| 1 | /// @ref gtx_euler_angles |
| 2 | |
| 3 | #include "compatibility.hpp" // glm::atan2 |
| 4 | |
| 5 | namespace glm |
| 6 | { |
| 7 | template<typename T> |
| 8 | GLM_FUNC_QUALIFIER mat<4, 4, T, defaultp> eulerAngleX |
| 9 | ( |
| 10 | T const& angleX |
| 11 | ) |
| 12 | { |
| 13 | T cosX = glm::cos(angleX); |
| 14 | T sinX = glm::sin(angleX); |
| 15 | |
| 16 | return mat<4, 4, T, defaultp>( |
| 17 | T(1), T(0), T(0), T(0), |
| 18 | T(0), cosX, sinX, T(0), |
| 19 | T(0),-sinX, cosX, T(0), |
| 20 | T(0), T(0), T(0), T(1)); |
| 21 | } |
| 22 | |
| 23 | template<typename T> |
| 24 | GLM_FUNC_QUALIFIER mat<4, 4, T, defaultp> eulerAngleY |
| 25 | ( |
| 26 | T const& angleY |
| 27 | ) |
| 28 | { |
| 29 | T cosY = glm::cos(angleY); |
| 30 | T sinY = glm::sin(angleY); |
| 31 | |
| 32 | return mat<4, 4, T, defaultp>( |
| 33 | cosY, T(0), -sinY, T(0), |
| 34 | T(0), T(1), T(0), T(0), |
| 35 | sinY, T(0), cosY, T(0), |
| 36 | T(0), T(0), T(0), T(1)); |
| 37 | } |
| 38 | |
| 39 | template<typename T> |
| 40 | GLM_FUNC_QUALIFIER mat<4, 4, T, defaultp> eulerAngleZ |
| 41 | ( |
| 42 | T const& angleZ |
| 43 | ) |
| 44 | { |
| 45 | T cosZ = glm::cos(angleZ); |
| 46 | T sinZ = glm::sin(angleZ); |
| 47 | |
| 48 | return mat<4, 4, T, defaultp>( |
| 49 | cosZ, sinZ, T(0), T(0), |
| 50 | -sinZ, cosZ, T(0), T(0), |
| 51 | T(0), T(0), T(1), T(0), |
| 52 | T(0), T(0), T(0), T(1)); |
| 53 | } |
| 54 | |
| 55 | template <typename T> |
| 56 | GLM_FUNC_QUALIFIER mat<4, 4, T, defaultp> derivedEulerAngleX |
| 57 | ( |
| 58 | T const & angleX, |
| 59 | T const & angularVelocityX |
| 60 | ) |
| 61 | { |
| 62 | T cosX = glm::cos(angleX) * angularVelocityX; |
| 63 | T sinX = glm::sin(angleX) * angularVelocityX; |
| 64 | |
| 65 | return mat<4, 4, T, defaultp>( |
| 66 | T(0), T(0), T(0), T(0), |
| 67 | T(0),-sinX, cosX, T(0), |
| 68 | T(0),-cosX,-sinX, T(0), |
| 69 | T(0), T(0), T(0), T(0)); |
| 70 | } |
| 71 | |
| 72 | template <typename T> |
| 73 | GLM_FUNC_QUALIFIER mat<4, 4, T, defaultp> derivedEulerAngleY |
| 74 | ( |
| 75 | T const & angleY, |
| 76 | T const & angularVelocityY |
| 77 | ) |
| 78 | { |
| 79 | T cosY = glm::cos(angleY) * angularVelocityY; |
| 80 | T sinY = glm::sin(angleY) * angularVelocityY; |
| 81 | |
| 82 | return mat<4, 4, T, defaultp>( |
| 83 | -sinY, T(0), -cosY, T(0), |
| 84 | T(0), T(0), T(0), T(0), |
| 85 | cosY, T(0), -sinY, T(0), |
| 86 | T(0), T(0), T(0), T(0)); |
| 87 | } |
| 88 | |
| 89 | template <typename T> |
| 90 | GLM_FUNC_QUALIFIER mat<4, 4, T, defaultp> derivedEulerAngleZ |
| 91 | ( |
| 92 | T const & angleZ, |
| 93 | T const & angularVelocityZ |
| 94 | ) |
| 95 | { |
| 96 | T cosZ = glm::cos(angleZ) * angularVelocityZ; |
| 97 | T sinZ = glm::sin(angleZ) * angularVelocityZ; |
| 98 | |
| 99 | return mat<4, 4, T, defaultp>( |
| 100 | -sinZ, cosZ, T(0), T(0), |
| 101 | -cosZ, -sinZ, T(0), T(0), |
| 102 | T(0), T(0), T(0), T(0), |
| 103 | T(0), T(0), T(0), T(0)); |
| 104 | } |
| 105 | |
| 106 | template<typename T> |
| 107 | GLM_FUNC_QUALIFIER mat<4, 4, T, defaultp> eulerAngleXY |
| 108 | ( |
| 109 | T const& angleX, |
| 110 | T const& angleY |
| 111 | ) |
| 112 | { |
| 113 | T cosX = glm::cos(angleX); |
| 114 | T sinX = glm::sin(angleX); |
| 115 | T cosY = glm::cos(angleY); |
| 116 | T sinY = glm::sin(angleY); |
| 117 | |
| 118 | return mat<4, 4, T, defaultp>( |
| 119 | cosY, -sinX * -sinY, cosX * -sinY, T(0), |
| 120 | T(0), cosX, sinX, T(0), |
| 121 | sinY, -sinX * cosY, cosX * cosY, T(0), |
| 122 | T(0), T(0), T(0), T(1)); |
| 123 | } |
| 124 | |
| 125 | template<typename T> |
| 126 | GLM_FUNC_QUALIFIER mat<4, 4, T, defaultp> eulerAngleYX |
| 127 | ( |
| 128 | T const& angleY, |
