External/cglm
1
0
Fork 0
mirror of https://github.com/recp/cglm.git synced 2025-10-04 01:00:46 +00:00
Code Issues Packages Projects Releases Wiki Activity

fix euler: use ExEyEz instead of RxRyRz

Browse Source 
* implement other sequences
* always use vec3 for store/get angles
This commit is contained in:
Recep Aslantas
2016-10-26 11:06:48 +03:00
parent 005a6f55d2
commit 086c1cf326
1 changed files with 108 additions and 112 deletions
Download Patch File Download Diff File Expand all files Collapse all files

218
include/cglm-euler.h
View File

@@ -10,56 +10,6 @@
#include "cglm-common.h" #include "cglm-common.h"
/*!
* @brief euler angles (in radian) using xyz sequence
*
* @param[in] m affine transform
* @param[out] pitch x
* @param[out] yaw y
* @param[out] roll z
*/
CGLM_INLINE
void
glm_euler_angles(mat4 m,
float * __restrict pitch,
float * __restrict yaw,
float * __restrict roll) {
if (m[2][0] < 1.0f) {
if (m[2][0] > -1.0f) {
vec3 a[2];
float cy1, cy2;
int path;
a[0][1] = asinf(m[2][0]);
a[1][1] = M_PI - a[0][1];
cy1 = cosf(a[0][1]);
cy2 = cosf(a[1][1]);
a[0][0] = atan2f(-m[2][1] / cy1, m[2][2] / cy1);
a[1][0] = atan2f(-m[2][1] / cy2, m[2][2] / cy2);
a[0][2] = atan2f(-m[1][0] / cy1, m[0][0] / cy1);
a[1][2] = atan2f(-m[1][0] / cy2, m[0][0] / cy2);
path = (fabsf(a[0][0]) + fabsf(a[0][1]) + fabsf(a[0][2])) >
(fabsf(a[1][0]) + fabsf(a[1][1]) + fabsf(a[1][2]));
*pitch = a[path][0];
*yaw = a[path][1];
*roll = a[path][2];
} else {
*pitch = -atan2(m[0][1], m[2][1]);
*yaw = -M_PI_2;
*roll = 0.0f;
}
} else {
*pitch = atan2f(m[0][1], m[1][1]);
*yaw = M_PI_2;
*roll = 0.0f;
}
}
/*! /*!
* @brief euler angles (in radian) using xyz sequence * @brief euler angles (in radian) using xyz sequence
* *
@@ -68,65 +18,65 @@ glm_euler_angles(mat4 m,
*/ */
CGLM_INLINE CGLM_INLINE
void void
glm_euler_anglesv(mat4 m, vec3 v) { glm_euler_angles(mat4 m, vec3 dest) {
if (m[2][0] < 1.0f) { if (m[2][0] < 1.0f) {
if (m[2][0] > -1.0f) { if (m[2][0] > -1.0f) {
vec3 a[2]; vec3 a[2];
float cy1, cy2; float cy1, cy2;
int path; int path;
a[0][1] = asinf(m[2][0]); a[0][1] = asinf(-m[0][2]);
a[1][1] = M_PI - a[0][1]; a[1][1] = M_PI - a[0][1];
cy1 = cosf(a[0][1]); cy1 = cosf(a[0][1]);
cy2 = cosf(a[1][1]); cy2 = cosf(a[1][1]);
a[0][0] = atan2f(-m[2][1] / cy1, m[2][2] / cy1); a[0][0] = atan2f(m[1][2] / cy1, m[2][2] / cy1);
a[1][0] = atan2f(-m[2][1] / cy2, m[2][2] / cy2); a[1][0] = atan2f(m[1][2] / cy2, m[2][2] / cy2);
a[0][2] = atan2f(-m[1][0] / cy1, m[0][0] / cy1); a[0][2] = atan2f(m[0][1] / cy1, m[0][0] / cy1);
a[1][2] = atan2f(-m[1][0] / cy2, m[0][0] / cy2); a[1][2] = atan2f(m[0][1] / cy2, m[0][0] / cy2);
path = (fabsf(a[0][0]) + fabsf(a[0][1]) + fabsf(a[0][2])) > path = (fabsf(a[0][0]) + fabsf(a[0][1]) + fabsf(a[0][2])) >=
(fabsf(a[1][0]) + fabsf(a[1][1]) + fabsf(a[1][2])); (fabsf(a[1][0]) + fabsf(a[1][1]) + fabsf(a[1][2]));
glm_vec_dup(a[path], v); glm_vec_dup(a[path], dest);
} else { } else {
v[0] = -atan2(m[0][1], m[2][1]); dest[0] = -atan2(m[0][1], m[2][1]);
v[1] = -M_PI_2; dest[1] = -M_PI_2;
v[3] = 0.0f; dest[3] = 0.0f;
} }
} else { } else {
v[0] = atan2f(m[0][1], m[1][1]); dest[0] = atan2f(m[0][1], m[1][1]);
v[1] = M_PI_2; dest[1] = M_PI_2;
v[2] = 0; dest[2] = 0.0f;
} }
} }
/*! /*!
