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authorLaG1924 <12997935+LaG1924@users.noreply.github.com>2021-06-22 02:38:30 +0200
committerGitHub <noreply@github.com>2021-06-22 02:38:30 +0200
commitca7bcf9f7dc5eb47ccbec1049b323f0604dabadd (patch)
tree33d7d2673ba0da8a92323b07d061f655c719ae40 /external/include/glm/gtx/euler_angles.inl
parentMerge pull request #44 from LaG1924/fix/protocol_support (diff)
parentUpdated build instructions and added MacOS #49 (diff)
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Diffstat (limited to 'external/include/glm/gtx/euler_angles.inl')
-rw-r--r--external/include/glm/gtx/euler_angles.inl900
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diff --git a/external/include/glm/gtx/euler_angles.inl b/external/include/glm/gtx/euler_angles.inl
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@@ -1,900 +0,0 @@
-/// @ref gtx_euler_angles
-/// @file glm/gtx/euler_angles.inl
-
-#include "compatibility.hpp" // glm::atan2
-
-namespace glm
-{
- template<typename T>
- GLM_FUNC_QUALIFIER mat<4, 4, T, defaultp> eulerAngleX
- (
- T const& angleX
- )
- {
- T cosX = glm::cos(angleX);
- T sinX = glm::sin(angleX);
-
- return mat<4, 4, 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 mat<4, 4, T, defaultp> eulerAngleY
- (
- T const& angleY
- )
- {
- T cosY = glm::cos(angleY);
- T sinY = glm::sin(angleY);
-
- return mat<4, 4, 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 mat<4, 4, T, defaultp> eulerAngleZ
- (
- T const& angleZ
- )
- {
- T cosZ = glm::cos(angleZ);
- T sinZ = glm::sin(angleZ);
-
- return mat<4, 4, 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 mat<4, 4, T, defaultp> derivedEulerAngleX
- (
- T const & angleX,
- T const & angularVelocityX
- )
- {
- T cosX = glm::cos(angleX) * angularVelocityX;
- T sinX = glm::sin(angleX) * angularVelocityX;
-
- return mat<4, 4, T, defaultp>(
- T(0), T(0), T(0), T(0),
- T(0),-sinX, cosX, T(0),
- T(0),-cosX,-sinX, T(0),
- T(0), T(0), T(0), T(0));
- }
-
- template <typename T>
- GLM_FUNC_QUALIFIER mat<4, 4, T, defaultp> derivedEulerAngleY
- (
- T const & angleY,
- T const & angularVelocityY
- )
- {
- T cosY = glm::cos(angleY) * angularVelocityY;
- T sinY = glm::sin(angleY) * angularVelocityY;
-
- return mat<4, 4, T, defaultp>(
- -sinY, T(0), -cosY, T(0),
- T(0), T(0), T(0), T(0),
- cosY, T(0), -sinY, T(0),
- T(0), T(0), T(0), T(0));
- }
-
- template <typename T>
- GLM_FUNC_QUALIFIER mat<4, 4, T, defaultp> derivedEulerAngleZ
- (
- T const & angleZ,
- T const & angularVelocityZ
- )
- {
- T cosZ = glm::cos(angleZ) * angularVelocityZ;
- T sinZ = glm::sin(angleZ) * angularVelocityZ;
-
- return mat<4, 4, T, defaultp>(
- -sinZ, cosZ, T(0), T(0),
- -cosZ, -sinZ, T(0), T(0),
- T(0), T(0), T(0), T(0),
- T(0), T(0), T(0), T(0));
- }
-
- template<typename T>
