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- Fixed eulerAngle*** not consistent for right-handed coordinate system (#173)

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master
Christophe Riccio ago%!(EXTRA string=11 years)
parent 12cde2bf75
commit e33136538d
3 changed files with 223 additions and 21 deletions
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  1. 36
      glm/gtx/euler_angles.inl
  2. 2
      readme.txt
  3. 206
      test/gtx/gtx_euler_angle.cpp

36
glm/gtx/euler_angles.inl
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@ -70,10 +70,10 @@ namespace glm
T sinY = glm::sin(angleY);
return detail::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));
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>
@ -89,10 +89,10 @@ namespace glm
T sinY = glm::sin(angleY);
return detail::tmat4x4<T, defaultp>(
cosY, T(0), sinY, T(0),
-sinX * sinY, cosX, sinX * cosY, T(0),
-cosX * sinY, -sinX, cosX * cosY, T(0),
T(0), T(0), T(0), T(1));
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>
@ -115,6 +115,26 @@ namespace glm
return eulerAngleZ(angleZ) * eulerAngleX(angleX);
}
template <typename T>
GLM_FUNC_QUALIFIER detail::tmat4x4<T, defaultp> eulerAngleYZ
(
T const & angleY,
T const & angleZ
)
{
return eulerAngleY(angleY) * eulerAngleZ(angleZ);
}
template <typename T>
GLM_FUNC_QUALIFIER detail::tmat4x4<T, defaultp> eulerAngleZY
(
T const & angleZ,
T const & angleY
)
{
return eulerAngleZ(angleZ) * eulerAngleY(angleY);
}
template <typename T>
GLM_FUNC_QUALIFIER detail::tmat4x4<T, defaultp> eulerAngleYXZ
(

2
readme.txt
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@ -49,6 +49,8 @@ GLM 0.9.5.3: 2014-0X-XX
- Fixed strict aliasing warnings in GCC 4.8.1 / Android NDK 9c (#152)
- Fixed missing bitfieldInterleave definisions
- Fixed usubBorrow (#171)
- Fixed eulerAngle*** not consistent for right-handed coordinate system (#173)
- Added full tests for eulerAngle*** functions (#173)
================================================================================
GLM 0.9.5.2: 2014-02-08

206
test/gtx/gtx_euler_angle.cpp
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@ -69,15 +69,35 @@ namespace test_eulerAngleY
glm::vec3 const Y(0.0f, 1.0f, 0.0f);
glm::vec4 const X(1.0f, 0.0f, 0.0f, 1.0f);
glm::vec4 const X1 = glm::eulerAngleY(Angle) * X;
glm::vec4 const X2 = glm::rotate(glm::mat4(1.0f), Angle, Y) * X;
glm::vec4 const X1 = glm::rotate(glm::mat4(1.0f), Angle, Y) * X;
glm::vec4 const X2 = glm::eulerAngleY(Angle) * X;
glm::vec4 const X3 = glm::eulerAngleYX(Angle, 0.0f) * X;
glm::vec4 const X4 = glm::eulerAngleXY(0.0f, Angle) * X;
glm::vec4 const X5 = glm::eulerAngleYZ(Angle, 0.0f) * X;
glm::vec4 const X6 = glm::eulerAngleZY(0.0f, Angle) * X;
