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Diffstat (limited to 'src/glm/gtx/euler_angles.inl')
| -rw-r--r-- | src/glm/gtx/euler_angles.inl | 249 |
1 files changed, 249 insertions, 0 deletions
diff --git a/src/glm/gtx/euler_angles.inl b/src/glm/gtx/euler_angles.inl new file mode 100644 index 0000000..6748ae1 --- /dev/null +++ b/src/glm/gtx/euler_angles.inl @@ -0,0 +1,249 @@ +///////////////////////////////////////////////////////////////////////////////////////////////////
+// OpenGL Mathematics Copyright (c) 2005 - 2011 G-Truc Creation (www.g-truc.net)
+///////////////////////////////////////////////////////////////////////////////////////////////////
+// Created : 2005-12-21
+// Updated : 2007-08-14
+// Licence : This source is under MIT License
+// File : glm/gtx/euler_angles.inl
+///////////////////////////////////////////////////////////////////////////////////////////////////
+
+namespace glm{
+namespace gtx{
+namespace euler_angles{
+
+template <typename valType>
+GLM_FUNC_QUALIFIER detail::tmat4x4<valType> eulerAngleX
+(
+ valType const & angleX
+)
+{
+ valType cosX = glm::cos(angleX);
+ valType sinX = glm::sin(angleX);
+
+ return detail::tmat4x4<valType>(
+ valType(1), valType(0), valType(0), valType(0),
+ valType(0), cosX, sinX, valType(0),
+ valType(0),-sinX, cosX, valType(0),
+ valType(0), valType(0), valType(0), valType(1));
+}
+
+template <typename valType>
+GLM_FUNC_QUALIFIER detail::tmat4x4<valType> eulerAngleY
+(
+ valType const & angleY
+)
+{
+ valType cosY = glm::cos(angleY);
+ valType sinY = glm::sin(angleY);
+
+ return detail::tmat4x4<valType>(
+ cosY, valType(0), sinY, valType(0),
+ valType(0), valType(1), valType(0), valType(0),
+ -sinY, valType(0), cosY, valType(0),
+ valType(0), valType(0), valType(0), valType(1));
+}
+
+template <typename valType>
+GLM_FUNC_QUALIFIER detail::tmat4x4<valType> eulerAngleZ
+(
+ valType const & angleZ
+)
+{
+ valType cosZ = glm::cos(angleZ);
+ valType sinZ = glm::sin(angleZ);
+
+ return detail::tmat4x4<valType>(
+ cosZ, sinZ, valType(0), valType(0),
+ -sinZ, cosZ, valType(0), valType(0),
+ valType(0), valType(0), valType(1), valType(0),
+ valType(0), valType(0), valType(0), valType(1));
+}
+
+template <typename valType>
+GLM_FUNC_QUALIFIER detail::tmat4x4<valType> eulerAngleXY
+(
+ valType const & angleX,
+ valType const & angleY
+)
+{
+ valType cosX = glm::cos(angleX);
+ valType sinX = glm::sin(angleX);
+ valType cosY = glm::cos(angleY);
+ valType sinY = glm::sin(angleY);
+
+ return detail::tmat4x4<valType>(
+ cosY, -sinX * sinY, cosX * sinY, valType(0),
+ valType(0), cosX, sinX, valType(0),
+ -sinY , -sinX * cosY, cosX * cosY, valType(0),
+ valType(0), valType(0), valType(0), valType(1));
+}
+
+template <typename valType>
+GLM_FUNC_QUALIFIER detail::tmat4x4<valType> eulerAngleYX
+(
+ valType const & angleY,
+ valType const & angleX
+)
+{
+ valType cosX = glm::cos(angleX);
+ valType sinX = glm::sin(angleX);
+ valType cosY = glm::cos(angleY);
+ valType sinY = glm::sin(angleY);
+
+ return detail::tmat4x4<valType>(
+ cosY, valType(0), sinY, valType(0),
+ -sinX * sinY, cosX, sinX * cosY, valType(0),
+ -cosX * sinY, -sinX, cosX * cosY, valType(0),
+ valType(0), valType(0), valType(0), valType(1));
+}
+
+template <typename valType>
+GLM_FUNC_QUALIFIER detail::tmat4x4<valType> eulerAngleXZ
+(
+ valType const & angleX,
+ valType const & angleZ
+)
+{
+ return eulerAngleX(angleX) * eulerAngleZ(angleZ);
+}
+
+template <typename valType>
+GLM_FUNC_QUALIFIER detail::tmat4x4<valType> eulerAngleZX