- GLM_FUNC_QUALIFIER mat<4, 4, 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 mat<4, 4, 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 mat<4, 4, 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 mat<4, 4, 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 mat<4, 4, T, defaultp> eulerAngleXZ
- (
- T const& angleX,
- T const& angleZ
- )
- {
- return eulerAngleX(angleX) * eulerAngleZ(angleZ);
- }
-
- template<typename T>
- GLM_FUNC_QUALIFIER mat<4, 4, T, defaultp> eulerAngleZX
- (
- T const& angleZ,
- T const& angleX
- )
- {
- return eulerAngleZ(angleZ) * eulerAngleX(angleX);
- }
-
- template<typename T>
- GLM_FUNC_QUALIFIER mat<4, 4, T, defaultp> eulerAngleYZ
- (
- T const& angleY,
- T const& angleZ
- )
- {
- return eulerAngleY(angleY) * eulerAngleZ(angleZ);
- }
-
- template<typename T>
- GLM_FUNC_QUALIFIER mat<4, 4, T, defaultp> eulerAngleZY
- (
- T const& angleZ,
- T const& angleY
- )
- {
- return eulerAngleZ(angleZ) * eulerAngleY(angleY);
- }
-
- template<typename T>
- GLM_FUNC_QUALIFIER mat<4, 4, 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);
-
- mat<4, 4, 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 mat<4, 4, 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);
-
- mat<4, 4, 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 mat<4, 4, T, defaultp> eulerAngleXZX
- (
- T const & t1,
- T const & t2,
- T const & t3
- )
- {
- T c1 = glm::cos(t1);
- T s1 = glm::sin(t1);
- T c2 = glm::cos(t2);
- T s2 = glm::sin(t2);
- T c3 = glm::cos(t3);
- T s3 = glm::sin(t3);
-
- mat<4, 4, T, defaultp> Result;
- Result[0][0] = c2;
- Result[0][1] = c1 * s2;
- Result[0][2] = s1 * s2;
- Result[0][3] = static_cast<T>(0);
- Result[1][0] =-c3 * s2;
- Result[1][1] = c1 * c2 * c3 - s1 * s3;
- Result[1][2] = c1 * s3 + c2 * c3 * s1;
- Result[1][3] = static_cast<T>(0);
- Result[2][0] = s2 * s3;
- Result[2][1] =-c3 * s1 - c1 * c2 * s3;
- Result[2][2] = c1 * c3 - c2 * s1 * s3;
- 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 mat<4, 4, T, defaultp> eulerAngleXYX
- (
- T const & t1,
- T const & t2,
- T const & t3
- )
- {
- T c1 = glm::cos(t1);
- T s1 = glm::sin(t1);
- T c2 = glm::cos(t2);
- T s2 = glm::sin(t2);
- T c3 = glm::cos(t3);
- T s3 = glm::sin(t3);
-
- mat<4, 4, T, defaultp> Result;
- Result[0][0] = c2;
- Result[0][1] = s1 * s2;
- Result[0][2] =-c1 * s2;
- Result[0][3] = static_cast<T>(0);
- Result[1][0] = s2 * s3;
- Result[1][1] = c1 * c3 - c2 * s1 * s3;
- Result[1][2] = c3 * s1 + c1 * c2 * s3;
- Result[1][3] = static_cast<T>(0);
- Result[2][0] = c3 * s2;
- Result[2][1] =-c1 * s3 - c2 * c3 * s1;
- Result[2][2] = c1 * c2 * c3 - s1 * s3;
- 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 mat<4, 4, T, defaultp> eulerAngleYXY
- (
- T const & t1,
- T const & t2,
- T const & t3
- )
- {
- T c1 = glm::cos(t1);
- T s1 = glm::sin(t1);
- T c2 = glm::cos(t2);
- T s2 = glm::sin(t2);
- T c3 = glm::cos(t3);
- T s3 = glm::sin(t3);
