/// @ref gtx_euler_angles
/// @file glm/gtx/euler_angles.inl
#include "compatibility.hpp" // glm::atan2
namespace glm
{
template <typename T>
GLM_FUNC_QUALIFIER tmat4x4<T, defaultp> eulerAngleX
(
T const & angleX
)
{
T cosX = glm::cos(angleX);
T sinX = glm::sin(angleX);
return tmat4x4<T, defaultp>(
T(1), T(0), T(0), T(0),
T(0), cosX, sinX, T(0),
T(0),-sinX, cosX, T(0),
T(0), T(0), T(0), T(1));
}
template <typename T>
GLM_FUNC_QUALIFIER tmat4x4<T, defaultp> eulerAngleY
(
T const & angleY
)
{
T cosY = glm::cos(angleY);
T sinY = glm::sin(angleY);
return tmat4x4<T, defaultp>(
cosY, T(0), -sinY, T(0),
T(0), T(1), T(0), T(0),
sinY, T(0), cosY, T(0),
T(0), T(0), T(0), T(1));
}
template <typename T>
GLM_FUNC_QUALIFIER tmat4x4<T, defaultp> eulerAngleZ
(
T const & angleZ
)
{
T cosZ = glm::cos(angleZ);
T sinZ = glm::sin(angleZ);
return tmat4x4<T, defaultp>(
cosZ, sinZ, T(0), T(0),
-sinZ, cosZ, T(0), T(0),
T(0), T(0), T(1), T(0),
T(0), T(0), T(0), T(1));
}
template <typename T>
GLM_FUNC_QUALIFIER tmat4x4<T, defaultp> eulerAngleXY
(
T const & angleX,
T const & angleY
)
{
T cosX = glm::cos(angleX);
T sinX = glm::sin(angleX);
T cosY = glm::cos(angleY);
T sinY = glm::sin(angleY);
return tmat4x4<T, defaultp>(
cosY, -sinX * -sinY, cosX * -sinY, T(0),
T(0), cosX, sinX, T(0),
sinY, -sinX * cosY, cosX * cosY, T(0),
T(0), T(0), T(0), T(1));
}
template <typename T>
GLM_FUNC_QUALIFIER tmat4x4<T, defaultp> eulerAngleYX
(
T const & angleY,
T const & angleX
)
{
T cosX = glm::cos(angleX);
T sinX = glm::sin(angleX);
T cosY = glm::cos(angleY);
T sinY = glm::sin(angleY);
return tmat4x4<T, defaultp>(
cosY, 0, -sinY, T(0),
sinY * sinX, cosX, cosY * sinX, T(0),
sinY * cosX, -sinX, cosY * cosX, T(0),
T(0), T(0), T(0), T(1));
}
template <typename T>
GLM_FUNC_QUALIFIER tmat4x4<T, defaultp> eulerAngleXZ
(
T const & angleX,
T const & angleZ
)
{
return eulerAngleX(angleX) * eulerAngleZ(angleZ);
}
template <typename T>
GLM_FUNC_QUALIFIER tmat4x4<T, defaultp> eulerAngleZX
(
T const & angleZ,
T const & angleX
)
{
return eulerAngleZ(angleZ) * eulerAngleX(angleX);
}
template <typename T>
GLM_FUNC_QUALIFIER tmat4x4<T, defaultp> eulerAngleYZ
(
T const & angleY,
T const & angleZ
)
{
return eulerAngleY(angleY) * eulerAngleZ(angleZ);
}
template <typename T>
GLM_FUNC_QUALIFIER tmat4x4<T, defaultp> eulerAngleZY
(
T const & angleZ,
T const & angleY
)
{
return eulerAngleZ(angleZ) * eulerAngleY(angleY);
}
template <typename T>
GLM_FUNC_QUALIFIER tmat4x4<T, defaultp> eulerAngleXYZ
(
T const & t1,
T const & t2,
T const & t3
)
{
T c1 = glm::cos(-t1);
T c2 = glm::cos(-t2);
T c3 = glm::cos(-t3);
T s1 = glm::sin(-t1);
T s2 = glm::sin(-t2);
T s3 = glm::sin(-t3);
tmat4x4<T, defaultp> Result;
Result[0][0] = c2 * c3;
Result[0][1] =-c1 * s3 + s1 * s2 * c3;
Result[0][2] = s1 * s3 + c1 * s2 * c3;
Result[0][3] = static_cast<T>(0);
Result[1][0] = c2 * s3;
Result[1][1] = c1 * c3 + s1 * s2 * s3;
Result[1][2] =-s1 * c3 + c1 * s2 * s3;
Result[1][3] = static_cast<T>(0);
Result[2][0] =-s2;