| 129 | T const& angleX |
| 130 | ) |
| 131 | { |
| 132 | T cosX = glm::cos(angleX); |
| 133 | T sinX = glm::sin(angleX); |
| 134 | T cosY = glm::cos(angleY); |
| 135 | T sinY = glm::sin(angleY); |
| 136 | |
| 137 | return mat<4, 4, T, defaultp>( |
| 138 | cosY, 0, -sinY, T(0), |
| 139 | sinY * sinX, cosX, cosY * sinX, T(0), |
| 140 | sinY * cosX, -sinX, cosY * cosX, T(0), |
| 141 | T(0), T(0), T(0), T(1)); |
| 142 | } |
| 143 | |
| 144 | template<typename T> |
| 145 | GLM_FUNC_QUALIFIER mat<4, 4, T, defaultp> eulerAngleXZ |
| 146 | ( |
| 147 | T const& angleX, |
| 148 | T const& angleZ |
| 149 | ) |
| 150 | { |
| 151 | return eulerAngleX(angleX) * eulerAngleZ(angleZ); |
| 152 | } |
| 153 | |
| 154 | template<typename T> |
| 155 | GLM_FUNC_QUALIFIER mat<4, 4, T, defaultp> eulerAngleZX |
| 156 | ( |
| 157 | T const& angleZ, |
| 158 | T const& angleX |
| 159 | ) |
| 160 | { |
| 161 | return eulerAngleZ(angleZ) * eulerAngleX(angleX); |
| 162 | } |
| 163 | |
| 164 | template<typename T> |
| 165 | GLM_FUNC_QUALIFIER mat<4, 4, T, defaultp> eulerAngleYZ |
| 166 | ( |
| 167 | T const& angleY, |
| 168 | T const& angleZ |
| 169 | ) |
| 170 | { |
| 171 | return eulerAngleY(angleY) * eulerAngleZ(angleZ); |
| 172 | } |
| 173 | |
| 174 | template<typename T> |
| 175 | GLM_FUNC_QUALIFIER mat<4, 4, T, defaultp> eulerAngleZY |
| 176 | ( |
| 177 | T const& angleZ, |
| 178 | T const& angleY |
| 179 | ) |
| 180 | { |
| 181 | return eulerAngleZ(angleZ) * eulerAngleY(angleY); |
| 182 | } |
| 183 | |
| 184 | template<typename T> |
| 185 | GLM_FUNC_QUALIFIER mat<4, 4, T, defaultp> eulerAngleXYZ |
| 186 | ( |
| 187 | T const& t1, |
| 188 | T const& t2, |
| 189 | T const& t3 |
| 190 | ) |
| 191 | { |
| 192 | T c1 = glm::cos(-t1); |
| 193 | T c2 = glm::cos(-t2); |
| 194 | T c3 = glm::cos(-t3); |
| 195 | T s1 = glm::sin(-t1); |
| 196 | T s2 = glm::sin(-t2); |
| 197 | T s3 = glm::sin(-t3); |
| 198 | |
| 199 | mat<4, 4, T, defaultp> Result; |
| 200 | Result[0][0] = c2 * c3; |
| 201 | Result[0][1] =-c1 * s3 + s1 * s2 * c3; |
| 202 | Result[0][2] = s1 * s3 + c1 * s2 * c3; |
| 203 | Result[0][3] = static_cast<T>(0); |
| 204 | Result[1][0] = c2 * s3; |
| 205 | Result[1][1] = c1 * c3 + s1 * s2 * s3; |
| 206 | Result[1][2] =-s1 * c3 + c1 * s2 * s3; |
| 207 | Result[1][3] = static_cast<T>(0); |
| 208 | Result[2][0] =-s2; |
| 209 | Result[2][1] = s1 * c2; |
| 210 | Result[2][2] = c1 * c2; |
| 211 | Result[2][3] = static_cast<T>(0); |
| 212 | Result[3][0] = static_cast<T>(0); |
| 213 | Result[3][1] = static_cast<T>(0); |
| 214 | Result[3][2] = static_cast<T>(0); |
| 215 | Result[3][3] = static_cast<T>(1); |
| 216 | return Result; |
| 217 | } |
| 218 | |
| 219 | template<typename T> |
| 220 | GLM_FUNC_QUALIFIER mat<4, 4, T, defaultp> eulerAngleYXZ |
| 221 | ( |
| 222 | T const& yaw, |
| 223 | T const& pitch, |
| 224 | T const& roll |
| 225 | ) |
| 226 | { |
| 227 | T tmp_ch = glm::cos(yaw); |
| 228 | T tmp_sh = glm::sin(yaw); |
| 229 | T tmp_cp = glm::cos(pitch); |
| 230 | T tmp_sp = glm::sin(pitch); |
| 231 | T tmp_cb = glm::cos(roll); |
| 232 | T tmp_sb = glm::sin(roll); |
| 233 | |
| 234 | mat<4, 4, T, defaultp> Result; |
| 235 | Result[0][0] = tmp_ch * tmp_cb + tmp_sh * tmp_sp * tmp_sb; |
| 236 | Result[0][1] = tmp_sb * tmp_cp; |
| 237 | Result[0][2] = -tmp_sh * tmp_cb + tmp_ch * tmp_sp * tmp_sb; |
| 238 | Result[0][3] = static_cast<T>(0); |
| 239 | Result[1][0] = -tmp_ch * tmp_sb + tmp_sh * tmp_sp * tmp_cb; |
| 240 | Result[1][1] = tmp_cb * tmp_cp; |
| 241 | Result[1][2] = tmp_sb * tmp_sh + tmp_ch * tmp_sp * tmp_cb; |
| 242 | Result[1][3] = static_cast<T>(0); |
| 243 | Result[2][0] = tmp_sh * tmp_cp; |
| 244 | Result[2][1] = -tmp_sp; |