glm::vec4 const X7 = glm::eulerAngleYXZ(Angle, 0.0f, 0.0f) * X;
Error += glm::all(glm::epsilonEqual(X1, X2, 0.00001f)) ? 0 : 1;
Error += glm::all(glm::epsilonEqual(X1, X3, 0.00001f)) ? 0 : 1;
Error += glm::all(glm::epsilonEqual(X1, X4, 0.00001f)) ? 0 : 1;
Error += glm::all(glm::epsilonEqual(X1, X5, 0.00001f)) ? 0 : 1;
Error += glm::all(glm::epsilonEqual(X1, X6, 0.00001f)) ? 0 : 1;
Error += glm::all(glm::epsilonEqual(X1, X7, 0.00001f)) ? 0 : 1;
glm::vec4 const Z(1.0f, 0.0f, 0.0f, 1.0f);
glm::vec4 const Z(0.0f, 0.0f, 1.0f, 1.0f);
glm::vec4 const Z1 = glm::eulerAngleY(Angle) * Z;
glm::vec4 const Z2 = glm::rotate(glm::mat4(1.0f), Angle, Y) * Z;
glm::vec4 const Z3 = glm::eulerAngleYX(Angle, 0.0f) * Z;
glm::vec4 const Z4 = glm::eulerAngleXY(0.0f, Angle) * Z;
glm::vec4 const Z5 = glm::eulerAngleYZ(Angle, 0.0f) * Z;
glm::vec4 const Z6 = glm::eulerAngleZY(0.0f, Angle) * Z;
glm::vec4 const Z7 = glm::eulerAngleYXZ(Angle, 0.0f, 0.0f) * Z;
Error += glm::all(glm::epsilonEqual(Z1, Z2, 0.00001f)) ? 0 : 1;
Error += glm::all(glm::epsilonEqual(Z1, Z3, 0.00001f)) ? 0 : 1;
Error += glm::all(glm::epsilonEqual(Z1, Z4, 0.00001f)) ? 0 : 1;
Error += glm::all(glm::epsilonEqual(Z1, Z5, 0.00001f)) ? 0 : 1;
Error += glm::all(glm::epsilonEqual(Z1, Z6, 0.00001f)) ? 0 : 1;
Error += glm::all(glm::epsilonEqual(Z1, Z7, 0.00001f)) ? 0 : 1;
return Error;
}
}//namespace test_eulerAngleY
@ -92,15 +112,35 @@ namespace test_eulerAngleZ
glm::vec3 const Z(0.0f, 0.0f, 1.0f);
glm::vec4 const X(1.0f, 0.0f, 0.0f, 1.0f);
glm::vec4 const X1 = glm::eulerAngleZ(Angle) * X;
glm::vec4 const X2 = glm::rotate(glm::mat4(1.0f), Angle, Z) * X;
glm::vec4 const X1 = glm::rotate(glm::mat4(1.0f), Angle, Z) * X;
glm::vec4 const X2 = glm::eulerAngleZ(Angle) * X;
glm::vec4 const X3 = glm::eulerAngleZX(Angle, 0.0f) * X;
glm::vec4 const X4 = glm::eulerAngleXZ(0.0f, Angle) * X;
glm::vec4 const X5 = glm::eulerAngleZY(Angle, 0.0f) * X;
glm::vec4 const X6 = glm::eulerAngleYZ(0.0f, Angle) * X;
glm::vec4 const X7 = glm::eulerAngleYXZ(0.0f, 0.0f, Angle) * X;
Error += glm::all(glm::epsilonEqual(X1, X2, 0.00001f)) ? 0 : 1;
Error += glm::all(glm::epsilonEqual(X1, X3, 0.00001f)) ? 0 : 1;
Error += glm::all(glm::epsilonEqual(X1, X4, 0.00001f)) ? 0 : 1;
Error += glm::all(glm::epsilonEqual(X1, X5, 0.00001f)) ? 0 : 1;
Error += glm::all(glm::epsilonEqual(X1, X6, 0.00001f)) ? 0 : 1;
Error += glm::all(glm::epsilonEqual(X1, X7, 0.00001f)) ? 0 : 1;
glm::vec4 const Y(1.0f, 0.0f, 0.0f, 1.0f);
glm::vec4 const Y1 = glm::eulerAngleZ(Angle) * Y;
glm::vec4 const Y2 = glm::rotate(glm::mat4(1.0f), Angle, Z) * Y;
Error += glm::all(glm::epsilonEqual(Y1, Y2, 0.00001f)) ? 0 : 1;
glm::vec4 const Z1 = glm::rotate(glm::mat4(1.0f), Angle, Z) * Y;
glm::vec4 const Z2 = glm::eulerAngleZ(Angle) * Y;
