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244 lines
6.4 KiB
244 lines
6.4 KiB
/////////////////////////////////////////////////////////////////////////////////////////////////// |
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// OpenGL Mathematics Copyright (c) 2005 - 2013 G-Truc Creation (www.g-truc.net) |
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/////////////////////////////////////////////////////////////////////////////////////////////////// |
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// Created : 2005-12-21 |
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// Updated : 2007-08-14 |
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// Licence : This source is under MIT License |
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// File : glm/gtx/euler_angles.inl |
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/////////////////////////////////////////////////////////////////////////////////////////////////// |
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namespace glm |
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{ |
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template <typename valType> |
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GLM_FUNC_QUALIFIER detail::tmat4x4<valType> eulerAngleX |
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( |
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valType const & angleX |
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) |
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{ |
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valType cosX = glm::cos(angleX); |
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valType sinX = glm::sin(angleX); |
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return detail::tmat4x4<valType>( |
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valType(1), valType(0), valType(0), valType(0), |
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valType(0), cosX, sinX, valType(0), |
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valType(0),-sinX, cosX, valType(0), |
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valType(0), valType(0), valType(0), valType(1)); |
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} |
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template <typename valType> |
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GLM_FUNC_QUALIFIER detail::tmat4x4<valType> eulerAngleY |
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( |
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valType const & angleY |
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) |
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{ |
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valType cosY = glm::cos(angleY); |
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valType sinY = glm::sin(angleY); |
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return detail::tmat4x4<valType>( |
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cosY, valType(0),-sinY, valType(0), |
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valType(0), valType(1), valType(0), valType(0), |
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sinY, valType(0), cosY, valType(0), |
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valType(0), valType(0), valType(0), valType(1)); |
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} |
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template <typename valType> |
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GLM_FUNC_QUALIFIER detail::tmat4x4<valType> eulerAngleZ |
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( |
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valType const & angleZ |
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) |
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{ |
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valType cosZ = glm::cos(angleZ); |
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valType sinZ = glm::sin(angleZ); |
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return detail::tmat4x4<valType>( |
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cosZ, sinZ, valType(0), valType(0), |
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-sinZ, cosZ, valType(0), valType(0), |
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valType(0), valType(0), valType(1), valType(0), |
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valType(0), valType(0), valType(0), valType(1)); |
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} |
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template <typename valType> |
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GLM_FUNC_QUALIFIER detail::tmat4x4<valType> eulerAngleXY |
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( |
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valType const & angleX, |
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valType const & angleY |
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) |
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{ |
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valType cosX = glm::cos(angleX); |
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valType sinX = glm::sin(angleX); |
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valType cosY = glm::cos(angleY); |
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valType sinY = glm::sin(angleY); |
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return detail::tmat4x4<valType>( |
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cosY, -sinX * sinY, cosX * sinY, valType(0), |
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valType(0), cosX, sinX, valType(0), |
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-sinY , -sinX * cosY, cosX * cosY, valType(0), |
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valType(0), valType(0), valType(0), valType(1)); |
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} |
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template <typename valType> |
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GLM_FUNC_QUALIFIER detail::tmat4x4<valType> eulerAngleYX |
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( |
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valType const & angleY, |
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valType const & angleX |
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) |
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{ |
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valType cosX = glm::cos(angleX); |
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valType sinX = glm::sin(angleX); |
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valType cosY = glm::cos(angleY); |
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valType sinY = glm::sin(angleY); |
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return detail::tmat4x4<valType>( |
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cosY, valType(0), sinY, valType(0), |
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-sinX * sinY, cosX, sinX * cosY, valType(0), |
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-cosX * sinY, -sinX, cosX * cosY, valType(0), |
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valType(0), valType(0), valType(0), valType(1)); |
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} |
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template <typename valType> |
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GLM_FUNC_QUALIFIER detail::tmat4x4<valType> eulerAngleXZ |
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( |
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valType const & angleX, |
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valType 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 valType> |
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GLM_FUNC_QUALIFIER detail::tmat4x4<valType> eulerAngleZX |
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( |
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valType const & angleZ, |
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valType 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 valType> |
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GLM_FUNC_QUALIFIER detail::tmat4x4<valType> eulerAngleYXZ |
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( |
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valType const & yaw, |
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valType const & pitch, |
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valType const & roll |
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) |
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{ |
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valType tmp_ch = glm::cos(yaw); |
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valType tmp_sh = glm::sin(yaw); |
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valType tmp_cp = glm::cos(pitch); |
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valType tmp_sp = glm::sin(pitch); |
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valType tmp_cb = glm::cos(roll); |
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valType tmp_sb = glm::sin(roll); |
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detail::tmat4x4<valType> 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] = valType(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] = valType(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] = valType(0); |
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Result[3][0] = valType(0); |
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Result[3][1] = valType(0); |
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Result[3][2] = valType(0); |
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Result[3][3] = valType(1); |
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return Result; |
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} |
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template <typename valType> |
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GLM_FUNC_QUALIFIER detail::tmat4x4<valType> yawPitchRoll |
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( |
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valType const & yaw, |
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valType const & pitch, |
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valType const & roll |
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) |
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{ |
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valType tmp_ch = glm::cos(yaw); |
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valType tmp_sh = glm::sin(yaw); |
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valType tmp_cp = glm::cos(pitch); |
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valType tmp_sp = glm::sin(pitch); |
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valType tmp_cb = glm::cos(roll); |
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valType tmp_sb = glm::sin(roll); |
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detail::tmat4x4<valType> 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] = valType(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] = valType(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] = valType(0); |
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Result[3][0] = valType(0); |
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Result[3][1] = valType(0); |
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Result[3][2] = valType(0); |
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Result[3][3] = valType(1); |
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return Result; |
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} |
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template <typename valType> |
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GLM_FUNC_QUALIFIER detail::tmat2x2<valType> orientate2 |
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( |
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valType const & angle |
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) |
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{ |
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valType c = glm::cos(angle); |
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valType s = glm::sin(angle); |
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detail::tmat2x2<valType> 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 valType> |
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GLM_FUNC_QUALIFIER detail::tmat3x3<valType> orientate3 |
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( |
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valType const & angle |
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) |
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{ |
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valType c = glm::cos(angle); |
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valType s = glm::sin(angle); |
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detail::tmat3x3<valType> 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 valType> |
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GLM_FUNC_QUALIFIER detail::tmat3x3<valType> orientate3 |
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( |
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detail::tvec3<valType> const & angles |
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) |
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{ |
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return detail::tmat3x3<valType>(yawPitchRoll(angles.x, angles.y, angles.z)); |
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} |
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template <typename valType> |
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GLM_FUNC_QUALIFIER detail::tmat4x4<valType> orientate4 |
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( |
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detail::tvec3<valType> 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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}//namespace glm
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