| 245 | Result[2][2] = tmp_ch * tmp_cp; |
| 246 | Result[2][3] = static_cast<T>(0); |
| 247 | Result[3][0] = static_cast<T>(0); |
| 248 | Result[3][1] = static_cast<T>(0); |
| 249 | Result[3][2] = static_cast<T>(0); |
| 250 | Result[3][3] = static_cast<T>(1); |
| 251 | return Result; |
| 252 | } |
| 253 | |
| 254 | template <typename T> |
| 255 | GLM_FUNC_QUALIFIER mat<4, 4, T, defaultp> eulerAngleXZX |
| 256 | ( |
| 257 | T const & t1, |
| 258 | T const & t2, |
| 259 | T const & t3 |
| 260 | ) |
| 261 | { |
| 262 | T c1 = glm::cos(t1); |
| 263 | T s1 = glm::sin(t1); |
| 264 | T c2 = glm::cos(t2); |
| 265 | T s2 = glm::sin(t2); |
| 266 | T c3 = glm::cos(t3); |
| 267 | T s3 = glm::sin(t3); |
| 268 | |
| 269 | mat<4, 4, T, defaultp> Result; |
| 270 | Result[0][0] = c2; |
| 271 | Result[0][1] = c1 * s2; |
| 272 | Result[0][2] = s1 * s2; |
| 273 | Result[0][3] = static_cast<T>(0); |
| 274 | Result[1][0] =-c3 * s2; |
| 275 | Result[1][1] = c1 * c2 * c3 - s1 * s3; |
| 276 | Result[1][2] = c1 * s3 + c2 * c3 * s1; |
| 277 | Result[1][3] = static_cast<T>(0); |
| 278 | Result[2][0] = s2 * s3; |
| 279 | Result[2][1] =-c3 * s1 - c1 * c2 * s3; |
| 280 | Result[2][2] = c1 * c3 - c2 * s1 * s3; |
| 281 | Result[2][3] = static_cast<T>(0); |
| 282 | Result[3][0] = static_cast<T>(0); |
| 283 | Result[3][1] = static_cast<T>(0); |
| 284 | Result[3][2] = static_cast<T>(0); |
| 285 | Result[3][3] = static_cast<T>(1); |
| 286 | return Result; |
| 287 | } |
| 288 | |
| 289 | template <typename T> |
| 290 | GLM_FUNC_QUALIFIER mat<4, 4, T, defaultp> eulerAngleXYX |
| 291 | ( |
| 292 | T const & t1, |
| 293 | T const & t2, |
| 294 | T const & t3 |
| 295 | ) |
| 296 | { |
| 297 | T c1 = glm::cos(t1); |
| 298 | T s1 = glm::sin(t1); |
| 299 | T c2 = glm::cos(t2); |
| 300 | T s2 = glm::sin(t2); |
| 301 | T c3 = glm::cos(t3); |
| 302 | T s3 = glm::sin(t3); |
| 303 | |
| 304 | mat<4, 4, T, defaultp> Result; |
| 305 | Result[0][0] = c2; |
| 306 | Result[0][1] = s1 * s2; |
| 307 | Result[0][2] =-c1 * s2; |
| 308 | Result[0][3] = static_cast<T>(0); |
| 309 | Result[1][0] = s2 * s3; |
| 310 | Result[1][1] = c1 * c3 - c2 * s1 * s3; |
| 311 | Result[1][2] = c3 * s1 + c1 * c2 * s3; |
| 312 | Result[1][3] = static_cast<T>(0); |
| 313 | Result[2][0] = c3 * s2; |
| 314 | Result[2][1] =-c1 * s3 - c2 * c3 * s1; |
| 315 | Result[2][2] = c1 * c2 * c3 - s1 * s3; |
| 316 | Result[2][3] = static_cast<T>(0); |
| 317 | Result[3][0] = static_cast<T>(0); |
| 318 | Result[3][1] = static_cast<T>(0); |
| 319 | Result[3][2] = static_cast<T>(0); |
| 320 | Result[3][3] = static_cast<T>(1); |
| 321 | return Result; |
| 322 | } |
| 323 | |
| 324 | template <typename T> |
| 325 | GLM_FUNC_QUALIFIER mat<4, 4, T, defaultp> eulerAngleYXY |
| 326 | ( |
| 327 | T const & t1, |
| 328 | T const & t2, |
| 329 | T const & t3 |
| 330 | ) |
| 331 | { |
| 332 | T c1 = glm::cos(t1); |
| 333 | T s1 = glm::sin(t1); |
| 334 | T c2 = glm::cos(t2); |
| 335 | T s2 = glm::sin(t2); |
| 336 | T c3 = glm::cos(t3); |
| 337 | T s3 = glm::sin(t3); |
| 338 | |
| 339 | mat<4, 4, T, defaultp> Result; |
| 340 | Result[0][0] = c1 * c3 - c2 * s1 * s3; |
| 341 | Result[0][1] = s2* s3; |
| 342 | Result[0][2] =-c3 * s1 - c1 * c2 * s3; |
| 343 | Result[0][3] = static_cast<T>(0); |
| 344 | Result[1][0] = s1 * s2; |
| 345 | Result[1][1] = c2; |
| 346 | Result[1][2] = c1 * s2; |
| 347 | Result[1][3] = static_cast<T>(0); |
| 348 | Result[2][0] = c1 * s3 + c2 * c3 * s1; |
| 349 | Result[2][1] =-c3 * s2; |
| 350 | Result[2][2] = c1 * c2 * c3 - s1 * s3; |
| 351 | Result[2][3] = static_cast<T>(0); |
| 352 | Result[3][0] = static_cast<T>(0); |
| 353 | Result[3][1] = static_cast<T>(0); |
