312 lines
7.7 KiB
C++
312 lines
7.7 KiB
C++
/// @ref gtx_euler_angles
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/// @file glm/gtx/euler_angles.inl
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#include "compatibility.hpp" // glm::atan2
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namespace glm
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{
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template <typename T>
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GLM_FUNC_QUALIFIER tmat4x4<T, defaultp> eulerAngleX
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(
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T const & angleX
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)
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{
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T cosX = glm::cos(angleX);
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T sinX = glm::sin(angleX);
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return tmat4x4<T, defaultp>(
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T(1), T(0), T(0), T(0),
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T(0), cosX, sinX, T(0),
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T(0),-sinX, cosX, T(0),
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T(0), T(0), T(0), T(1));
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}
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template <typename T>
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GLM_FUNC_QUALIFIER tmat4x4<T, defaultp> eulerAngleY
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(
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T const & angleY
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)
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{
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T cosY = glm::cos(angleY);
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T sinY = glm::sin(angleY);
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return tmat4x4<T, defaultp>(
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cosY, T(0), -sinY, T(0),
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T(0), T(1), T(0), T(0),
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sinY, T(0), cosY, T(0),
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T(0), T(0), T(0), T(1));
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}
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template <typename T>
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GLM_FUNC_QUALIFIER tmat4x4<T, defaultp> eulerAngleZ
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(
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T const & angleZ
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)
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{
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T cosZ = glm::cos(angleZ);
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T sinZ = glm::sin(angleZ);
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return tmat4x4<T, defaultp>(
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cosZ, sinZ, T(0), T(0),
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-sinZ, cosZ, T(0), T(0),
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T(0), T(0), T(1), T(0),
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T(0), T(0), T(0), T(1));
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}
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template <typename T>
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GLM_FUNC_QUALIFIER tmat4x4<T, defaultp> eulerAngleXY
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(
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T const & angleX,
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T const & angleY
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)
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{
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T cosX = glm::cos(angleX);
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T sinX = glm::sin(angleX);
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T cosY = glm::cos(angleY);
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T sinY = glm::sin(angleY);
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return tmat4x4<T, defaultp>(
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cosY, -sinX * -sinY, cosX * -sinY, T(0),
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T(0), cosX, sinX, T(0),
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sinY, -sinX * cosY, cosX * cosY, T(0),
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T(0), T(0), T(0), T(1));
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}
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template <typename T>
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GLM_FUNC_QUALIFIER tmat4x4<T, defaultp> eulerAngleYX
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(
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T const & angleY,
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T const & angleX
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)
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{
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T cosX = glm::cos(angleX);
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T sinX = glm::sin(angleX);
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T cosY = glm::cos(angleY);
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T sinY = glm::sin(angleY);
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return tmat4x4<T, defaultp>(
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cosY, 0, -sinY, T(0),
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sinY * sinX, cosX, cosY * sinX, T(0),
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sinY * cosX, -sinX, cosY * cosX, T(0),
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T(0), T(0), T(0), T(1));
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}
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template <typename T>
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GLM_FUNC_QUALIFIER tmat4x4<T, defaultp> eulerAngleXZ
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(
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T const & angleX,
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T const & angleZ
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)
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{
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return eulerAngleX(angleX) * eulerAngleZ(angleZ);
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}
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template <typename T>
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GLM_FUNC_QUALIFIER tmat4x4<T, defaultp> eulerAngleZX
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(
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T const & angleZ,
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T const & angleX
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)
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{
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return eulerAngleZ(angleZ) * eulerAngleX(angleX);
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}
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template <typename T>
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GLM_FUNC_QUALIFIER tmat4x4<T, defaultp> eulerAngleYZ
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(
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T const & angleY,
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T const & angleZ
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)
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{
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return eulerAngleY(angleY) * eulerAngleZ(angleZ);
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}
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template <typename T>
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GLM_FUNC_QUALIFIER tmat4x4<T, defaultp> eulerAngleZY
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(
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T const & angleZ,
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T const & angleY
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)
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{
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return eulerAngleZ(angleZ) * eulerAngleY(angleY);
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}
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template <typename T>
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GLM_FUNC_QUALIFIER tmat4x4<T, defaultp> eulerAngleXYZ
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(
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T const & t1,
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T const & t2,
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T const & t3
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)
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{
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T c1 = glm::cos(-t1);
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T c2 = glm::cos(-t2);
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T c3 = glm::cos(-t3);
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T s1 = glm::sin(-t1);
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T s2 = glm::sin(-t2);
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T s3 = glm::sin(-t3);
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tmat4x4<T, defaultp> Result;
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Result[0][0] = c2 * c3;
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Result[0][1] =-c1 * s3 + s1 * s2 * c3;
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Result[0][2] = s1 * s3 + c1 * s2 * c3;
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Result[0][3] = static_cast<T>(0);
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Result[1][0] = c2 * s3;
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Result[1][1] = c1 * c3 + s1 * s2 * s3;
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Result[1][2] =-s1 * c3 + c1 * s2 * s3;
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Result[1][3] = static_cast<T>(0);
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Result[2][0] =-s2;
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Result[2][1] = s1 * c2;
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Result[2][2] = c1 * c2;
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Result[2][3] = static_cast<T>(0);
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Result[3][0] = static_cast<T>(0);
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Result[3][1] = static_cast<T>(0);