* @brief build rotation matrix from euler angles(xyz) * @brief build rotation matrix from euler angles(ExEyEz/RzRyRx)
*
* @param[in] angles angles as vector [Ex, Ey, Ez]
* @param[out] dest rotation matrix
*/ */
CGLM_INLINE CGLM_INLINE
void void
glm_euler(float pitch, glm_euler(vec3 angles, mat4 dest) {
float yaw,
float roll,
mat4 dest) {
float cx, cy, cz, float cx, cy, cz,
sx, sy, sz; sx, sy, sz;
sx = sinf(pitch); cx = cosf(pitch); sx = sinf(angles[0]); cx = cosf(angles[0]);
sy = sinf(yaw); cy = cosf(yaw); sy = sinf(angles[1]); cy = cosf(angles[1]);
sz = sinf(roll); cz = cosf(roll); sz = sinf(angles[2]); cz = cosf(angles[2]);
dest[0][0] = cy * cz; dest[0][0] = cy * cz;
dest[0][1] = cz * sx * sy + cx * sz; dest[0][1] = cy * sz;
dest[0][2] =-cx * cz * sy + sx * sz; dest[0][2] =-sy;
dest[1][0] =-cy * sz; dest[1][0] = cz * sx * sy - cx * sz;
dest[1][1] = cx * cz - sx * sy * sz; dest[1][1] = cx * cz + sx * sy * sz;
dest[1][2] = cz * sx + cx * sy * sz; dest[1][2] = cy * sx;
dest[2][0] = sy; dest[2][0] = cx * cz * sy + sx * sz;
dest[2][1] =-cy * sx; dest[2][1] =-cz * sx + cx * sy * sz;
dest[2][2] = cx * cy; dest[2][2] = cx * cy;
dest[0][3] = 0.0f; dest[0][3] = 0.0f;
dest[1][3] = 0.0f; dest[1][3] = 0.0f;
@@ -138,14 +88,12 @@ glm_euler(float pitch,
} }
/*! /*!
* @brief build rotation matrix from euler angles(xyz) * @brief build rotation matrix from euler angles (EzEyEx/RxRyRz)
*
* @param[in] angles angles as vector [x, y, z]
* @param[out] dest rotation matrix
*/ */
CGLM_INLINE CGLM_INLINE
void void
glm_eulerv(vec3 angles, mat4 dest) { glm_euler_zyx(vec3 angles,
mat4 dest) {
float cx, cy, cz, float cx, cy, cz,
sx, sy, sz; sx, sy, sz;
@@ -171,30 +119,25 @@ glm_eulerv(vec3 angles, mat4 dest) {
dest[3][3] = 1.0f; dest[3][3] = 1.0f;
} }
/*!