glm::vec4 const Z3 = glm::eulerAngleZX(Angle, 0.0f) * Y;
glm::vec4 const Z4 = glm::eulerAngleXZ(0.0f, Angle) * Y;
glm::vec4 const Z5 = glm::eulerAngleZY(Angle, 0.0f) * Y;
glm::vec4 const Z6 = glm::eulerAngleYZ(0.0f, Angle) * Y;
glm::vec4 const Z7 = glm::eulerAngleYXZ(0.0f, 0.0f, Angle) * Y;
Error += glm::all(glm::epsilonEqual(Z1, Z2, 0.00001f)) ? 0 : 1;
Error += glm::all(glm::epsilonEqual(Z1, Z3, 0.00001f)) ? 0 : 1;
Error += glm::all(glm::epsilonEqual(Z1, Z4, 0.00001f)) ? 0 : 1;
Error += glm::all(glm::epsilonEqual(Z1, Z5, 0.00001f)) ? 0 : 1;
Error += glm::all(glm::epsilonEqual(Z1, Z6, 0.00001f)) ? 0 : 1;
Error += glm::all(glm::epsilonEqual(Z1, Z7, 0.00001f)) ? 0 : 1;
return Error;
}
}//namespace test_eulerAngleZ
@ -109,12 +149,147 @@ namespace test_eulerAngleXY
{
int test()
{
int Error = 0;
glm::vec4 const V(1.0f);
return 0;
float const AngleX(glm::pi<float>() * 0.5f);
float const AngleY(glm::pi<float>() * 0.25f);
glm::vec3 const axisX(1.0f, 0.0f, 0.0f);
glm::vec3 const axisY(0.0f, 1.0f, 0.0f);
glm::vec4 const V1 = (glm::rotate(glm::mat4(1.0f), AngleX, axisX) * glm::rotate(glm::mat4(1.0f), AngleY, axisY)) * V;
glm::vec4 const V2 = glm::eulerAngleXY(AngleX, AngleY) * V;
glm::vec4 const V3 = glm::eulerAngleX(AngleX) * glm::eulerAngleY(AngleY) * V;
Error += glm::all(glm::epsilonEqual(V1, V2, 0.00001f)) ? 0 : 1;
Error += glm::all(glm::epsilonEqual(V1, V3, 0.00001f)) ? 0 : 1;
return Error;
}
}//namespace test_eulerAngleXY
namespace test_eulerAngleYX
{
int test()
{
int Error = 0;
glm::vec4 const V(1.0f);
float const AngleX(glm::pi<float>() * 0.5f);
float const AngleY(glm::pi<float>() * 0.25f);
glm::vec3 const axisX(1.0f, 0.0f, 0.0f);
glm::vec3 const axisY(0.0f, 1.0f, 0.0f);
glm::vec4 const V1 = (glm::rotate(glm::mat4(1.0f), AngleY, axisY) * glm::rotate(glm::mat4(1.0f), AngleX, axisX)) * V;
glm::vec4 const V2 = glm::eulerAngleYX(AngleY, AngleX) * V;
glm::vec4 const V3 = glm::eulerAngleY(AngleY) * glm::eulerAngleX(AngleX) * V;
Error += glm::all(glm::epsilonEqual(V1, V2, 0.00001f)) ? 0 : 1;
Error += glm::all(glm::epsilonEqual(V1, V3, 0.00001f)) ? 0 : 1;
return Error;
}
}//namespace test_eulerAngleYX
namespace test_eulerAngleXZ
{
int test()
{
int Error = 0;
glm::vec4 const V(1.0f);
float const AngleX(glm::pi<float>() * 0.5f);
float const AngleZ(glm::pi<float>() * 0.25f);
glm::vec3 const axisX(1.0f, 0.0f, 0.0f);
glm::vec3 const axisZ(0.0f, 0.0f, 1.0f);
glm::vec4 const V1 = (glm::rotate(glm::mat4(1.0f), AngleX, axisX) * glm::rotate(glm::mat4(1.0f), AngleZ, axisZ)) * V;
glm::vec4 const V2 = glm::eulerAngleXZ(AngleX, AngleZ) * V;
glm::vec4 const V3 = glm::eulerAngleX(AngleX) * glm::eulerAngleZ(AngleZ) * V;
Error += glm::all(glm::epsilonEqual(V1, V2, 0.00001f)) ? 0 : 1;
