| 1 | namespace glm |
| 2 | { |
| 3 | template<typename genType> |
| 4 | GLM_FUNC_QUALIFIER GLM_CONSTEXPR genType identity() |
| 5 | { |
| 6 | return detail::init_gentype<genType, detail::genTypeTrait<genType>::GENTYPE>::identity(); |
| 7 | } |
| 8 | |
| 9 | template<typename T, qualifier Q> |
| 10 | GLM_FUNC_QUALIFIER GLM_CONSTEXPR mat<4, 4, T, Q> translate(mat<4, 4, T, Q> const& m, vec<3, T, Q> const& v) |
| 11 | { |
| 12 | mat<4, 4, T, Q> Result(m); |
| 13 | Result[3] = m[0] * v[0] + m[1] * v[1] + m[2] * v[2] + m[3]; |
| 14 | return Result; |
| 15 | } |
| 16 | |
| 17 | template<typename T, qualifier Q> |
| 18 | GLM_FUNC_QUALIFIER mat<4, 4, T, Q> rotate(mat<4, 4, T, Q> const& m, T angle, vec<3, T, Q> const& v) |
| 19 | { |
| 20 | T const a = angle; |
| 21 | T const c = cos(a); |
| 22 | T const s = sin(a); |
| 23 | |
| 24 | vec<3, T, Q> axis(normalize(v)); |
| 25 | vec<3, T, Q> temp((T(1) - c) * axis); |
| 26 | |
| 27 | mat<4, 4, T, Q> Rotate; |
| 28 | Rotate[0][0] = c + temp[0] * axis[0]; |
| 29 | Rotate[0][1] = temp[0] * axis[1] + s * axis[2]; |
| 30 | Rotate[0][2] = temp[0] * axis[2] - s * axis[1]; |
| 31 | |
| 32 | Rotate[1][0] = temp[1] * axis[0] - s * axis[2]; |
| 33 | Rotate[1][1] = c + temp[1] * axis[1]; |
| 34 | Rotate[1][2] = temp[1] * axis[2] + s * axis[0]; |
| 35 | |
| 36 | Rotate[2][0] = temp[2] * axis[0] + s * axis[1]; |
| 37 | Rotate[2][1] = temp[2] * axis[1] - s * axis[0]; |
| 38 | Rotate[2][2] = c + temp[2] * axis[2]; |
| 39 | |
| 40 | mat<4, 4, T, Q> Result; |
| 41 | Result[0] = m[0] * Rotate[0][0] + m[1] * Rotate[0][1] + m[2] * Rotate[0][2]; |
| 42 | Result[1] = m[0] * Rotate[1][0] + m[1] * Rotate[1][1] + m[2] * Rotate[1][2]; |
| 43 | Result[2] = m[0] * Rotate[2][0] + m[1] * Rotate[2][1] + m[2] * Rotate[2][2]; |
| 44 | Result[3] = m[3]; |
| 45 | return Result; |
| 46 | } |
| 47 | |
| 48 | template<typename T, qualifier Q> |
| 49 | GLM_FUNC_QUALIFIER mat<4, 4, T, Q> rotate_slow(mat<4, 4, T, Q> const& m, T angle, vec<3, T, Q> const& v) |
| 50 | { |
| 51 | T const a = angle; |
| 52 | T const c = cos(a); |
| 53 | T const s = sin(a); |
| 54 | mat<4, 4, T, Q> Result; |
| 55 | |
| 56 | vec<3, T, Q> axis = normalize(v); |
| 57 | |
| 58 | Result[0][0] = c + (static_cast<T>(1) - c) * axis.x * axis.x; |
| 59 | Result[0][1] = (static_cast<T>(1) - c) * axis.x * axis.y + s * axis.z; |
| 60 | Result[0][2] = (static_cast<T>(1) - c) * axis.x * axis.z - s * axis.y; |
| 61 | Result[0][3] = static_cast<T>(0); |
| 62 | |
| 63 | Result[1][0] = (static_cast<T>(1) - c) * axis.y * axis.x - s * axis.z; |
| 64 | Result[1][1] = c + (static_cast<T>(1) - c) * axis.y * axis.y; |
| 65 | Result[1][2] = (static_cast<T>(1) - c) * axis.y * axis.z + s * axis.x; |
| 66 | Result[1][3] = static_cast<T>(0); |
| 67 | |
| 68 | Result[2][0] = (static_cast<T>(1) - c) * axis.z * axis.x + s * axis.y; |