* @brief build rotation matrix from euler angles (zyx)
*/
CGLM_INLINE CGLM_INLINE
void void
glm_euler_zyx(float yaw, glm_euler_zxy(vec3 angles,
float pitch,
float roll,
mat4 dest) { mat4 dest) {
float cx, cy, cz, float cx, cy, cz,
sx, sy, sz; sx, sy, sz;
sx = sinf(pitch); cx = cosf(pitch); sx = sinf(angles[0]); cx = cosf(angles[0]);
sy = sinf(yaw); cy = cosf(yaw); sy = sinf(angles[1]); cy = cosf(angles[1]);
sz = sinf(roll); cz = cosf(roll); sz = sinf(angles[2]); cz = cosf(angles[2]);
dest[0][0] = cy * cz; dest[0][0] = cy * cz + sx * sy * sz;
dest[0][1] = cy * sz; dest[0][1] = cx * sz;
dest[0][2] =-sy; dest[0][2] =-cz * sy + cy * sx * sz;
dest[1][0] = cz * sx * sy - cx * sz; dest[1][0] = cz * sx * sy - cy * sz;
dest[1][1] = cx * cz + sx * sy * sz; dest[1][1] = cx * cz;
dest[1][2] = cy * sx; dest[1][2] = cy * cz * sx + sy * sz;
dest[2][0] = cx * cz * sy + sx * sz; dest[2][0] = cx * sy;
dest[2][1] =-cz * sx + cx * sy * sz; dest[2][1] =-sx;
dest[2][2] = cx * cy; dest[2][2] = cx * cy;
dest[0][3] = 0.0f; dest[0][3] = 0.0f;
dest[1][3] = 0.0f; dest[1][3] = 0.0f;
@@ -205,24 +148,77 @@ glm_euler_zyx(float yaw,
dest[3][3] = 1.0f; dest[3][3] = 1.0f;
} }
/*!
* @brief build rotation matrix from euler angles (zxy)
*/
CGLM_INLINE CGLM_INLINE
void void
glm_euler_zxy(float yaw, glm_euler_xzy(vec3 angles,
float pitch,
float roll,
mat4 dest) { mat4 dest) {
float cx, cy, cz, float cx, cy, cz,
sx, sy, sz; sx, sy, sz;
sx = sinf(pitch); cx = cosf(pitch); sx = sinf(angles[0]); cx = cosf(angles[0]);
sy = sinf(yaw); cy = cosf(yaw); sy = sinf(angles[1]); cy = cosf(angles[1]);
sz = sinf(roll); cz = cosf(roll); sz = sinf(angles[2]); cz = cosf(angles[2]);
dest[0][0] = cy * cz;
dest[0][1] = sz;
dest[0][2] =-cz * sy;
dest[1][0] = sx * sy - cx * cy * sz;
dest[1][1] = cx * cz;
dest[1][2] = cy * sx + cx * sy * sz;
dest[2][0] = cx * sy + cy * sx * sz;
dest[2][1] =-cz * sx;
dest[2][2] = cx * cy - sx * sy * sz;
dest[0][3] = 0.0f;
dest[1][3] = 0.0f;
dest[2][3] = 0.0f;
dest[3][0] = 0.0f;
dest[3][1] = 0.0f;
dest[3][2] = 0.0f;
dest[3][3] = 1.0f;
}
CGLM_INLINE
void
glm_euler_yzx(vec3 angles,
mat4 dest) {
float cx, cy, cz,
sx, sy, sz;
sx = sinf(angles[0]); cx = cosf(angles[0]);
sy = sinf(angles[1]); cy = cosf(angles[1]);
sz = sinf(angles[2]); cz = cosf(angles[2]);
dest[0][0] = cy * cz;
dest[0][1] = sx * sy + cx * cy * sz;
dest[0][2] =-cx * sy + cy * sx * sz;
dest[1][0] =-sz;
dest[1][1] = cx * cz;
dest[1][2] = cz * sx;
dest[2][0] = cz * sy;
dest[2][1] =-cy * sx + cx * sy * sz;
dest[2][2] = cx * cy + sx * sy * sz;
dest[0][3] = 0.0f;
dest[1][3] = 0.0f;
dest[2][3] = 0.0f;
dest[3][0] = 0.0f;
dest[3][1] = 0.0f;
dest[3][2] = 0.0f;
dest[3][3] = 1.0f;
}
CGLM_INLINE
void
glm_euler_yxz(vec3 angles,
mat4 dest) {
float cx, cy, cz,
sx, sy, sz;
sx = sinf(angles[0]); cx = cosf(angles[0]);
sy = sinf(angles[1]); cy = cosf(angles[1]);
sz = sinf(angles[2]); cz = cosf(angles[2]);
dest[0][0] = cy * cz - sx * sy * sz; dest[0][0] = cy * cz - sx * sy * sz;
dest[0][1] = cz * sx * sy + cy + sz; dest[0][1] = cz * sx * sy + cy * sz;
dest[0][2] =-cx * sy; dest[0][2] =-cx * sy;
dest[1][0] =-cx * sz; dest[1][0] =-cx * sz;
dest[1][1] = cx * cz; dest[1][1] = cx * cz;