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Diffstat (limited to 'src/glm/gtx/matrix_interpolation.inl')
| -rw-r--r-- | src/glm/gtx/matrix_interpolation.inl | 117 |
1 files changed, 117 insertions, 0 deletions
diff --git a/src/glm/gtx/matrix_interpolation.inl b/src/glm/gtx/matrix_interpolation.inl new file mode 100644 index 0000000..a6a237b --- /dev/null +++ b/src/glm/gtx/matrix_interpolation.inl @@ -0,0 +1,117 @@ +///////////////////////////////////////////////////////////////////////////////////////////////////
+// OpenGL Mathematics Copyright (c) 2005 - 2011 G-Truc Creation (www.g-truc.net)
+///////////////////////////////////////////////////////////////////////////////////////////////////
+// Created : 2011-03-05
+// Updated : 2011-03-05
+// Licence : This source is under MIT License
+// File : glm/gtx/matrix_interpolation.inl
+///////////////////////////////////////////////////////////////////////////////////////////////////
+
+namespace glm{
+namespace gtx{
+namespace matrix_interpolation
+{
+ template <typename T>
+ GLM_FUNC_QUALIFIER void axisAngle(
+ detail::tmat4x4<T> const & mat,
+ detail::tvec3<T> & axis,
+ T & angle)
+ {
+ T epsilon = (T)0.01;
+ T epsilon2 = (T)0.1;
+
+ if ((fabs(mat[1][0] - mat[0][1]) < epsilon) && (fabs(mat[2][0] - mat[0][2]) < epsilon) && (fabs(mat[2][1] - mat[1][2]) < epsilon)) {
+ if ((fabs(mat[1][0] + mat[0][1]) < epsilon2) && (fabs(mat[2][0] + mat[0][2]) < epsilon2) && (fabs(mat[2][1] + mat[1][2]) < epsilon2) && (fabs(mat[0][0] + mat[1][1] + mat[2][2] - (T)3.0) < epsilon2)) {
+ angle = (T)0.0;
+ axis.x = (T)1.0;
+ axis.y = (T)0.0;
+ axis.z = (T)0.0;
+ return;
+ }
+ angle = M_1_PI;
+ T xx = (mat[0][0] + (T)1.0) / (T)2.0;
+ T yy = (mat[1][1] + (T)1.0) / (T)2.0;
+ T zz = (mat[2][2] + (T)1.0) / (T)2.0;
+ T xy = (mat[1][0] + mat[0][1]) / (T)4.0;
+ T xz = (mat[2][0] + mat[0][2]) / (T)4.0;
+ T yz = (mat[2][1] + mat[1][2]) / (T)4.0;
+ if ((xx > yy) && (xx > zz)) {
+ if (xx < epsilon) {
+ axis.x = (T)0.0;
+ axis.y = (T)0.7071;
+ axis.z = (T)0.7071;
+ } else {
+ axis.x = sqrt(xx);
+ axis.y = xy / axis.x;
+ axis.z = xz / axis.x;
+ }
+ } else if (yy > zz) {
+ if (yy < epsilon) {
+ axis.x = (T)0.7071;
+ axis.y = (T)0.0;
+ axis.z = (T)0.7071;
+ } else {
+ axis.y = sqrt(yy);
+ axis.x = xy / axis.y;
+ axis.z = yz / axis.y;
+ }
+ } else {
+ if (zz < epsilon) {
+ axis.x = (T)0.7071;
+ axis.y = (T)0.7071;
+ axis.z = (T)0.0;
+ } else {
+ axis.z = sqrt(zz);
+ axis.x = xz / axis.z;
+ axis.y = yz / axis.z;
+ }
+ }
+ return;
+ }
+ T s = sqrt((mat[2][1] - mat[1][2]) * (mat[2][1] - mat[1][2]) + (mat[2][0] - mat[0][2]) * (mat[2][0] - mat[0][2]) + (mat[1][0] - mat[0][1]) * (mat[1][0] - mat[0][1]));
+ if (glm::abs(s) < T(0.001))
+ s = (T)1.0;
+ angle = acos((mat[0][0] + mat[1][1] + mat[2][2] - (T)1.0) / (T)2.0);
+ axis.x = (mat[1][2] - mat[2][1]) / s;
+ axis.y = (mat[2][0] - mat[0][2]) / s;
+ axis.z = (mat[0][1] - mat[1][0]) / s;
+ }
+
+ template <typename T>
+ GLM_FUNC_QUALIFIER detail::tmat4x4<T> axisAngleMatrix(
+ detail::tvec3<T> const & axis,
+ T const angle)
+ {
+ T c = cos(angle);
+ T s = sin(angle);
+ T t = T(1) - c;
+ detail::tvec3<T> n = normalize(axis);
+
+ return detail::tmat4x4<T>(
+ t * n.x * n.x + c, t * n.x * n.y + n.z * s, t * n.x * n.z - n.y * s, T(0),
+ t * n.x * n.y - n.z * s, t * n.y * n.y + c, t * n.y * n.z + n.x * s, T(0),
+ t * n.x * n.z + n.y * s, t * n.y * n.z - n.x * s, t * n.z * n.z + c, T(0),
+ T(0), T(0), T(0), T(1)
+ );
+ }
+
+ template <typename T>
+ GLM_FUNC_QUALIFIER detail::tmat4x4<T> interpolate(
+ detail::tmat4x4<T> const & m1,
+ detail::tmat4x4<T> const & m2,
+ T const delta)
+ {
+ detail::tmat4x4<T> dltRotation = m2 * transpose(m1);
+ detail::tvec3<T> dltAxis;
+ T dltAngle;
+ axisAngle(dltRotation, dltAxis, dltAngle);
+ detail::tmat4x4<T> out = axisAngleMatrix(dltAxis, dltAngle * delta) * rotationMatrix(m1);
+ out[3][0] = m1[3][0] + delta * (m2[3][0] - m1[3][0]);
+ out[3][1] = m1[3][1] + delta * (m2[3][1] - m1[3][1]);
+ out[3][2] = m1[3][2] + delta * (m2[3][2] - m1[3][2]);
+ return out;
+ }
+
+}//namespace transform
+}//namespace gtx
+}//namespace glm
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