| 69 | Result[2][1] = (static_cast<T>(1) - c) * axis.z * axis.y - s * axis.x; |
| 70 | Result[2][2] = c + (static_cast<T>(1) - c) * axis.z * axis.z; |
| 71 | Result[2][3] = static_cast<T>(0); |
| 72 | |
| 73 | Result[3] = vec<4, T, Q>(0, 0, 0, 1); |
| 74 | return m * Result; |
| 75 | } |
| 76 | |
| 77 | template<typename T, qualifier Q> |
| 78 | GLM_FUNC_QUALIFIER mat<4, 4, T, Q> scale(mat<4, 4, T, Q> const& m, vec<3, T, Q> const& v) |
| 79 | { |
| 80 | mat<4, 4, T, Q> Result; |
| 81 | Result[0] = m[0] * v[0]; |
| 82 | Result[1] = m[1] * v[1]; |
| 83 | Result[2] = m[2] * v[2]; |
| 84 | Result[3] = m[3]; |
| 85 | return Result; |
| 86 | } |
| 87 | |
| 88 | template<typename T, qualifier Q> |
| 89 | GLM_FUNC_QUALIFIER mat<4, 4, T, Q> scale_slow(mat<4, 4, T, Q> const& m, vec<3, T, Q> const& v) |
| 90 | { |
| 91 | mat<4, 4, T, Q> Result(T(1)); |
| 92 | Result[0][0] = v.x; |
| 93 | Result[1][1] = v.y; |
| 94 | Result[2][2] = v.z; |
| 95 | return m * Result; |
| 96 | } |
| 97 | |
| 98 | template <typename T, qualifier Q> |
| 99 | GLM_FUNC_QUALIFIER mat<4, 4, T, Q> shear(mat<4, 4, T, Q> const &m, vec<3, T, Q> const& p, vec<2, T, Q> const &l_x, vec<2, T, Q> const &l_y, vec<2, T, Q> const &l_z) |
| 100 | { |
| 101 | T const lambda_xy = l_x[0]; |
| 102 | T const lambda_xz = l_x[1]; |
| 103 | T const lambda_yx = l_y[0]; |
| 104 | T const lambda_yz = l_y[1]; |
| 105 | T const lambda_zx = l_z[0]; |
| 106 | T const lambda_zy = l_z[1]; |
| 107 | |
| 108 | vec<3, T, Q> point_lambda = vec<3, T, Q>( |
| 109 | (lambda_xy + lambda_xz), (lambda_yx + lambda_yz), (lambda_zx + lambda_zy) |
| 110 | ); |
| 111 | |
| 112 | mat<4, 4, T, Q> Shear = mat<4, 4, T, Q>( |
| 113 | 1 , lambda_yx , lambda_zx , 0, |
| 114 | lambda_xy , 1 , lambda_zy , 0, |
| 115 | lambda_xz , lambda_yz , 1 , 0, |
| 116 | -point_lambda[0] * p[0], -point_lambda[1] * p[1], -point_lambda[2] * p[2], 1 |
| 117 | ); |
| 118 | |
| 119 | mat<4, 4, T, Q> Result; |
| 120 | Result[0] = m[0] * Shear[0][0] + m[1] * Shear[0][1] + m[2] * Shear[0][2] + m[3] * Shear[0][3]; |
| 121 | Result[1] = m[0] * Shear[1][0] + m[1] * Shear[1][1] + m[2] * Shear[1][2] + m[3] * Shear[1][3]; |
| 122 | Result[2] = m[0] * Shear[2][0] + m[1] * Shear[2][1] + m[2] * Shear[2][2] + m[3] * Shear[2][3]; |
| 123 | Result[3] = m[0] * Shear[3][0] + m[1] * Shear[3][1] + m[2] * Shear[3][2] + m[3] * Shear[3][3]; |
| 124 | return Result; |
| 125 | } |
| 126 | |
| 127 | template <typename T, qualifier Q> |
| 128 | GLM_FUNC_QUALIFIER mat<4, 4, T, Q> shear_slow(mat<4, 4, T, Q> const &m, vec<3, T, Q> const& p, vec<2, T, Q> const &l_x, vec<2, T, Q> const &l_y, vec<2, T, Q> const &l_z) |
| 129 | { |
| 130 | T const lambda_xy = static_cast<T>(l_x[0]); |
| 131 | T const lambda_xz = static_cast<T>(l_x[1]); |
| 132 | T const lambda_yx = static_cast<T>(l_y[0]); |
