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312 lines
7.4 KiB
312 lines
7.4 KiB
/// @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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