; + Result[1][1] = c1 * c3 + s1 * s2 * s3; + Result[1][2] =-s1 * c3 + c1 * s2 * s3; + Result[1][3] = static_cast<T>(0); + Result[2][0] =-s2; + Result[2][1] = s1 * c2; + Result[2][2] = c1 * c2; + 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> 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); + } + + template <typename T> + GLM_FUNC_DECL void extractEulerAngleXYZ(tmat4x4<T, defaultp> const & M, + T & t1, + T & t2, + T & t3) + { + float T1 = glm::atan2<T, defaultp>(M[2][1], M[2][2]); + float C2 = glm::sqrt(M[0][0]*M[0][0] + M[1][0]*M[1][0]); + float T2 = glm::atan2<T, defaultp>(-M[2][0], C2); + float S1 = glm::sin(T1); + float C1 = glm::cos(T1); + float T3 = glm::atan2<T, defaultp>(S1*M[0][2] - C1*M[0][1], C1*M[1][1] - S1*M[1][2 ]); + t1 = -T1; + t2 = -T2; + t3 = -T3; + } +}//namespace glm |