-
- mat<4, 4, T, defaultp> Result;
- Result[0][0] = c1 * c3 - c2 * s1 * s3;
- Result[0][1] = s2* s3;
- Result[0][2] =-c3 * s1 - c1 * c2 * s3;
- Result[0][3] = static_cast<T>(0);
- Result[1][0] = s1 * s2;
- Result[1][1] = c2;
- Result[1][2] = c1 * s2;
- Result[1][3] = static_cast<T>(0);
- Result[2][0] = c1 * s3 + c2 * c3 * s1;
- Result[2][1] =-c3 * s2;
- Result[2][2] = c1 * c2 * c3 - s1 * s3;
- 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 mat<4, 4, T, defaultp> eulerAngleYZY
- (
- T const & t1,
- T const & t2,
- T const & t3
- )
- {
- T c1 = glm::cos(t1);
- T s1 = glm::sin(t1);
- T c2 = glm::cos(t2);
- T s2 = glm::sin(t2);
- T c3 = glm::cos(t3);
- T s3 = glm::sin(t3);
-
- mat<4, 4, T, defaultp> Result;
- Result[0][0] = c1 * c2 * c3 - s1 * s3;
- Result[0][1] = c3 * s2;
- Result[0][2] =-c1 * s3 - c2 * c3 * s1;
- Result[0][3] = static_cast<T>(0);
- Result[1][0] =-c1 * s2;
- Result[1][1] = c2;
- Result[1][2] = s1 * s2;
- Result[1][3] = static_cast<T>(0);
- Result[2][0] = c3 * s1 + c1 * c2 * s3;
- Result[2][1] = s2 * s3;
- Result[2][2] = c1 * c3 - c2 * s1 * s3;
- 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 mat<4, 4, T, defaultp> eulerAngleZYZ
- (
- T const & t1,
- T const & t2,
- T const & t3
- )
- {
- T c1 = glm::cos(t1);
- T s1 = glm::sin(t1);
- T c2 = glm::cos(t2);
- T s2 = glm::sin(t2);
- T c3 = glm::cos(t3);
- T s3 = glm::sin(t3);
-
- mat<4, 4, T, defaultp> Result;
- Result[0][0] = c1 * c2 * c3 - s1 * s3;
- Result[0][1] = c1 * s3 + c2 * c3 * s1;
- Result[0][2] =-c3 * s2;
- Result[0][3] = static_cast<T>(0);
- Result[1][0] =-c3 * s1 - c1 * c2 * s3;
- Result[1][1] = c1 * c3 - c2 * s1 * s3;
- Result[1][2] = s2 * s3;
- Result[1][3] = static_cast<T>(0);
- Result[2][0] = c1 * s2;
- Result[2][1] = s1 * s2;
- Result[2][2] = 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 mat<4, 4, T, defaultp> eulerAngleZXZ
- (
- T const & t1,
- T const & t2,
- T const & t3
- )
- {
- T c1 = glm::cos(t1);
- T s1 = glm::sin(t1);
- T c2 = glm::cos(t2);
- T s2 = glm::sin(t2);
- T c3 = glm::cos(t3);
- T s3 = glm::sin(t3);
-
- mat<4, 4, T, defaultp> Result;
- Result[0][0] = c1 * c3 - c2 * s1 * s3;
- Result[0][1] = c3 * s1 + c1 * c2 * s3;
- Result[0][2] = s2 *s3;
- Result[0][3] = static_cast<T>(0);
- Result[1][0] =-c1 * s3 - c2 * c3 * s1;
- Result[1][1] = c1 * c2 * c3 - s1 * s3;
- Result[1][2] = c3 * s2;
- Result[1][3] = static_cast<T>(0);
- Result[2][0] = s1 * s2;
- Result[2][1] =-c1 * s2;
- Result[2][2] = 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 mat<4, 4, T, defaultp> eulerAngleXZY
- (
- T const & t1,
- T const & t2,
- T const & t3
- )
- {
- T c1 = glm::cos(t1);
- T s1 = glm::sin(t1);
- T c2 = glm::cos(t2);
- T s2 = glm::sin(t2);
- T c3 = glm::cos(t3);
- T s3 = glm::sin(t3);
-
- mat<4, 4, T, defaultp> Result;
- Result[0][0] = c2 * c3;
- Result[0][1] = s1 * s3 + c1 * c3 * s2;