| 354 | Result[3][2] = static_cast<T>(0); |
| 355 | Result[3][3] = static_cast<T>(1); |
| 356 | return Result; |
| 357 | } |
| 358 | |
| 359 | template <typename T> |
| 360 | GLM_FUNC_QUALIFIER mat<4, 4, T, defaultp> eulerAngleYZY |
| 361 | ( |
| 362 | T const & t1, |
| 363 | T const & t2, |
| 364 | T const & t3 |
| 365 | ) |
| 366 | { |
| 367 | T c1 = glm::cos(t1); |
| 368 | T s1 = glm::sin(t1); |
| 369 | T c2 = glm::cos(t2); |
| 370 | T s2 = glm::sin(t2); |
| 371 | T c3 = glm::cos(t3); |
| 372 | T s3 = glm::sin(t3); |
| 373 | |
| 374 | mat<4, 4, T, defaultp> Result; |
| 375 | Result[0][0] = c1 * c2 * c3 - s1 * s3; |
| 376 | Result[0][1] = c3 * s2; |
| 377 | Result[0][2] =-c1 * s3 - c2 * c3 * s1; |
| 378 | Result[0][3] = static_cast<T>(0); |
| 379 | Result[1][0] =-c1 * s2; |
| 380 | Result[1][1] = c2; |
| 381 | Result[1][2] = s1 * s2; |
| 382 | Result[1][3] = static_cast<T>(0); |
| 383 | Result[2][0] = c3 * s1 + c1 * c2 * s3; |
| 384 | Result[2][1] = s2 * s3; |
| 385 | Result[2][2] = c1 * c3 - c2 * s1 * s3; |
| 386 | Result[2][3] = static_cast<T>(0); |
| 387 | Result[3][0] = static_cast<T>(0); |
| 388 | Result[3][1] = static_cast<T>(0); |
| 389 | Result[3][2] = static_cast<T>(0); |
| 390 | Result[3][3] = static_cast<T>(1); |
| 391 | return Result; |
| 392 | } |
| 393 | |
| 394 | template <typename T> |
| 395 | GLM_FUNC_QUALIFIER mat<4, 4, T, defaultp> eulerAngleZYZ |
| 396 | ( |
| 397 | T const & t1, |
| 398 | T const & t2, |
| 399 | T const & t3 |
| 400 | ) |
| 401 | { |
| 402 | T c1 = glm::cos(t1); |
| 403 | T s1 = glm::sin(t1); |
| 404 | T c2 = glm::cos(t2); |
| 405 | T s2 = glm::sin(t2); |
| 406 | T c3 = glm::cos(t3); |
| 407 | T s3 = glm::sin(t3); |
| 408 | |
| 409 | mat<4, 4, T, defaultp> Result; |
| 410 | Result[0][0] = c1 * c2 * c3 - s1 * s3; |
| 411 | Result[0][1] = c1 * s3 + c2 * c3 * s1; |
| 412 | Result[0][2] =-c3 * s2; |
| 413 | Result[0][3] = static_cast<T>(0); |
| 414 | Result[1][0] =-c3 * s1 - c1 * c2 * s3; |
| 415 | Result[1][1] = c1 * c3 - c2 * s1 * s3; |
| 416 | Result[1][2] = s2 * s3; |
| 417 | Result[1][3] = static_cast<T>(0); |
| 418 | Result[2][0] = c1 * s2; |
| 419 | Result[2][1] = s1 * s2; |
| 420 | Result[2][2] = c2; |
| 421 | Result[2][3] = static_cast<T>(0); |
| 422 | Result[3][0] = static_cast<T>(0); |
| 423 | Result[3][1] = static_cast<T>(0); |
| 424 | Result[3][2] = static_cast<T>(0); |
| 425 | Result[3][3] = static_cast<T>(1); |
| 426 | return Result; |
| 427 | } |
| 428 | |
| 429 | template <typename T> |
| 430 | GLM_FUNC_QUALIFIER mat<4, 4, T, defaultp> eulerAngleZXZ |
| 431 | ( |
| 432 | T const & t1, |
| 433 | T const & t2, |
| 434 | T const & t3 |
| 435 | ) |
| 436 | { |
| 437 | T c1 = glm::cos(t1); |
| 438 | T s1 = glm::sin(t1); |
| 439 | T c2 = glm::cos(t2); |
| 440 | T s2 = glm::sin(t2); |
| 441 | T c3 = glm::cos(t3); |
| 442 | T s3 = glm::sin(t3); |
| 443 | |
| 444 | mat<4, 4, T, defaultp> Result; |
| 445 | Result[0][0] = c1 * c3 - c2 * s1 * s3; |
| 446 | Result[0][1] = c3 * s1 + c1 * c2 * s3; |
| 447 | Result[0][2] = s2 *s3; |
| 448 | Result[0][3] = static_cast<T>(0); |
| 449 | Result[1][0] =-c1 * s3 - c2 * c3 * s1; |
| 450 | Result[1][1] = c1 * c2 * c3 - s1 * s3; |
| 451 | Result[1][2] = c3 * s2; |
| 452 | Result[1][3] = static_cast<T>(0); |
| 453 | Result[2][0] = s1 * s2; |
| 454 | Result[2][1] =-c1 * s2; |
| 455 | Result[2][2] = c2; |
| 456 | Result[2][3] = static_cast<T>(0); |
| 457 | Result[3][0] = static_cast<T>(0); |
| 458 | Result[3][1] = static_cast<T>(0); |
| 459 | Result[3][2] = static_cast<T>(0); |
| 460 | Result[3][3] = static_cast<T>(1); |
| 461 | return Result; |
| 462 | } |
| 463 | |
| 464 | template <typename T> |