| 133 | T const lambda_yz = static_cast<T>(l_y[1]); |
| 134 | T const lambda_zx = static_cast<T>(l_z[0]); |
| 135 | T const lambda_zy = static_cast<T>(l_z[1]); |
| 136 | |
| 137 | vec<3, T, Q> point_lambda = vec<3, T, Q>( |
| 138 | static_cast<T>(lambda_xy + lambda_xz), |
| 139 | static_cast<T>(lambda_yx + lambda_yz), |
| 140 | static_cast<T>(lambda_zx + lambda_zy) |
| 141 | ); |
| 142 | |
| 143 | mat<4, 4, T, Q> Shear = mat<4, 4, T, Q>( |
| 144 | 1 , lambda_yx , lambda_zx , 0, |
| 145 | lambda_xy , 1 , lambda_zy , 0, |
| 146 | lambda_xz , lambda_yz , 1 , 0, |
| 147 | -point_lambda[0] * p[0], -point_lambda[1] * p[1], -point_lambda[2] * p[2], 1 |
| 148 | ); |
| 149 | return m * Shear; |
| 150 | } |
| 151 | |
| 152 | template<typename T, qualifier Q> |
| 153 | GLM_FUNC_QUALIFIER mat<4, 4, T, Q> lookAtRH(vec<3, T, Q> const& eye, vec<3, T, Q> const& center, vec<3, T, Q> const& up) |
| 154 | { |
| 155 | vec<3, T, Q> const f(normalize(center - eye)); |
| 156 | vec<3, T, Q> const s(normalize(cross(f, up))); |
| 157 | vec<3, T, Q> const u(cross(s, f)); |
| 158 | |
| 159 | mat<4, 4, T, Q> Result(1); |
| 160 | Result[0][0] = s.x; |
| 161 | Result[1][0] = s.y; |
| 162 | Result[2][0] = s.z; |
| 163 | Result[0][1] = u.x; |
| 164 | Result[1][1] = u.y; |
| 165 | Result[2][1] = u.z; |
| 166 | Result[0][2] =-f.x; |
| 167 | Result[1][2] =-f.y; |
| 168 | Result[2][2] =-f.z; |
| 169 | Result[3][0] =-dot(s, eye); |
| 170 | Result[3][1] =-dot(u, eye); |
| 171 | Result[3][2] = dot(f, eye); |
| 172 | return Result; |
| 173 | } |
| 174 | |
| 175 | template<typename T, qualifier Q> |
| 176 | GLM_FUNC_QUALIFIER mat<4, 4, T, Q> lookAtLH(vec<3, T, Q> const& eye, vec<3, T, Q> const& center, vec<3, T, Q> const& up) |
| 177 | { |
| 178 | vec<3, T, Q> const f(normalize(center - eye)); |
| 179 | vec<3, T, Q> const s(normalize(cross(up, f))); |
| 180 | vec<3, T, Q> const u(cross(f, s)); |
| 181 | |
| 182 | mat<4, 4, T, Q> Result(1); |
| 183 | Result[0][0] = s.x; |
| 184 | Result[1][0] = s.y; |
| 185 | Result[2][0] = s.z; |
| 186 | Result[0][1] = u.x; |
| 187 | Result[1][1] = u.y; |
| 188 | Result[2][1] = u.z; |
| 189 | Result[0][2] = f.x; |
| 190 | Result[1][2] = f.y; |
| 191 | Result[2][2] = f.z; |
| 192 | Result[3][0] = -dot(s, eye); |
| 193 | Result[3][1] = -dot(u, eye); |
| 194 | Result[3][2] = -dot(f, eye); |
| 195 | return Result; |
| 196 | } |
| 197 | |
| 198 | template<typename T, qualifier Q> |
| 199 | GLM_FUNC_QUALIFIER mat<4, 4, T, Q> lookAt(vec<3, T, Q> const& eye, vec<3, T, Q> const& center, vec<3, T, Q> const& up) |
| 200 | { |
| 201 | # if (GLM_CONFIG_CLIP_CONTROL & GLM_CLIP_CONTROL_LH_BIT) |
| 202 | return lookAtLH(eye, center, up); |
| 203 | # else |
| 204 | return lookAtRH(eye, center, up); |
| 205 | # endif |
| 206 | } |
| 207 | }//namespace glm |