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docs: euler angles documentation

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Recep Aslantas
2018-03-01 18:27:56 +03:00
parent b3a39aa13c
commit 1fd0a74478
3 changed files with 216 additions and 10 deletions
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54
include/cglm/euler.h
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@@ -8,7 +8,7 @@
/*
Types:
enum glm_euler_sq
Functions:
CGLM_INLINE glm_euler_sq glm_euler_order(int newOrder[3]);
CGLM_INLINE void glm_euler_angles(mat4 m, vec3 dest);
@@ -19,7 +19,7 @@
CGLM_INLINE void glm_euler_yzx(vec3 angles, mat4 dest);
CGLM_INLINE void glm_euler_yxz(vec3 angles, mat4 dest);
CGLM_INLINE void glm_euler_by_order(vec3 angles,
glm_euler_sq axis,
glm_euler_sq ord,
mat4 dest);
*/
@@ -48,12 +48,12 @@ typedef enum glm_euler_sq {
CGLM_INLINE
glm_euler_sq
glm_euler_order(int newOrder[3]) {
return (glm_euler_sq)(newOrder[0] | newOrder[1] << 2 | newOrder[2] << 4);
glm_euler_order(int ord[3]) {
return (glm_euler_sq)(ord[0] << 0 | ord[1] << 2 | ord[2] << 4);
}
/*!
* @brief euler angles (in radian) using xyz sequence
* @brief extract euler angles (in radians) using xyz order
*
* @param[in] m affine transform
* @param[out] dest angles vector [x, y, z]
@@ -66,7 +66,7 @@ glm_euler_angles(mat4 m, vec3 dest) {
vec3 a[2];
float cy1, cy2;
int path;
a[0][1] = asinf(-m[0][2]);
a[1][1] = CGLM_PI - a[0][1];
@@ -96,7 +96,7 @@ glm_euler_angles(mat4 m, vec3 dest) {
}
/*!
* @brief build rotation matrix from euler angles(ExEyEz/RzRyRx)
* @brief build rotation matrix from euler angles
*
* @param[in] angles angles as vector [Ex, Ey, Ez]
* @param[out] dest rotation matrix
@@ -130,7 +130,10 @@ glm_euler(vec3 angles, mat4 dest) {
}
/*!
* @brief build rotation matrix from euler angles (EzEyEx/RxRyRz)
* @brief build rotation matrix from euler angles
*
* @param[in] angles angles as vector [Ez, Ey, Ex]
* @param[out] dest rotation matrix
*/
CGLM_INLINE
void
@@ -161,6 +164,12 @@ glm_euler_zyx(vec3 angles,
dest[3][3] = 1.0f;
}
/*!
* @brief build rotation matrix from euler angles
*
* @param[in] angles angles as vector [Ez, Ex, Ey]
* @param[out] dest rotation matrix
*/
CGLM_INLINE
void
glm_euler_zxy(vec3 angles,
@@ -190,6 +199,12 @@ glm_euler_zxy(vec3 angles,
dest[3][3] = 1.0f;
}
/*!
* @brief build rotation matrix from euler angles
*
* @param[in] angles angles as vector [Ex, Ez, Ey]
* @param[out] dest rotation matrix
*/
CGLM_INLINE
void
glm_euler_xzy(vec3 angles,
@@ -219,6 +234,12 @@ glm_euler_xzy(vec3 angles,
dest[3][3] = 1.0f;
}
/*!
* @brief build rotation matrix from euler angles
*
* @param[in] angles angles as vector [Ey, Ez, Ex]
* @param[out] dest rotation matrix
*/
CGLM_INLINE
void
glm_euler_yzx(vec3 angles,
@@ -248,6 +269,12 @@ glm_euler_yzx(vec3 angles,
dest[3][3] = 1.0f;
}
/*!
* @brief build rotation matrix from euler angles
*
* @param[in] angles angles as vector [Ey, Ex, Ez]
* @param[out] dest rotation matrix
*/
CGLM_INLINE
void
glm_euler_yxz(vec3 angles,
@@ -277,9 +304,16 @@ glm_euler_yxz(vec3 angles,
dest[3][3] = 1.0f;
}
/*!
* @brief build rotation matrix from euler angles
*
* @param[in] angles angles as vector (ord parameter spceifies angles order)
* @param[in] ord euler order
* @param[out] dest rotation matrix
*/
CGLM_INLINE
void
glm_euler_by_order(vec3 angles, glm_euler_sq axis, mat4 dest) {
glm_euler_by_order(vec3 angles, glm_euler_sq ord, mat4 dest) {
float cx, cy, cz,
sx, sy, sz;
@@ -297,7 +331,7 @@ glm_euler_by_order(vec3 angles, glm_euler_sq axis, mat4 dest) {
czsx = cz * sx; cxsz = cx * sz;
sysz = sy * sz;
switch (axis) {
switch (ord) {
case GLM_EULER_XYZ:
dest[0][0] = cycz;
dest[0][1] = cysz;