| 465 | GLM_FUNC_QUALIFIER mat<4, 4, T, defaultp> eulerAngleXZY |
| 466 | ( |
| 467 | T const & t1, |
| 468 | T const & t2, |
| 469 | T const & t3 |
| 470 | ) |
| 471 | { |
| 472 | T c1 = glm::cos(t1); |
| 473 | T s1 = glm::sin(t1); |
| 474 | T c2 = glm::cos(t2); |
| 475 | T s2 = glm::sin(t2); |
| 476 | T c3 = glm::cos(t3); |
| 477 | T s3 = glm::sin(t3); |
| 478 | |
| 479 | mat<4, 4, T, defaultp> Result; |
| 480 | Result[0][0] = c2 * c3; |
| 481 | Result[0][1] = s1 * s3 + c1 * c3 * s2; |
| 482 | Result[0][2] = c3 * s1 * s2 - c1 * s3; |
| 483 | Result[0][3] = static_cast<T>(0); |
| 484 | Result[1][0] =-s2; |
| 485 | Result[1][1] = c1 * c2; |
| 486 | Result[1][2] = c2 * s1; |
| 487 | Result[1][3] = static_cast<T>(0); |
| 488 | Result[2][0] = c2 * s3; |
| 489 | Result[2][1] = c1 * s2 * s3 - c3 * s1; |
| 490 | Result[2][2] = c1 * c3 + s1 * s2 *s3; |
| 491 | Result[2][3] = static_cast<T>(0); |
| 492 | Result[3][0] = static_cast<T>(0); |
| 493 | Result[3][1] = static_cast<T>(0); |
| 494 | Result[3][2] = static_cast<T>(0); |
| 495 | Result[3][3] = static_cast<T>(1); |
| 496 | return Result; |
| 497 | } |
| 498 | |
| 499 | template <typename T> |
| 500 | GLM_FUNC_QUALIFIER mat<4, 4, T, defaultp> eulerAngleYZX |
| 501 | ( |
| 502 | T const & t1, |
| 503 | T const & t2, |
| 504 | T const & t3 |
| 505 | ) |
| 506 | { |
| 507 | T c1 = glm::cos(t1); |
| 508 | T s1 = glm::sin(t1); |
| 509 | T c2 = glm::cos(t2); |
| 510 | T s2 = glm::sin(t2); |
| 511 | T c3 = glm::cos(t3); |
| 512 | T s3 = glm::sin(t3); |
| 513 | |
| 514 | mat<4, 4, T, defaultp> Result; |
| 515 | Result[0][0] = c1 * c2; |
| 516 | Result[0][1] = s2; |
| 517 | Result[0][2] =-c2 * s1; |
| 518 | Result[0][3] = static_cast<T>(0); |
| 519 | Result[1][0] = s1 * s3 - c1 * c3 * s2; |
| 520 | Result[1][1] = c2 * c3; |
| 521 | Result[1][2] = c1 * s3 + c3 * s1 * s2; |
| 522 | Result[1][3] = static_cast<T>(0); |
| 523 | Result[2][0] = c3 * s1 + c1 * s2 * s3; |
| 524 | Result[2][1] =-c2 * s3; |
| 525 | Result[2][2] = c1 * c3 - s1 * s2 * s3; |
| 526 | Result[2][3] = static_cast<T>(0); |
| 527 | Result[3][0] = static_cast<T>(0); |
| 528 | Result[3][1] = static_cast<T>(0); |
| 529 | Result[3][2] = static_cast<T>(0); |
| 530 | Result[3][3] = static_cast<T>(1); |
| 531 | return Result; |
| 532 | } |
| 533 | |
| 534 | template <typename T> |
| 535 | GLM_FUNC_QUALIFIER mat<4, 4, T, defaultp> eulerAngleZYX |
| 536 | ( |
| 537 | T const & t1, |
| 538 | T const & t2, |
| 539 | T const & t3 |
| 540 | ) |
| 541 | { |
| 542 | T c1 = glm::cos(t1); |
| 543 | T s1 = glm::sin(t1); |
| 544 | T c2 = glm::cos(t2); |
| 545 | T s2 = glm::sin(t2); |
| 546 | T c3 = glm::cos(t3); |
| 547 | T s3 = glm::sin(t3); |
| 548 | |
| 549 | mat<4, 4, T, defaultp> Result; |
| 550 | Result[0][0] = c1 * c2; |
| 551 | Result[0][1] = c2 * s1; |
| 552 | Result[0][2] =-s2; |
| 553 | Result[0][3] = static_cast<T>(0); |
| 554 | Result[1][0] = c1 * s2 * s3 - c3 * s1; |
| 555 | Result[1][1] = c1 * c3 + s1 * s2 * s3; |
| 556 | Result[1][2] = c2 * s3; |
| 557 | Result[1][3] = static_cast<T>(0); |
| 558 | Result[2][0] = s1 * s3 + c1 * c3 * s2; |
| 559 | Result[2][1] = c3 * s1 * s2 - c1 * s3; |
| 560 | Result[2][2] = c2 * c3; |
| 561 | Result[2][3] = static_cast<T>(0); |
| 562 | Result[3][0] = static_cast<T>(0); |
| 563 | Result[3][1] = static_cast<T>(0); |
| 564 | Result[3][2] = static_cast<T>(0); |
| 565 | Result[3][3] = static_cast<T>(1); |
| 566 | return Result; |
| 567 | } |
| 568 | |
| 569 | template <typename T> |
| 570 | GLM_FUNC_QUALIFIER mat<4, 4, T, defaultp> eulerAngleZXY |
| 571 | ( |
| 572 | T const & t1, |
| 573 | T const & t2, |
| 574 | T const & t3 |
| 575 | ) |
| 576 | { |
| 577 | T c1 = glm::cos(t1); |