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Result[3][2] = static_cast<T>(0);
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Result[3][3] = static_cast<T>(1);
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return Result;
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}
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template <typename T>
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GLM_FUNC_QUALIFIER tmat4x4<T, defaultp> eulerAngleYXZ
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(
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T const & yaw,
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T const & pitch,
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T const & roll
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)
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{
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T tmp_ch = glm::cos(yaw);
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T tmp_sh = glm::sin(yaw);
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T tmp_cp = glm::cos(pitch);
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T tmp_sp = glm::sin(pitch);
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T tmp_cb = glm::cos(roll);
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T tmp_sb = glm::sin(roll);
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tmat4x4<T, defaultp> Result;
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Result[0][0] = tmp_ch * tmp_cb + tmp_sh * tmp_sp * tmp_sb;
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Result[0][1] = tmp_sb * tmp_cp;
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Result[0][2] = -tmp_sh * tmp_cb + tmp_ch * tmp_sp * tmp_sb;
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Result[0][3] = static_cast<T>(0);
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Result[1][0] = -tmp_ch * tmp_sb + tmp_sh * tmp_sp * tmp_cb;
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Result[1][1] = tmp_cb * tmp_cp;
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Result[1][2] = tmp_sb * tmp_sh + tmp_ch * tmp_sp * tmp_cb;
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Result[1][3] = static_cast<T>(0);
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Result[2][0] = tmp_sh * tmp_cp;
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Result[2][1] = -tmp_sp;
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Result[2][2] = tmp_ch * tmp_cp;
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Result[2][3] = static_cast<T>(0);
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Result[3][0] = static_cast<T>(0);
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Result[3][1] = static_cast<T>(0);
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Result[3][2] = static_cast<T>(0);
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Result[3][3] = static_cast<T>(1);
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return Result;
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}
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template <typename T>
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GLM_FUNC_QUALIFIER tmat4x4<T, defaultp> yawPitchRoll
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(
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T const & yaw,
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T const & pitch,
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T const & roll
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)
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{
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T tmp_ch = glm::cos(yaw);
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T tmp_sh = glm::sin(yaw);
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T tmp_cp = glm::cos(pitch);
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T tmp_sp = glm::sin(pitch);
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T tmp_cb = glm::cos(roll);
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T tmp_sb = glm::sin(roll);
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tmat4x4<T, defaultp> Result;
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Result[0][0] = tmp_ch * tmp_cb + tmp_sh * tmp_sp * tmp_sb;
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Result[0][1] = tmp_sb * tmp_cp;
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Result[0][2] = -tmp_sh * tmp_cb + tmp_ch * tmp_sp * tmp_sb;
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Result[0][3] = static_cast<T>(0);
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Result[1][0] = -tmp_ch * tmp_sb + tmp_sh * tmp_sp * tmp_cb;
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Result[1][1] = tmp_cb * tmp_cp;
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Result[1][2] = tmp_sb * tmp_sh + tmp_ch * tmp_sp * tmp_cb;
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Result[1][3] = static_cast<T>(0);
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Result[2][0] = tmp_sh * tmp_cp;
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Result[2][1] = -tmp_sp;
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Result[2][2] = tmp_ch * tmp_cp;
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Result[2][3] = static_cast<T>(0);
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Result[3][0] = static_cast<T>(0);
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Result[3][1] = static_cast<T>(0);
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Result[3][2] = static_cast<T>(0);
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Result[3][3] = static_cast<T>(1);
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return Result;
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}
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template <typename T>
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GLM_FUNC_QUALIFIER tmat2x2<T, defaultp> orientate2
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(
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T const & angle
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)
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{
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T c = glm::cos(angle);
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T s = glm::sin(angle);
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tmat2x2<T, defaultp> Result;
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Result[0][0] = c;
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Result[0][1] = s;
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Result[1][0] = -s;
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Result[1][1] = c;
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return Result;
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}
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template <typename T>
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GLM_FUNC_QUALIFIER tmat3x3<T, defaultp> orientate3
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(
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T const & angle
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)
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{
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T c = glm::cos(angle);
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T s = glm::sin(angle);
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tmat3x3<T, defaultp> Result;
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Result[0][0] = c;
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Result[0][1] = s;
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Result[0][2] = 0.0f;
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Result[1][0] = -s;
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Result[1][1] = c;
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Result[1][2] = 0.0f;
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Result[2][0] = 0.0f;
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Result[2][1] = 0.0f;
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Result[2][2] = 1.0f;
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return Result;
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}
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template <typename T, precision P>
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GLM_FUNC_QUALIFIER tmat3x3<T, P> orientate3
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(
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tvec3<T, P> const & angles
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)
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{
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return tmat3x3<T, P>(yawPitchRoll(angles.z, angles.x, angles.y));
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}
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template <typename T, precision P>
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GLM_FUNC_QUALIFIER tmat4x4<T, P> orientate4
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(
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tvec3<T, P> const & angles
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)
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{
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return yawPitchRoll(angles.z, angles.x, angles.y);
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}
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template <typename T>
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GLM_FUNC_DECL void extractEulerAngleXYZ(tmat4x4<T, defaultp> const & M,
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T & t1,
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T & t2,
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T & t3)
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{
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float T1 = glm::atan2<T, defaultp>(M[2][1], M[2][2]);
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float C2 = glm::sqrt(M[0][0]*M[0][0] + M[1][0]*M[1][0]);
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float T2 = glm::atan2<T, defaultp>(-M[2][0], C2);
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float S1 = glm::sin(T1);
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float C1 = glm::cos(T1);
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float T3 = glm::atan2<T, defaultp>(S1*M[0][2] - C1*M[0][1], C1*M[1][1] - S1*M[1][2 ]);
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t1 = -T1;
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t2 = -T2;
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t3 = -T3;
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}
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}//namespace glm
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