250 lines
6.3 KiB
C++
250 lines
6.3 KiB
C++
///////////////////////////////////////////////////////////////////////////////////////////////////
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// OpenGL Mathematics Copyright (c) 2005 - 2011 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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namespace gtx{
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namespace euler_angles{
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template <typename valType>
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inline 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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inline 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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inline 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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inline 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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inline 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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inline 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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inline 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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inline 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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inline 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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inline 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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inline 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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inline 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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inline 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 euler_angles
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}//namespace gtx
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}//namespace glm
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