| 578 | T s1 = glm::sin(t1); |
| 579 | T c2 = glm::cos(t2); |
| 580 | T s2 = glm::sin(t2); |
| 581 | T c3 = glm::cos(t3); |
| 582 | T s3 = glm::sin(t3); |
| 583 | |
| 584 | mat<4, 4, T, defaultp> Result; |
| 585 | Result[0][0] = c1 * c3 - s1 * s2 * s3; |
| 586 | Result[0][1] = c3 * s1 + c1 * s2 * s3; |
| 587 | Result[0][2] =-c2 * s3; |
| 588 | Result[0][3] = static_cast<T>(0); |
| 589 | Result[1][0] =-c2 * s1; |
| 590 | Result[1][1] = c1 * c2; |
| 591 | Result[1][2] = s2; |
| 592 | Result[1][3] = static_cast<T>(0); |
| 593 | Result[2][0] = c1 * s3 + c3 * s1 * s2; |
| 594 | Result[2][1] = s1 * s3 - c1 * c3 * s2; |
| 595 | Result[2][2] = c2 * c3; |
| 596 | Result[2][3] = static_cast<T>(0); |
| 597 | Result[3][0] = static_cast<T>(0); |
| 598 | Result[3][1] = static_cast<T>(0); |
| 599 | Result[3][2] = static_cast<T>(0); |
| 600 | Result[3][3] = static_cast<T>(1); |
| 601 | return Result; |
| 602 | } |
| 603 | |
| 604 | template<typename T> |
| 605 | GLM_FUNC_QUALIFIER mat<4, 4, T, defaultp> yawPitchRoll |
| 606 | ( |
| 607 | T const& yaw, |
| 608 | T const& pitch, |
| 609 | T const& roll |
| 610 | ) |
| 611 | { |
| 612 | T tmp_ch = glm::cos(yaw); |
| 613 | T tmp_sh = glm::sin(yaw); |
| 614 | T tmp_cp = glm::cos(pitch); |
| 615 | T tmp_sp = glm::sin(pitch); |
| 616 | T tmp_cb = glm::cos(roll); |
| 617 | T tmp_sb = glm::sin(roll); |
| 618 | |
| 619 | mat<4, 4, T, defaultp> Result; |
| 620 | Result[0][0] = tmp_ch * tmp_cb + tmp_sh * tmp_sp * tmp_sb; |
| 621 | Result[0][1] = tmp_sb * tmp_cp; |
| 622 | Result[0][2] = -tmp_sh * tmp_cb + tmp_ch * tmp_sp * tmp_sb; |
| 623 | Result[0][3] = static_cast<T>(0); |
| 624 | Result[1][0] = -tmp_ch * tmp_sb + tmp_sh * tmp_sp * tmp_cb; |
| 625 | Result[1][1] = tmp_cb * tmp_cp; |
| 626 | Result[1][2] = tmp_sb * tmp_sh + tmp_ch * tmp_sp * tmp_cb; |
| 627 | Result[1][3] = static_cast<T>(0); |
| 628 | Result[2][0] = tmp_sh * tmp_cp; |
| 629 | Result[2][1] = -tmp_sp; |
| 630 | Result[2][2] = tmp_ch * tmp_cp; |
| 631 | Result[2][3] = static_cast<T>(0); |
| 632 | Result[3][0] = static_cast<T>(0); |
| 633 | Result[3][1] = static_cast<T>(0); |
| 634 | Result[3][2] = static_cast<T>(0); |
| 635 | Result[3][3] = static_cast<T>(1); |
| 636 | return Result; |
| 637 | } |
| 638 | |
| 639 | template<typename T> |
| 640 | GLM_FUNC_QUALIFIER mat<2, 2, T, defaultp> orientate2 |
| 641 | ( |
| 642 | T const& angle |
| 643 | ) |
| 644 | { |
| 645 | T c = glm::cos(angle); |
| 646 | T s = glm::sin(angle); |
| 647 | |
| 648 | mat<2, 2, T, defaultp> Result; |
| 649 | Result[0][0] = c; |
| 650 | Result[0][1] = s; |
| 651 | Result[1][0] = -s; |
| 652 | Result[1][1] = c; |
| 653 | return Result; |
| 654 | } |
| 655 | |
| 656 | template<typename T> |
| 657 | GLM_FUNC_QUALIFIER mat<3, 3, T, defaultp> orientate3 |
| 658 | ( |
| 659 | T const& angle |
| 660 | ) |
| 661 | { |
| 662 | T c = glm::cos(angle); |
| 663 | T s = glm::sin(angle); |
| 664 | |
| 665 | mat<3, 3, T, defaultp> Result; |
| 666 | Result[0][0] = c; |
| 667 | Result[0][1] = s; |
| 668 | Result[0][2] = 0.0f; |
| 669 | Result[1][0] = -s; |
| 670 | Result[1][1] = c; |
| 671 | Result[1][2] = 0.0f; |
| 672 | Result[2][0] = 0.0f; |
| 673 | Result[2][1] = 0.0f; |
| 674 | Result[2][2] = 1.0f; |
| 675 | return Result; |
| 676 | } |
| 677 | |
| 678 | template<typename T, qualifier Q> |
| 679 | GLM_FUNC_QUALIFIER mat<3, 3, T, Q> orientate3 |
| 680 | ( |
| 681 | vec<3, T, Q> const& angles |
| 682 | ) |
| 683 | { |
| 684 | return mat<3, 3, T, Q>(yawPitchRoll(angles.z, angles.x, angles.y)); |
| 685 | } |
| 686 | |
| 687 | template<typename T, qualifier Q> |
| 688 | GLM_FUNC_QUALIFIER mat<4, 4, T, Q> orientate4 |
| 689 | ( |
| 690 | vec<3, T, Q> const& angles |