Result[2][1] = s1 * c2;
Result[2][2] = c1 * c2;
Result[2][3] = static_cast<T>(0);
Result[3][0] = static_cast<T>(0);
Result[3][1] = static_cast<T>(0);
Result[3][2] = static_cast<T>(0);
Result[3][3] = static_cast<T>(1);
return Result;
}
template <typename T>
GLM_FUNC_QUALIFIER tmat4x4<T, defaultp> eulerAngleYXZ
(
T const & yaw,
T const & pitch,
T const & roll
)
{
T tmp_ch = glm::cos(yaw);
T tmp_sh = glm::sin(yaw);
T tmp_cp = glm::cos(pitch);
T tmp_sp = glm::sin(pitch);
T tmp_cb = glm::cos(roll);
T tmp_sb = glm::sin(roll);
tmat4x4<T, defaultp> 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] = static_cast<T>(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] = static_cast<T>(0);
Result[2][0] = tmp_sh * tmp_cp;
Result[2][1] = -tmp_sp;
Result[2][2] = tmp_ch * tmp_cp;
Result[2][3] = static_cast<T>(0);
Result[3][0] = static_cast<T>(0);
Result[3][1] = static_cast<T>(0);
Result[3][2] = static_cast<T>(0);
Result[3][3] = static_cast<T>(1);
return Result;
}
template <typename T>
GLM_FUNC_QUALIFIER tmat4x4<T, defaultp> yawPitchRoll
(
T const & yaw,
T const & pitch,
T const & roll
)
{
T tmp_ch = glm::cos(yaw);
T tmp_sh = glm::sin(yaw);
T tmp_cp = glm::cos(pitch);
T tmp_sp = glm::sin(pitch);
T tmp_cb = glm::cos(roll);
T tmp_sb = glm::sin(roll);
tmat4x4<T, defaultp> 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] = static_cast<T>(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] = static_cast<T>(0);
Result[2][0] = tmp_sh * tmp_cp;
Result[2][1] = -tmp_sp;
Result[2][2] = tmp_ch * tmp_cp;
Result[2][3] = static_cast<T>(0);
Result[3][0] = static_cast<T>(0);
Result[3][1] = static_cast<T>(0);
Result[3][2] = static_cast<T>(0);
Result[3][3] = static_cast<T>(1);
return Result;
}
template <typename T>
GLM_FUNC_QUALIFIER tmat2x2<T, defaultp> orientate2
(
T const & angle
)
{
T c = glm::cos(angle);
T s = glm::sin(angle);
tmat2x2<T, defaultp> Result;
Result[0][0] = c;
Result[0][1] = s;
Result[1][0] = -s;
Result[1][1] = c;
return Result;
}
template <typename T>
GLM_FUNC_QUALIFIER tmat3x3<T, defaultp> orientate3
(
T const & angle
)
{
T c = glm::cos(angle);
T s = glm::sin(angle);
tmat3x3<T, defaultp> 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 T, precision P>
GLM_FUNC_QUALIFIER tmat3x3<T, P> orientate3
(
tvec3<T, P> const & angles
)
{
return tmat3x3<T, P>(yawPitchRoll(angles.z, angles.x, angles.y));
}
template <typename T, precision P>
GLM_FUNC_QUALIFIER tmat4x4<T, P> orientate4
(
tvec3<T, P> const & angles
)
{
return yawPitchRoll(angles.z, angles.x, angles.y);
}
template <typename T>
GLM_FUNC_DECL void extractEulerAngleXYZ(tmat4x4<T, defaultp> const & M,
T & t1,
T & t2,
T & t3)
{
float T1 = glm::atan2<T, defaultp>(M[2][1], M[2][2]);
float C2 = glm::sqrt(M[0][0]*M[0][0] + M[1][0]*M[1][0]);
float T2 = glm::atan2<T, defaultp>(-M[2][0], C2);
float S1 = glm::sin(T1);
float C1 = glm::cos(T1);
float T3 = glm::atan2<T, defaultp>(S1*M[0][2] - C1*M[0][1], C1*M[1][1] - S1*M[1][2 ]);
t1 = -T1;
t2 = -T2;
t3 = -T3;
}
}//namespace glm