+(
+ valType const & angleZ,
+ valType const & angleX
+)
+{
+ return eulerAngleZ(angleZ) * eulerAngleX(angleX);
+}
+
+template <typename valType>
+GLM_FUNC_QUALIFIER detail::tmat4x4<valType> eulerAngleYXZ
+(
+ valType const & yaw,
+ valType const & pitch,
+ valType const & roll
+)
+{
+ valType tmp_ch = glm::cos(yaw);
+ valType tmp_sh = glm::sin(yaw);
+ valType tmp_cp = glm::cos(pitch);
+ valType tmp_sp = glm::sin(pitch);
+ valType tmp_cb = glm::cos(roll);
+ valType tmp_sb = glm::sin(roll);
+
+ detail::tmat4x4<valType> Result;
+ Result[0][0] = tmp_ch * tmp_cb + tmp_sh * tmp_sp * tmp_sb;
+ Result[0][1] = tmp_sb * tmp_cp;
+ Result[0][2] = -tmp_sh * tmp_cb + tmp_ch * tmp_sp * tmp_sb;
+ Result[0][3] = valType(0);
+ Result[1][0] = -tmp_ch * tmp_sb + tmp_sh * tmp_sp * tmp_cb;
+ Result[1][1] = tmp_cb * tmp_cp;
+ Result[1][2] = tmp_sb * tmp_sh + tmp_ch * tmp_sp * tmp_cb;
+ Result[1][3] = valType(0);
+ Result[2][0] = tmp_sh * tmp_cp;
+ Result[2][1] = -tmp_sp;
+ Result[2][2] = tmp_ch * tmp_cp;
+ Result[2][3] = valType(0);
+ Result[3][0] = valType(0);
+ Result[3][1] = valType(0);
+ Result[3][2] = valType(0);
+ Result[3][3] = valType(1);
+ return Result;
+}
+
+template <typename valType>
+GLM_FUNC_QUALIFIER detail::tmat4x4<valType> yawPitchRoll
+(
+ valType const & yaw,
+ valType const & pitch,
+ valType const & roll
+)
+{
+ valType tmp_ch = glm::cos(yaw);
+ valType tmp_sh = glm::sin(yaw);
+ valType tmp_cp = glm::cos(pitch);
+ valType tmp_sp = glm::sin(pitch);
+ valType tmp_cb = glm::cos(roll);
+ valType tmp_sb = glm::sin(roll);
+
+ detail::tmat4x4<valType> Result;
+ Result[0][0] = tmp_ch * tmp_cb + tmp_sh * tmp_sp * tmp_sb;
+ Result[0][1] = tmp_sb * tmp_cp;
+ Result[0][2] = -tmp_sh * tmp_cb + tmp_ch * tmp_sp * tmp_sb;
+ Result[0][3] = valType(0);
+ Result[1][0] = -tmp_ch * tmp_sb + tmp_sh * tmp_sp * tmp_cb;
+ Result[1][1] = tmp_cb * tmp_cp;
+ Result[1][2] = tmp_sb * tmp_sh + tmp_ch * tmp_sp * tmp_cb;
+ Result[1][3] = valType(0);
+ Result[2][0] = tmp_sh * tmp_cp;
+ Result[2][1] = -tmp_sp;
+ Result[2][2] = tmp_ch * tmp_cp;
+ Result[2][3] = valType(0);
+ Result[3][0] = valType(0);
+ Result[3][1] = valType(0);
+ Result[3][2] = valType(0);
+ Result[3][3] = valType(1);
+ return Result;
+}
+
+template <typename valType>
+GLM_FUNC_QUALIFIER detail::tmat2x2<valType> orientate2
+(
+ valType const & angle
+)
+{
+ valType c = glm::cos(angle);
+ valType s = glm::sin(angle);
+
+ detail::tmat2x2<valType> Result;
+ Result[0][0] = c;
+ Result[0][1] = s;
+ Result[1][0] = -s;
+ Result[1][1] = c;
+ return Result;
+}
+
+template <typename valType>
+GLM_FUNC_QUALIFIER detail::tmat3x3<valType> orientate3
+(
+ valType const & angle
+)
+{
+ valType c = glm::cos(angle);
+ valType s = glm::sin(angle);
+
+ detail::tmat3x3<valType> Result;
+ Result[0][0] = c;
+ Result[0][1] = s;
+ Result[0][2] = 0.0f;
+ Result[1][0] = -s;
+ Result[1][1] = c;
+ Result[1][2] = 0.0f;
+ Result[2][0] = 0.0f;
+ Result[2][1] = 0.0f;
+ Result[2][2] = 1.0f;
+ return Result;
+}
+
+template <typename valType>
+GLM_FUNC_QUALIFIER detail::tmat3x3<valType> orientate3
+(
+ detail::tvec3<valType> const & angles
+)
+{
+ return detail::tmat3x3<valType>(yawPitchRoll(angles.x, angles.y, angles.z));
+}
+
+template <typename valType>
+GLM_FUNC_QUALIFIER detail::tmat4x4<valType> orientate4
+(
+ detail::tvec3<valType> const & angles
+)
+{
+ return yawPitchRoll(angles.z, angles.x, angles.y);
+}
+
+}//namespace euler_angles
+}//namespace gtx
+}//namespace glm
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