| 691 | ) |
| 692 | { |
| 693 | return yawPitchRoll(angles.z, angles.x, angles.y); |
| 694 | } |
| 695 | |
| 696 | template<typename T> |
| 697 | GLM_FUNC_DECL void extractEulerAngleXYZ(mat<4, 4, T, defaultp> const& M, |
| 698 | T & t1, |
| 699 | T & t2, |
| 700 | T & t3) |
| 701 | { |
| 702 | T T1 = glm::atan2<T, defaultp>(M[2][1], M[2][2]); |
| 703 | T C2 = glm::sqrt(M[0][0]*M[0][0] + M[1][0]*M[1][0]); |
| 704 | T T2 = glm::atan2<T, defaultp>(-M[2][0], C2); |
| 705 | T S1 = glm::sin(T1); |
| 706 | T C1 = glm::cos(T1); |
| 707 | T T3 = glm::atan2<T, defaultp>(S1*M[0][2] - C1*M[0][1], C1*M[1][1] - S1*M[1][2 ]); |
| 708 | t1 = -T1; |
| 709 | t2 = -T2; |
| 710 | t3 = -T3; |
| 711 | } |
| 712 | |
| 713 | template <typename T> |
| 714 | GLM_FUNC_QUALIFIER void extractEulerAngleYXZ(mat<4, 4, T, defaultp> const & M, |
| 715 | T & t1, |
| 716 | T & t2, |
| 717 | T & t3) |
| 718 | { |
| 719 | T T1 = glm::atan2<T, defaultp>(M[2][0], M[2][2]); |
| 720 | T C2 = glm::sqrt(M[0][1]*M[0][1] + M[1][1]*M[1][1]); |
| 721 | T T2 = glm::atan2<T, defaultp>(-M[2][1], C2); |
| 722 | T S1 = glm::sin(T1); |
| 723 | T C1 = glm::cos(T1); |
| 724 | T T3 = glm::atan2<T, defaultp>(S1*M[1][2] - C1*M[1][0], C1*M[0][0] - S1*M[0][2]); |
| 725 | t1 = T1; |
| 726 | t2 = T2; |
| 727 | t3 = T3; |
| 728 | } |
| 729 | |
| 730 | template <typename T> |
| 731 | GLM_FUNC_QUALIFIER void extractEulerAngleXZX(mat<4, 4, T, defaultp> const & M, |
| 732 | T & t1, |
| 733 | T & t2, |
| 734 | T & t3) |
| 735 | { |
| 736 | T T1 = glm::atan2<T, defaultp>(M[0][2], M[0][1]); |
| 737 | T S2 = glm::sqrt(M[1][0]*M[1][0] + M[2][0]*M[2][0]); |
| 738 | T T2 = glm::atan2<T, defaultp>(S2, M[0][0]); |
| 739 | T S1 = glm::sin(T1); |
| 740 | T C1 = glm::cos(T1); |
| 741 | T T3 = glm::atan2<T, defaultp>(C1*M[1][2] - S1*M[1][1], C1*M[2][2] - S1*M[2][1]); |
| 742 | t1 = T1; |
| 743 | t2 = T2; |
| 744 | t3 = T3; |
| 745 | } |
| 746 | |
| 747 | template <typename T> |
| 748 | GLM_FUNC_QUALIFIER void extractEulerAngleXYX(mat<4, 4, T, defaultp> const & M, |
| 749 | T & t1, |
| 750 | T & t2, |
| 751 | T & t3) |
| 752 | { |
| 753 | T T1 = glm::atan2<T, defaultp>(M[0][1], -M[0][2]); |
| 754 | T S2 = glm::sqrt(M[1][0]*M[1][0] + M[2][0]*M[2][0]); |
| 755 | T T2 = glm::atan2<T, defaultp>(S2, M[0][0]); |
| 756 | T S1 = glm::sin(T1); |
| 757 | T C1 = glm::cos(T1); |
| 758 | T T3 = glm::atan2<T, defaultp>(-C1*M[2][1] - S1*M[2][2], C1*M[1][1] + S1*M[1][2]); |
| 759 | t1 = T1; |
| 760 | t2 = T2; |
| 761 | t3 = T3; |
| 762 | } |
| 763 | |
| 764 | template <typename T> |
| 765 | GLM_FUNC_QUALIFIER void extractEulerAngleYXY(mat<4, 4, T, defaultp> const & M, |
| 766 | T & t1, |
| 767 | T & t2, |
| 768 | T & t3) |
| 769 | { |
| 770 | T T1 = glm::atan2<T, defaultp>(M[1][0], M[1][2]); |
| 771 | T S2 = glm::sqrt(M[0][1]*M[0][1] + M[2][1]*M[2][1]); |
| 772 | T T2 = glm::atan2<T, defaultp>(S2, M[1][1]); |
| 773 | T S1 = glm::sin(T1); |
| 774 | T C1 = glm::cos(T1); |
| 775 | T T3 = glm::atan2<T, defaultp>(C1*M[2][0] - S1*M[2][2], C1*M[0][0] - S1*M[0][2]); |
| 776 | t1 = T1; |
| 777 | t2 = T2; |
| 778 | t3 = T3; |
| 779 | } |
| 780 | |
| 781 | template <typename T> |
| 782 | GLM_FUNC_QUALIFIER void extractEulerAngleYZY(mat<4, 4, T, defaultp> const & M, |
| 783 | T & t1, |
| 784 | T & t2, |
| 785 | T & t3) |
| 786 | { |
| 787 | T T1 = glm::atan2<T, defaultp>(M[1][2], -M[1][0]); |
| 788 | T S2 = glm::sqrt(M[0][1]*M[0][1] + M[2][1]*M[2][1]); |
| 789 | T T2 = glm::atan2<T, defaultp>(S2, M[1][1]); |
| 790 | T S1 = glm::sin(T1); |
| 791 | T C1 = glm::cos(T1); |
| 792 | T T3 = glm::atan2<T, defaultp>(-S1*M[0][0] - C1*M[0][2], S1*M[2][0] + C1*M[2][2]); |
| 793 | t1 = T1; |
| 794 | t2 = T2; |