- Result[0][2] = c3 * s1 * s2 - c1 * s3;
- Result[0][3] = static_cast<T>(0);
- Result[1][0] =-s2;
- Result[1][1] = c1 * c2;
- Result[1][2] = c2 * s1;
- Result[1][3] = static_cast<T>(0);
- Result[2][0] = c2 * s3;
- Result[2][1] = c1 * s2 * s3 - c3 * s1;
- Result[2][2] = c1 * c3 + s1 * s2 *s3;
- 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 mat<4, 4, T, defaultp> eulerAngleYZX
- (
- T const & t1,
- T const & t2,
- T const & t3
- )
- {
- T c1 = glm::cos(t1);
- T s1 = glm::sin(t1);
- T c2 = glm::cos(t2);
- T s2 = glm::sin(t2);
- T c3 = glm::cos(t3);
- T s3 = glm::sin(t3);
-
- mat<4, 4, T, defaultp> Result;
- Result[0][0] = c1 * c2;
- Result[0][1] = s2;
- Result[0][2] =-c2 * s1;
- Result[0][3] = static_cast<T>(0);
- Result[1][0] = s1 * s3 - c1 * c3 * s2;
- Result[1][1] = c2 * c3;
- Result[1][2] = c1 * s3 + c3 * s1 * s2;
- Result[1][3] = static_cast<T>(0);
- Result[2][0] = c3 * s1 + c1 * s2 * s3;
- Result[2][1] =-c2 * s3;
- Result[2][2] = c1 * c3 - s1 * s2 * s3;
- 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 mat<4, 4, T, defaultp> eulerAngleZYX
- (
- T const & t1,
- T const & t2,
- T const & t3
- )
- {
- T c1 = glm::cos(t1);
- T s1 = glm::sin(t1);
- T c2 = glm::cos(t2);
- T s2 = glm::sin(t2);
- T c3 = glm::cos(t3);
- T s3 = glm::sin(t3);
-
- mat<4, 4, T, defaultp> Result;
- Result[0][0] = c1 * c2;
- Result[0][1] = c2 * s1;
- Result[0][2] =-s2;
- Result[0][3] = static_cast<T>(0);
- Result[1][0] = c1 * s2 * s3 - c3 * s1;
- Result[1][1] = c1 * c3 + s1 * s2 * s3;
- Result[1][2] = c2 * s3;
- Result[1][3] = static_cast<T>(0);
- Result[2][0] = s1 * s3 + c1 * c3 * s2;
- Result[2][1] = c3 * s1 * s2 - c1 * s3;
- Result[2][2] = c2 * c3;
- 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 mat<4, 4, T, defaultp> eulerAngleZXY
- (
- T const & t1,
- T const & t2,
- T const & t3
- )
- {
- T c1 = glm::cos(t1);
- T s1 = glm::sin(t1);
- T c2 = glm::cos(t2);
- T s2 = glm::sin(t2);
- T c3 = glm::cos(t3);
- T s3 = glm::sin(t3);
-
- mat<4, 4, T, defaultp> Result;
- Result[0][0] = c1 * c3 - s1 * s2 * s3;
- Result[0][1] = c3 * s1 + c1 * s2 * s3;
- Result[0][2] =-c2 * s3;
- Result[0][3] = static_cast<T>(0);
- Result[1][0] =-c2 * s1;
- Result[1][1] = c1 * c2;
- Result[1][2] = s2;
- Result[1][3] = static_cast<T>(0);
- Result[2][0] = c1 * s3 + c3 * s1 * s2;
- Result[2][1] = s1 * s3 - c1 * c3 * s2;
- Result[2][2] = c2 * c3;
- 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 mat<4, 4, 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);
-
- mat<4, 4, 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 mat<2, 2, T, defaultp> orientate2
- (
- T const& angle
- )
- {
- T c = glm::cos(angle);
- T s = glm::sin(angle);
-
- mat<2, 2, 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 mat<3, 3, T, defaultp> orientate3
- (
- T const& angle
- )
- {
- T c = glm::cos(angle);
- T s = glm::sin(angle);
