diff options
Diffstat (limited to 'external/include/glm/gtx/euler_angles.inl')
| -rw-r--r-- | external/include/glm/gtx/euler_angles.inl | 738 |
1 files changed, 663 insertions, 75 deletions
diff --git a/external/include/glm/gtx/euler_angles.inl b/external/include/glm/gtx/euler_angles.inl index dbe0a48..8a289d8 100644 --- a/external/include/glm/gtx/euler_angles.inl +++ b/external/include/glm/gtx/euler_angles.inl @@ -5,48 +5,48 @@ namespace glm { - template <typename T> - GLM_FUNC_QUALIFIER tmat4x4<T, defaultp> eulerAngleX + template<typename T> + GLM_FUNC_QUALIFIER mat<4, 4, T, defaultp> eulerAngleX ( - T const & angleX + T const& angleX ) { T cosX = glm::cos(angleX); T sinX = glm::sin(angleX); - - return tmat4x4<T, defaultp>( + + 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 tmat4x4<T, defaultp> eulerAngleY + template<typename T> + GLM_FUNC_QUALIFIER mat<4, 4, T, defaultp> eulerAngleY ( - T const & angleY + T const& angleY ) { T cosY = glm::cos(angleY); T sinY = glm::sin(angleY); - return tmat4x4<T, defaultp>( + 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 tmat4x4<T, defaultp> eulerAngleZ + template<typename T> + GLM_FUNC_QUALIFIER mat<4, 4, T, defaultp> eulerAngleZ ( - T const & angleZ + T const& angleZ ) { T cosZ = glm::cos(angleZ); T sinZ = glm::sin(angleZ); - return tmat4x4<T, defaultp>( + 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), @@ -54,10 +54,61 @@ namespace glm } template <typename T> - GLM_FUNC_QUALIFIER tmat4x4<T, defaultp> eulerAngleXY + GLM_FUNC_QUALIFIER mat<4, 4, T, defaultp> derivedEulerAngleX ( T const & angleX, - T const & angleY + 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); @@ -65,18 +116,18 @@ namespace glm T cosY = glm::cos(angleY); T sinY = glm::sin(angleY); - return tmat4x4<T, defaultp>( + 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 tmat4x4<T, defaultp> eulerAngleYX + template<typename T> + GLM_FUNC_QUALIFIER mat<4, 4, T, defaultp> eulerAngleYX ( - T const & angleY, - T const & angleX + T const& angleY, + T const& angleX ) { T cosX = glm::cos(angleX); @@ -84,59 +135,59 @@ namespace glm T cosY = glm::cos(angleY); T sinY = glm::sin(angleY); - return tmat4x4<T, defaultp>( + 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 tmat4x4<T, defaultp> eulerAngleXZ + template<typename T> + GLM_FUNC_QUALIFIER mat<4, 4, T, defaultp> eulerAngleXZ ( - T const & angleX, - T const & angleZ + T const& angleX, + T const& angleZ ) { return eulerAngleX(angleX) * eulerAngleZ(angleZ); } - template <typename T> - GLM_FUNC_QUALIFIER tmat4x4<T, defaultp> eulerAngleZX + template<typename T> + GLM_FUNC_QUALIFIER mat<4, 4, T, defaultp> eulerAngleZX ( - T const & angleZ, - T const & angleX + T const& angleZ, + T const& angleX ) { return eulerAngleZ(angleZ) * eulerAngleX(angleX); } - template <typename T> - GLM_FUNC_QUALIFIER tmat4x4<T, defaultp> eulerAngleYZ + template<typename T> + GLM_FUNC_QUALIFIER mat<4, 4, T, defaultp> eulerAngleYZ ( - T const & angleY, - T const & angleZ + T const& angleY, + T const& angleZ ) { return eulerAngleY(angleY) * eulerAngleZ(angleZ); } - template <typename T> - GLM_FUNC_QUALIFIER tmat4x4<T, defaultp> eulerAngleZY + template<typename T> + GLM_FUNC_QUALIFIER mat<4, 4, T, defaultp> eulerAngleZY ( - T const & angleZ, - T const & angleY + T const& angleZ, + T const& angleY ) { return eulerAngleZ(angleZ) * eulerAngleY(angleY); } - - template <typename T> - GLM_FUNC_QUALIFIER tmat4x4<T, defaultp> eulerAngleXYZ + + template<typename T> + GLM_FUNC_QUALIFIER mat<4, 4, T, defaultp> eulerAngleXYZ ( - T const & t1, - T const & t2, - T const & t3 + T const& t1, + T const& t2, + T const& t3 ) { T c1 = glm::cos(-t1); @@ -145,8 +196,8 @@ namespace glm T s1 = glm::sin(-t1); T s2 = glm::sin(-t2); T s3 = glm::sin(-t3); - - tmat4x4<T, defaultp> Result; + + 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; @@ -165,13 +216,13 @@ namespace glm Result[3][3] = static_cast<T>(1); return Result; } - - template <typename T> - GLM_FUNC_QUALIFIER tmat4x4<T, defaultp> eulerAngleYXZ + + template<typename T> + GLM_FUNC_QUALIFIER mat<4, 4, T, defaultp> eulerAngleYXZ ( - T const & yaw, - T const & pitch, - T const & roll + T const& yaw, + T const& pitch, + T const& roll ) { T tmp_ch = glm::cos(yaw); @@ -181,7 +232,7 @@ namespace glm T tmp_cb = glm::cos(roll); T tmp_sb = glm::sin(roll); - tmat4x4<T, defaultp> Result; + 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; @@ -202,11 +253,361 @@ namespace glm } template <typename T> - GLM_FUNC_QUALIFIER tmat4x4<T, defaultp> yawPitchRoll + 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 & yaw, - T const & pitch, - T const & roll + 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); @@ -216,7 +617,7 @@ namespace glm T tmp_cb = glm::cos(roll); T tmp_sb = glm::sin(roll); - tmat4x4<T, defaultp> Result; + 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; @@ -236,16 +637,16 @@ namespace glm return Result; } - template <typename T> - GLM_FUNC_QUALIFIER tmat2x2<T, defaultp> orientate2 + template<typename T> + GLM_FUNC_QUALIFIER mat<2, 2, T, defaultp> orientate2 ( - T const & angle + T const& angle ) { T c = glm::cos(angle); T s = glm::sin(angle); - tmat2x2<T, defaultp> Result; + mat<2, 2, T, defaultp> Result; Result[0][0] = c; Result[0][1] = s; Result[1][0] = -s; @@ -253,16 +654,16 @@ namespace glm return Result; } - template <typename T> - GLM_FUNC_QUALIFIER tmat3x3<T, defaultp> orientate3 + template<typename T> + GLM_FUNC_QUALIFIER mat<3, 3, T, defaultp> orientate3 ( - T const & angle + T const& angle ) { T c = glm::cos(angle); T s = glm::sin(angle); - tmat3x3<T, defaultp> Result; + mat<3, 3, T, defaultp> Result; Result[0][0] = c; Result[0][1] = s; Result[0][2] = 0.0f; @@ -275,26 +676,26 @@ namespace glm return Result; } - template <typename T, precision P> - GLM_FUNC_QUALIFIER tmat3x3<T, P> orientate3 + template<typename T, qualifier Q> + GLM_FUNC_QUALIFIER mat<3, 3, T, Q> orientate3 ( - tvec3<T, P> const & angles + vec<3, T, Q> const& angles ) { - return tmat3x3<T, P>(yawPitchRoll(angles.z, angles.x, angles.y)); + return mat<3, 3, T, Q>(yawPitchRoll(angles.z, angles.x, angles.y)); } - template <typename T, precision P> - GLM_FUNC_QUALIFIER tmat4x4<T, P> orientate4 + template<typename T, qualifier Q> + GLM_FUNC_QUALIFIER mat<4, 4, T, Q> orientate4 ( - tvec3<T, P> const & angles + vec<3, T, Q> const& angles ) { return yawPitchRoll(angles.z, angles.x, angles.y); } - - template <typename T> - GLM_FUNC_DECL void extractEulerAngleXYZ(tmat4x4<T, defaultp> const & M, + + template<typename T> + GLM_FUNC_DECL void extractEulerAngleXYZ(mat<4, 4, T, defaultp> const& M, T & t1, T & t2, T & t3) @@ -309,4 +710,191 @@ namespace glm 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 |