diff options
Diffstat (limited to 'external/include/glm/gtx/euler_angles.hpp')
| -rw-r--r-- | external/include/glm/gtx/euler_angles.hpp | 320 |
1 files changed, 256 insertions, 64 deletions
diff --git a/external/include/glm/gtx/euler_angles.hpp b/external/include/glm/gtx/euler_angles.hpp index fdc4f26..dccc621 100644 --- a/external/include/glm/gtx/euler_angles.hpp +++ b/external/include/glm/gtx/euler_angles.hpp @@ -2,20 +2,26 @@ /// @file glm/gtx/euler_angles.hpp /// /// @see core (dependence) -/// @see gtc_half_float (dependence) /// /// @defgroup gtx_euler_angles GLM_GTX_euler_angles /// @ingroup gtx /// -/// @brief Build matrices from Euler angles. +/// Include <glm/gtx/euler_angles.hpp> to use the features of this extension. /// -/// <glm/gtx/euler_angles.hpp> need to be included to use these functionalities. +/// Build matrices from Euler angles. +/// +/// Extraction of Euler angles from rotation matrix. +/// Based on the original paper 2014 Mike Day - Extracting Euler Angles from a Rotation Matrix. #pragma once // Dependency: #include "../glm.hpp" +#ifndef GLM_ENABLE_EXPERIMENTAL +# error "GLM: GLM_GTX_euler_angles is an experimental extension and may change in the future. Use #define GLM_ENABLE_EXPERIMENTAL before including it, if you really want to use it." +#endif + #if GLM_MESSAGES == GLM_MESSAGES_ENABLED && !defined(GLM_EXT_INCLUDED) # pragma message("GLM: GLM_GTX_euler_angles extension included") #endif @@ -27,116 +33,302 @@ namespace glm /// Creates a 3D 4 * 4 homogeneous rotation matrix from an euler angle X. /// @see gtx_euler_angles - template <typename T> - GLM_FUNC_DECL tmat4x4<T, defaultp> eulerAngleX( - T const & angleX); + template<typename T> + GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleX( + T const& angleX); /// Creates a 3D 4 * 4 homogeneous rotation matrix from an euler angle Y. /// @see gtx_euler_angles - template <typename T> - GLM_FUNC_DECL tmat4x4<T, defaultp> eulerAngleY( - T const & angleY); + template<typename T> + GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleY( + T const& angleY); /// Creates a 3D 4 * 4 homogeneous rotation matrix from an euler angle Z. /// @see gtx_euler_angles + template<typename T> + GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleZ( + T const& angleZ); + + /// Creates a 3D 4 * 4 homogeneous derived matrix from the rotation matrix about X-axis. + /// @see gtx_euler_angles template <typename T> - GLM_FUNC_DECL tmat4x4<T, defaultp> eulerAngleZ( - T const & angleZ); + GLM_FUNC_DECL mat<4, 4, T, defaultp> derivedEulerAngleX( + T const & angleX, T const & angularVelocityX); - /// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (X * Y). + /// Creates a 3D 4 * 4 homogeneous derived matrix from the rotation matrix about Y-axis. /// @see gtx_euler_angles template <typename T> - GLM_FUNC_DECL tmat4x4<T, defaultp> eulerAngleXY( - T const & angleX, - T const & angleY); + GLM_FUNC_DECL mat<4, 4, T, defaultp> derivedEulerAngleY( + T const & angleY, T const & angularVelocityY); - /// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (Y * X). + /// Creates a 3D 4 * 4 homogeneous derived matrix from the rotation matrix about Z-axis. /// @see gtx_euler_angles template <typename T> - GLM_FUNC_DECL tmat4x4<T, defaultp> eulerAngleYX( - T const & angleY, - T const & angleX); + GLM_FUNC_DECL mat<4, 4, T, defaultp> derivedEulerAngleZ( + T const & angleZ, T const & angularVelocityZ); + + /// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (X * Y). + /// @see gtx_euler_angles + template<typename T> + GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleXY( + T const& angleX, + T const& angleY); + + /// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (Y * X). + /// @see gtx_euler_angles + template<typename T> + GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleYX( + T const& angleY, + T const& angleX); /// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (X * Z). /// @see gtx_euler_angles - template <typename T> - GLM_FUNC_DECL tmat4x4<T, defaultp> eulerAngleXZ( - T const & angleX, - T const & angleZ); + template<typename T> + GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleXZ( + T const& angleX, + T const& angleZ); /// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (Z * X). /// @see gtx_euler_angles - template <typename T> - GLM_FUNC_DECL tmat4x4<T, defaultp> eulerAngleZX( - T const & angle, - T const & angleX); + template<typename T> + GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleZX( + T const& angle, + T const& angleX); /// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (Y * Z). /// @see gtx_euler_angles - template <typename T> - GLM_FUNC_DECL tmat4x4<T, defaultp> eulerAngleYZ( - T const & angleY, - T const & angleZ); + template<typename T> + GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleYZ( + T const& angleY, + T const& angleZ); /// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (Z * Y). /// @see gtx_euler_angles - template <typename T> - GLM_FUNC_DECL tmat4x4<T, defaultp> eulerAngleZY( - T const & angleZ, - T const & angleY); + template<typename T> + GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleZY( + T const& angleZ, + T const& angleY); /// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (X * Y * Z). /// @see gtx_euler_angles - template <typename T> - GLM_FUNC_DECL tmat4x4<T, defaultp> eulerAngleXYZ( - T const & t1, - T const & t2, - T const & t3); - + template<typename T> + GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleXYZ( + T const& t1, + T const& t2, + T const& t3); + /// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (Y * X * Z). /// @see gtx_euler_angles + template<typename T> + GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleYXZ( + T const& yaw, + T const& pitch, + T const& roll); + + /// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (X * Z * X). + /// @see gtx_euler_angles template <typename T> - GLM_FUNC_DECL tmat4x4<T, defaultp> eulerAngleYXZ( - T const & yaw, - T const & pitch, - T const & roll); - - /// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (Y * X * Z). + GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleXZX( + T const & t1, + T const & t2, + T const & t3); + + /// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (X * Y * X). /// @see gtx_euler_angles template <typename T> - GLM_FUNC_DECL tmat4x4<T, defaultp> yawPitchRoll( - T const & yaw, - T const & pitch, - T const & roll); + GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleXYX( + T const & t1, + T const & t2, + T const & t3); - /// Creates a 2D 2 * 2 rotation matrix from an euler angle. + /// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (Y * X * Y). /// @see gtx_euler_angles template <typename T> - GLM_FUNC_DECL tmat2x2<T, defaultp> orientate2(T const & angle); + GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleYXY( + T const & t1, + T const & t2, + T const & t3); - /// Creates a 2D 4 * 4 homogeneous rotation matrix from an euler angle. + /// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (Y * Z * Y). + /// @see gtx_euler_angles + template <typename T> + GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleYZY( + T const & t1, + T const & t2, + T const & t3); + + /// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (Z * Y * Z). + /// @see gtx_euler_angles + template <typename T> + GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleZYZ( + T const & t1, + T const & t2, + T const & t3); + + /// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (Z * X * Z). + /// @see gtx_euler_angles + template <typename T> + GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleZXZ( + T const & t1, + T const & t2, + T const & t3); + + /// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (X * Z * Y). + /// @see gtx_euler_angles + template <typename T> + GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleXZY( + T const & t1, + T const & t2, + T const & t3); + + /// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (Y * Z * X). + /// @see gtx_euler_angles + template <typename T> + GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleYZX( + T const & t1, + T const & t2, + T const & t3); + + /// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (Z * Y * X). + /// @see gtx_euler_angles + template <typename T> + GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleZYX( + T const & t1, + T const & t2, + T const & t3); + + /// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (Z * X * Y). /// @see gtx_euler_angles template <typename T> - GLM_FUNC_DECL tmat3x3<T, defaultp> orientate3(T const & angle); + GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleZXY( + T const & t1, + T const & t2, + T const & t3); - /// Creates a 3D 3 * 3 rotation matrix from euler angles (Y * X * Z). + /// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (Y * X * Z). + /// @see gtx_euler_angles + template<typename T> + GLM_FUNC_DECL mat<4, 4, T, defaultp> yawPitchRoll( + T const& yaw, + T const& pitch, + T const& roll); + + /// Creates a 2D 2 * 2 rotation matrix from an euler angle. /// @see gtx_euler_angles - template <typename T, precision P> - GLM_FUNC_DECL tmat3x3<T, P> orientate3(tvec3<T, P> const & angles); - + template<typename T> + GLM_FUNC_DECL mat<2, 2, T, defaultp> orientate2(T const& angle); + + /// Creates a 2D 4 * 4 homogeneous rotation matrix from an euler angle. + /// @see gtx_euler_angles + template<typename T> + GLM_FUNC_DECL mat<3, 3, T, defaultp> orientate3(T const& angle); + + /// Creates a 3D 3 * 3 rotation matrix from euler angles (Y * X * Z). + /// @see gtx_euler_angles + template<typename T, qualifier Q> + GLM_FUNC_DECL mat<3, 3, T, Q> orientate3(vec<3, T, Q> const& angles); + /// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (Y * X * Z). /// @see gtx_euler_angles - template <typename T, precision P> - GLM_FUNC_DECL tmat4x4<T, P> orientate4(tvec3<T, P> const & angles); + template<typename T, qualifier Q> + GLM_FUNC_DECL mat<4, 4, T, Q> orientate4(vec<3, T, Q> const& angles); /// Extracts the (X * Y * Z) Euler angles from the rotation matrix M /// @see gtx_euler_angles - template <typename T> - GLM_FUNC_DECL void extractEulerAngleXYZ(tmat4x4<T, defaultp> const & M, + template<typename T> + GLM_FUNC_DECL void extractEulerAngleXYZ(mat<4, 4, T, defaultp> const& M, T & t1, T & t2, T & t3); - + + /// Extracts the (Y * X * Z) Euler angles from the rotation matrix M + /// @see gtx_euler_angles + template <typename T> + GLM_FUNC_DECL void extractEulerAngleYXZ(mat<4, 4, T, defaultp> const & M, + T & t1, + T & t2, + T & t3); + + /// Extracts the (X * Z * X) Euler angles from the rotation matrix M + /// @see gtx_euler_angles + template <typename T> + GLM_FUNC_DECL void extractEulerAngleXZX(mat<4, 4, T, defaultp> const & M, + T & t1, + T & t2, + T & t3); + + /// Extracts the (X * Y * X) Euler angles from the rotation matrix M + /// @see gtx_euler_angles + template <typename T> + GLM_FUNC_DECL void extractEulerAngleXYX(mat<4, 4, T, defaultp> const & M, + T & t1, + T & t2, + T & t3); + + /// Extracts the (Y * X * Y) Euler angles from the rotation matrix M + /// @see gtx_euler_angles + template <typename T> + GLM_FUNC_DECL void extractEulerAngleYXY(mat<4, 4, T, defaultp> const & M, + T & t1, + T & t2, + T & t3); + + /// Extracts the (Y * Z * Y) Euler angles from the rotation matrix M + /// @see gtx_euler_angles + template <typename T> + GLM_FUNC_DECL void extractEulerAngleYZY(mat<4, 4, T, defaultp> const & M, + T & t1, + T & t2, + T & t3); + + /// Extracts the (Z * Y * Z) Euler angles from the rotation matrix M + /// @see gtx_euler_angles + template <typename T> + GLM_FUNC_DECL void extractEulerAngleZYZ(mat<4, 4, T, defaultp> const & M, + T & t1, + T & t2, + T & t3); + + /// Extracts the (Z * X * Z) Euler angles from the rotation matrix M + /// @see gtx_euler_angles + template <typename T> + GLM_FUNC_DECL void extractEulerAngleZXZ(mat<4, 4, T, defaultp> const & M, + T & t1, + T & t2, + T & t3); + + /// Extracts the (X * Z * Y) Euler angles from the rotation matrix M + /// @see gtx_euler_angles + template <typename T> + GLM_FUNC_DECL void extractEulerAngleXZY(mat<4, 4, T, defaultp> const & M, + T & t1, + T & t2, + T & t3); + + /// Extracts the (Y * Z * X) Euler angles from the rotation matrix M + /// @see gtx_euler_angles + template <typename T> + GLM_FUNC_DECL void extractEulerAngleYZX(mat<4, 4, T, defaultp> const & M, + T & t1, + T & t2, + T & t3); + + /// Extracts the (Z * Y * X) Euler angles from the rotation matrix M + /// @see gtx_euler_angles + template <typename T> + GLM_FUNC_DECL void extractEulerAngleZYX(mat<4, 4, T, defaultp> const & M, + T & t1, + T & t2, + T & t3); + + /// Extracts the (Z * X * Y) Euler angles from the rotation matrix M + /// @see gtx_euler_angles + template <typename T> + GLM_FUNC_DECL void extractEulerAngleZXY(mat<4, 4, T, defaultp> const & M, + T & t1, + T & t2, + T & t3); + /// @} }//namespace glm |