-
- mat<3, 3, 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, qualifier Q>
- GLM_FUNC_QUALIFIER mat<3, 3, T, Q> orientate3
- (
- vec<3, T, Q> const& angles
- )
- {
- return mat<3, 3, T, Q>(yawPitchRoll(angles.z, angles.x, angles.y));
- }
-
- template<typename T, qualifier Q>
- GLM_FUNC_QUALIFIER mat<4, 4, T, Q> orientate4
- (
- vec<3, T, Q> const& angles
- )
- {
- return yawPitchRoll(angles.z, angles.x, angles.y);
- }
-
- template<typename T>
- GLM_FUNC_DECL void extractEulerAngleXYZ(mat<4, 4, 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;
- }
-
- template <typename T>
- GLM_FUNC_QUALIFIER void extractEulerAngleYXZ(mat<4, 4, T, defaultp> const & M,
- T & t1,
- T & t2,
- T & t3)
- {
- T T1 = glm::atan2<T, defaultp>(M[2][0], M[2][2]);
- T C2 = glm::sqrt(M[0][1]*M[0][1] + M[1][1]*M[1][1]);
- T T2 = glm::atan2<T, defaultp>(-M[2][1], C2);
- T S1 = glm::sin(T1);
- T C1 = glm::cos(T1);
- T T3 = glm::atan2<T, defaultp>(S1*M[1][2] - C1*M[1][0], C1*M[0][0] - S1*M[0][2]);
- t1 = T1;
- t2 = T2;
- t3 = T3;
- }
-
- template <typename T>
- GLM_FUNC_QUALIFIER void extractEulerAngleXZX(mat<4, 4, T, defaultp> const & M,
- T & t1,
- T & t2,
- T & t3)
- {
- T T1 = glm::atan2<T, defaultp>(M[0][2], M[0][1]);
- T S2 = glm::sqrt(M[1][0]*M[1][0] + M[2][0]*M[2][0]);
- T T2 = glm::atan2<T, defaultp>(S2, M[0][0]);
- T S1 = glm::sin(T1);
- T C1 = glm::cos(T1);
- T T3 = glm::atan2<T, defaultp>(C1*M[1][2] - S1*M[1][1], C1*M[2][2] - S1*M[2][1]);
- t1 = T1;
- t2 = T2;
- t3 = T3;
- }
-
- template <typename T>
- GLM_FUNC_QUALIFIER void extractEulerAngleXYX(mat<4, 4, T, defaultp> const & M,
- T & t1,
- T & t2,
- T & t3)
- {
- T T1 = glm::atan2<T, defaultp>(M[0][1], -M[0][2]);
- T S2 = glm::sqrt(M[1][0]*M[1][0] + M[2][0]*M[2][0]);
- T T2 = glm::atan2<T, defaultp>(S2, M[0][0]);
- T S1 = glm::sin(T1);
- T C1 = glm::cos(T1);
- T T3 = glm::atan2<T, defaultp>(-C1*M[2][1] - S1*M[2][2], C1*M[1][1] + S1*M[1][2]);
- t1 = T1;
- t2 = T2;
- t3 = T3;
- }
-
- template <typename T>
- GLM_FUNC_QUALIFIER void extractEulerAngleYXY(mat<4, 4, T, defaultp> const & M,
- T & t1,
- T & t2,
- T & t3)
- {
- T T1 = glm::atan2<T, defaultp>(M[1][0], M[1][2]);
- T S2 = glm::sqrt(M[0][1]*M[0][1] + M[2][1]*M[2][1]);
- T T2 = glm::atan2<T, defaultp>(S2, M[1][1]);
- T S1 = glm::sin(T1);
- T C1 = glm::cos(T1);
- T T3 = glm::atan2<T, defaultp>(C1*M[2][0] - S1*M[2][2], C1*M[0][0] - S1*M[0][2]);
- t1 = T1;
- t2 = T2;
- t3 = T3;
- }
-
- template <typename T>
- GLM_FUNC_QUALIFIER void extractEulerAngleYZY(mat<4, 4, T, defaultp> const & M,
- T & t1,
- T & t2,
- T & t3)
- {
- T T1 = glm::atan2<T, defaultp>(M[1][2], -M[1][0]);
- T S2 = glm::sqrt(M[0][1]*M[0][1] + M[2][1]*M[2][1]);
- T T2 = glm::atan2<T, defaultp>(S2, M[1][1]);
- T S1 = glm::sin(T1);
- T C1 = glm::cos(T1);
- T T3 = glm::atan2<T, defaultp>(-S1*M[0][0] - C1*M[0][2], S1*M[2][0] + C1*M[2][2]);
