/// @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 |