Error += glm::all(glm::epsilonEqual(V1, V3, 0.00001f)) ? 0 : 1;
return Error;
}
}//namespace test_eulerAngleXZ
namespace test_eulerAngleZX
{
int test()
{
int Error = 0;
glm::vec4 const V(1.0f);
float const AngleX(glm::pi<float>() * 0.5f);
float const AngleZ(glm::pi<float>() * 0.25f);
glm::vec3 const axisX(1.0f, 0.0f, 0.0f);
glm::vec3 const axisZ(0.0f, 0.0f, 1.0f);
glm::vec4 const V1 = (glm::rotate(glm::mat4(1.0f), AngleZ, axisZ) * glm::rotate(glm::mat4(1.0f), AngleX, axisX)) * V;
glm::vec4 const V2 = glm::eulerAngleZX(AngleZ, AngleX) * V;
glm::vec4 const V3 = glm::eulerAngleZ(AngleZ) * glm::eulerAngleX(AngleX) * V;
Error += glm::all(glm::epsilonEqual(V1, V2, 0.00001f)) ? 0 : 1;
Error += glm::all(glm::epsilonEqual(V1, V3, 0.00001f)) ? 0 : 1;
return Error;
}
}//namespace test_eulerAngleZX
namespace test_eulerAngleYZ
{
int test()
{
int Error = 0;
glm::vec4 const V(1.0f);
float const AngleY(glm::pi<float>() * 0.5f);
float const AngleZ(glm::pi<float>() * 0.25f);
glm::vec3 const axisX(1.0f, 0.0f, 0.0f);
glm::vec3 const axisY(0.0f, 1.0f, 0.0f);
glm::vec3 const axisZ(0.0f, 0.0f, 1.0f);
glm::vec4 const V1 = (glm::rotate(glm::mat4(1.0f), AngleY, axisY) * glm::rotate(glm::mat4(1.0f), AngleZ, axisZ)) * V;
glm::vec4 const V2 = glm::eulerAngleYZ(AngleY, AngleZ) * V;
glm::vec4 const V3 = glm::eulerAngleY(AngleY) * glm::eulerAngleZ(AngleZ) * V;
Error += glm::all(glm::epsilonEqual(V1, V2, 0.00001f)) ? 0 : 1;
Error += glm::all(glm::epsilonEqual(V1, V3, 0.00001f)) ? 0 : 1;
return Error;
}
}//namespace test_eulerAngleYZ
namespace test_eulerAngleZY
{
int test()
{
int Error = 0;
glm::vec4 const V(1.0f);
float const AngleY(glm::pi<float>() * 0.5f);
float const AngleZ(glm::pi<float>() * 0.25f);
glm::vec3 const axisX(1.0f, 0.0f, 0.0f);
glm::vec3 const axisY(0.0f, 1.0f, 0.0f);
glm::vec3 const axisZ(0.0f, 0.0f, 1.0f);
glm::vec4 const V1 = (glm::rotate(glm::mat4(1.0f), AngleZ, axisZ) * glm::rotate(glm::mat4(1.0f), AngleY, axisY)) * V;
glm::vec4 const V2 = glm::eulerAngleZY(AngleZ, AngleY) * V;
glm::vec4 const V3 = glm::eulerAngleZ(AngleZ) * glm::eulerAngleY(AngleY) * V;
Error += glm::all(glm::epsilonEqual(V1, V2, 0.00001f)) ? 0 : 1;
Error += glm::all(glm::epsilonEqual(V1, V3, 0.00001f)) ? 0 : 1;
return Error;
}
}//namespace eulerAngleXY
}//namespace test_eulerAngleZY
namespace test_eulerAngleYXZ
{
@ -152,6 +327,11 @@ int main()
Error += test_eulerAngleY::test();
Error += test_eulerAngleZ::test();
Error += test_eulerAngleXY::test();
Error += test_eulerAngleYX::test();
Error += test_eulerAngleXZ::test();
Error += test_eulerAngleZX::test();
Error += test_eulerAngleYZ::test();
Error += test_eulerAngleZY::test();
Error += test_eulerAngleYXZ::test();
return Error;

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