- t1 = T1;
- t2 = T2;
- t3 = T3;
- }
-
- template <typename T>
- GLM_FUNC_QUALIFIER void extractEulerAngleZYZ(mat<4, 4, T, defaultp> const & M,
- T & t1,
- T & t2,
- T & t3)
- {
- T T1 = glm::atan2<T, defaultp>(M[2][1], M[2][0]);
- T S2 = glm::sqrt(M[0][2]*M[0][2] + M[1][2]*M[1][2]);
- T T2 = glm::atan2<T, defaultp>(S2, M[2][2]);
- T S1 = glm::sin(T1);
- T C1 = glm::cos(T1);
- T T3 = glm::atan2<T, defaultp>(C1*M[0][1] - S1*M[0][0], C1*M[1][1] - S1*M[1][0]);
- t1 = T1;
- t2 = T2;
- t3 = T3;
- }
-
- template <typename T>
- GLM_FUNC_QUALIFIER void extractEulerAngleZXZ(mat<4, 4, T, defaultp> const & M,
- T & t1,
- T & t2,
- T & t3)
- {
- T T1 = glm::atan2<T, defaultp>(M[2][0], -M[2][1]);
- T S2 = glm::sqrt(M[0][2]*M[0][2] + M[1][2]*M[1][2]);
- T T2 = glm::atan2<T, defaultp>(S2, M[2][2]);
- T S1 = glm::sin(T1);
- T C1 = glm::cos(T1);
- T T3 = glm::atan2<T, defaultp>(-C1*M[1][0] - S1*M[1][1], C1*M[0][0] + S1*M[0][1]);
- t1 = T1;
- t2 = T2;
- t3 = T3;
- }
-
- template <typename T>
- GLM_FUNC_QUALIFIER void extractEulerAngleXZY(mat<4, 4, T, defaultp> const & M,
- T & t1,
- T & t2,
- T & t3)
- {
- T T1 = glm::atan2<T, defaultp>(M[1][2], M[1][1]);
- T C2 = glm::sqrt(M[0][0]*M[0][0] + M[2][0]*M[2][0]);
- T T2 = glm::atan2<T, defaultp>(-M[1][0], C2);
- T S1 = glm::sin(T1);
- T C1 = glm::cos(T1);
- T T3 = glm::atan2<T, defaultp>(S1*M[0][1] - C1*M[0][2], C1*M[2][2] - S1*M[2][1]);
- t1 = T1;
- t2 = T2;
- t3 = T3;
- }
-
- template <typename T>
- GLM_FUNC_QUALIFIER void extractEulerAngleYZX(mat<4, 4, T, defaultp> const & M,
- T & t1,
- T & t2,
- T & t3)
- {
- T T1 = glm::atan2<T, defaultp>(-M[0][2], M[0][0]);
- T C2 = glm::sqrt(M[1][1]*M[1][1] + M[2][1]*M[2][1]);
- T T2 = glm::atan2<T, defaultp>(M[0][1], C2);
- T S1 = glm::sin(T1);
- T C1 = glm::cos(T1);
- T T3 = glm::atan2<T, defaultp>(S1*M[1][0] + C1*M[1][2], S1*M[2][0] + C1*M[2][2]);
- t1 = T1;
- t2 = T2;
- t3 = T3;
- }
-
- template <typename T>
- GLM_FUNC_QUALIFIER void extractEulerAngleZYX(mat<4, 4, T, defaultp> const & M,
- T & t1,
- T & t2,
- T & t3)
- {
- T T1 = glm::atan2<T, defaultp>(M[0][1], M[0][0]);
- T C2 = glm::sqrt(M[1][2]*M[1][2] + M[2][2]*M[2][2]);
- T T2 = glm::atan2<T, defaultp>(-M[0][2], C2);
- T S1 = glm::sin(T1);
- T C1 = glm::cos(T1);
- T T3 = glm::atan2<T, defaultp>(S1*M[2][0] - C1*M[2][1], C1*M[1][1] - S1*M[1][0]);
- t1 = T1;
- t2 = T2;
- t3 = T3;
- }
-
- template <typename T>
- GLM_FUNC_QUALIFIER void extractEulerAngleZXY(mat<4, 4, T, defaultp> const & M,
- T & t1,
- T & t2,
- T & t3)
- {
- T T1 = glm::atan2<T, defaultp>(-M[1][0], M[1][1]);
- T C2 = glm::sqrt(M[0][2]*M[0][2] + M[2][2]*M[2][2]);
- T T2 = glm::atan2<T, defaultp>(M[1][2], C2);
- T S1 = glm::sin(T1);
- T C1 = glm::cos(T1);
- T T3 = glm::atan2<T, defaultp>(C1*M[2][0] + S1*M[2][1], C1*M[0][0] + S1*M[0][1]);
- t1 = T1;
- t2 = T2;
- t3 = T3;
- }
-}//namespace glm