| 795 | t3 = T3; |
| 796 | } |
| 797 | |
| 798 | template <typename T> |
| 799 | GLM_FUNC_QUALIFIER void extractEulerAngleZYZ(mat<4, 4, T, defaultp> const & M, |
| 800 | T & t1, |
| 801 | T & t2, |
| 802 | T & t3) |
| 803 | { |
| 804 | T T1 = glm::atan2<T, defaultp>(M[2][1], M[2][0]); |
| 805 | T S2 = glm::sqrt(M[0][2]*M[0][2] + M[1][2]*M[1][2]); |
| 806 | T T2 = glm::atan2<T, defaultp>(S2, M[2][2]); |
| 807 | T S1 = glm::sin(T1); |
| 808 | T C1 = glm::cos(T1); |
| 809 | T T3 = glm::atan2<T, defaultp>(C1*M[0][1] - S1*M[0][0], C1*M[1][1] - S1*M[1][0]); |
| 810 | t1 = T1; |
| 811 | t2 = T2; |
| 812 | t3 = T3; |
| 813 | } |
| 814 | |
| 815 | template <typename T> |
| 816 | GLM_FUNC_QUALIFIER void extractEulerAngleZXZ(mat<4, 4, T, defaultp> const & M, |
| 817 | T & t1, |
| 818 | T & t2, |
| 819 | T & t3) |
| 820 | { |
| 821 | T T1 = glm::atan2<T, defaultp>(M[2][0], -M[2][1]); |
| 822 | T S2 = glm::sqrt(M[0][2]*M[0][2] + M[1][2]*M[1][2]); |
| 823 | T T2 = glm::atan2<T, defaultp>(S2, M[2][2]); |
| 824 | T S1 = glm::sin(T1); |
| 825 | T C1 = glm::cos(T1); |
| 826 | T T3 = glm::atan2<T, defaultp>(-C1*M[1][0] - S1*M[1][1], C1*M[0][0] + S1*M[0][1]); |
| 827 | t1 = T1; |
| 828 | t2 = T2; |
| 829 | t3 = T3; |
| 830 | } |
| 831 | |
| 832 | template <typename T> |
| 833 | GLM_FUNC_QUALIFIER void extractEulerAngleXZY(mat<4, 4, T, defaultp> const & M, |
| 834 | T & t1, |
| 835 | T & t2, |
| 836 | T & t3) |
| 837 | { |
| 838 | T T1 = glm::atan2<T, defaultp>(M[1][2], M[1][1]); |
| 839 | T C2 = glm::sqrt(M[0][0]*M[0][0] + M[2][0]*M[2][0]); |
| 840 | T T2 = glm::atan2<T, defaultp>(-M[1][0], C2); |
| 841 | T S1 = glm::sin(T1); |
| 842 | T C1 = glm::cos(T1); |
| 843 | T T3 = glm::atan2<T, defaultp>(S1*M[0][1] - C1*M[0][2], C1*M[2][2] - S1*M[2][1]); |
| 844 | t1 = T1; |
| 845 | t2 = T2; |
| 846 | t3 = T3; |
| 847 | } |
| 848 | |
| 849 | template <typename T> |
| 850 | GLM_FUNC_QUALIFIER void extractEulerAngleYZX(mat<4, 4, T, defaultp> const & M, |
| 851 | T & t1, |
| 852 | T & t2, |
| 853 | T & t3) |
| 854 | { |
| 855 | T T1 = glm::atan2<T, defaultp>(-M[0][2], M[0][0]); |
| 856 | T C2 = glm::sqrt(M[1][1]*M[1][1] + M[2][1]*M[2][1]); |
| 857 | T T2 = glm::atan2<T, defaultp>(M[0][1], C2); |
| 858 | T S1 = glm::sin(T1); |
| 859 | T C1 = glm::cos(T1); |
| 860 | T T3 = glm::atan2<T, defaultp>(S1*M[1][0] + C1*M[1][2], S1*M[2][0] + C1*M[2][2]); |
| 861 | t1 = T1; |
| 862 | t2 = T2; |
| 863 | t3 = T3; |
| 864 | } |
| 865 | |
| 866 | template <typename T> |
| 867 | GLM_FUNC_QUALIFIER void extractEulerAngleZYX(mat<4, 4, T, defaultp> const & M, |
| 868 | T & t1, |
| 869 | T & t2, |
| 870 | T & t3) |
| 871 | { |
| 872 | T T1 = glm::atan2<T, defaultp>(M[0][1], M[0][0]); |
| 873 | T C2 = glm::sqrt(M[1][2]*M[1][2] + M[2][2]*M[2][2]); |
| 874 | T T2 = glm::atan2<T, defaultp>(-M[0][2], C2); |
| 875 | T S1 = glm::sin(T1); |
| 876 | T C1 = glm::cos(T1); |
| 877 | T T3 = glm::atan2<T, defaultp>(S1*M[2][0] - C1*M[2][1], C1*M[1][1] - S1*M[1][0]); |
| 878 | t1 = T1; |
| 879 | t2 = T2; |
| 880 | t3 = T3; |
| 881 | } |
| 882 | |
| 883 | template <typename T> |
| 884 | GLM_FUNC_QUALIFIER void extractEulerAngleZXY(mat<4, 4, T, defaultp> const & M, |
| 885 | T & t1, |
| 886 | T & t2, |
| 887 | T & t3) |
| 888 | { |
| 889 | T T1 = glm::atan2<T, defaultp>(-M[1][0], M[1][1]); |
| 890 | T C2 = glm::sqrt(M[0][2]*M[0][2] + M[2][2]*M[2][2]); |
| 891 | T T2 = glm::atan2<T, defaultp>(M[1][2], C2); |
| 892 | T S1 = glm::sin(T1); |
| 893 | T C1 = glm::cos(T1); |
| 894 | T T3 = glm::atan2<T, defaultp>(C1*M[2][0] + S1*M[2][1], C1*M[0][0] + S1*M[0][1]); |
| 895 | t1 = T1; |
| 896 | t2 = T2; |
| 897 | t3 = T3; |
| 898 | } |
| 899 | }//namespace glm |