mirror of
https://github.com/recp/cglm.git
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fix euler angles (extrinsic -> intrinsic)
because cglm uses intrinsics for these rotations
This commit is contained in:
Recep Aslantas
@@ -5,6 +5,14 @@
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* Full license can be found in the LICENSE file
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*/
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/*
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NOTE:
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angles must be passed as [X-Angle, Y-Angle, Z-angle] order
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For instance you don't pass angles as [Z-Angle, X-Angle, Y-angle] to
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glm_euler_zxy funciton, All RELATED functions accept angles same order
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which is [X, Y, Z].
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*/
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/*
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Types:
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enum glm_euler_sq
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@@ -95,219 +103,255 @@ glm_euler_angles(mat4 m, vec3 dest) {
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}
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}
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/*!
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* @brief build rotation matrix from euler angles
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*
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* @param[in] angles angles as vector [Ex, Ey, Ez]
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* @param[in] angles angles as vector [Xangle, Yangle, Zangle]
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* @param[out] dest rotation matrix
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*/
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CGLM_INLINE
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void
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glm_euler_xyz(vec3 angles, mat4 dest) {
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float cx, cy, cz,
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sx, sy, sz, czsx, cxcz, sysz;
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sx = sinf(angles[0]); cx = cosf(angles[0]);
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sy = sinf(angles[1]); cy = cosf(angles[1]);
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sz = sinf(angles[2]); cz = cosf(angles[2]);
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czsx = cz * sx;
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cxcz = cx * cz;
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sysz = sy * sz;
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dest[0][0] = cy * cz;
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dest[0][1] = czsx * sy + cx * sz;
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dest[0][2] = -cxcz * sy + sx * sz;
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dest[1][0] = -cy * sz;
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dest[1][1] = cxcz - sx * sysz;
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dest[1][2] = czsx + cx * sysz;
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dest[2][0] = sy;
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dest[2][1] = -cy * sx;
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dest[2][2] = cx * cy;
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dest[0][3] = 0.0f;
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dest[1][3] = 0.0f;
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dest[2][3] = 0.0f;
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dest[3][0] = 0.0f;
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dest[3][1] = 0.0f;
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dest[3][2] = 0.0f;
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dest[3][3] = 1.0f;
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}
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/*!
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* @brief build rotation matrix from euler angles
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*
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* @param[in] angles angles as vector [Xangle, Yangle, Zangle]
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* @param[out] dest rotation matrix
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*/
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CGLM_INLINE
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void
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glm_euler(vec3 angles, mat4 dest) {
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float cx, cy, cz,
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sx, sy, sz;
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sx = sinf(angles[0]); cx = cosf(angles[0]);
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sy = sinf(angles[1]); cy = cosf(angles[1]);
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sz = sinf(angles[2]); cz = cosf(angles[2]);
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dest[0][0] = cy * cz;
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dest[0][1] = cy * sz;
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dest[0][2] =-sy;
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dest[1][0] = cz * sx * sy - cx * sz;
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dest[1][1] = cx * cz + sx * sy * sz;
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dest[1][2] = cy * sx;
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dest[2][0] = cx * cz * sy + sx * sz;
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dest[2][1] =-cz * sx + cx * sy * sz;
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dest[2][2] = cx * cy;
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dest[0][3] = 0.0f;
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dest[1][3] = 0.0f;
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dest[2][3] = 0.0f;
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dest[3][0] = 0.0f;
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dest[3][1] = 0.0f;
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dest[3][2] = 0.0f;
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dest[3][3] = 1.0f;
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glm_euler_xyz(angles, dest);
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}
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/*!
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* @brief build rotation matrix from euler angles
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*
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* @param[in] angles angles as vector [Ez, Ey, Ex]
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* @param[in] angles angles as vector [Xangle, Yangle, Zangle]
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* @param[out] dest rotation matrix
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*/
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CGLM_INLINE
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void
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glm_euler_zyx(vec3 angles,
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mat4 dest) {
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glm_euler_xzy(vec3 angles, mat4 dest) {
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float cx, cy, cz,
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sx, sy, sz;
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sx, sy, sz, sxsy, cysx, cxsy, cxcy;
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sx = sinf(angles[0]); cx = cosf(angles[0]);
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sy = sinf(angles[1]); cy = cosf(angles[1]);
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sz = sinf(angles[2]); cz = cosf(angles[2]);
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sx = sinf(angles[0]); cx = cosf(angles[0]);
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sy = sinf(angles[1]); cy = cosf(angles[1]);
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sz = sinf(angles[2]); cz = cosf(angles[2]);
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dest[0][0] = cy * cz;
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dest[0][1] = cz * sx * sy + cx * sz;
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dest[0][2] =-cx * cz * sy + sx * sz;
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dest[1][0] =-cy * sz;
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dest[1][1] = cx * cz - sx * sy * sz;
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dest[1][2] = cz * sx + cx * sy * sz;
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dest[2][0] = sy;
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dest[2][1] =-cy * sx;
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dest[2][2] = cx * cy;
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dest[0][3] = 0.0f;
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dest[1][3] = 0.0f;
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dest[2][3] = 0.0f;
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dest[3][0] = 0.0f;
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dest[3][1] = 0.0f;
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dest[3][2] = 0.0f;
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dest[3][3] = 1.0f;
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sxsy = sx * sy;
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cysx = cy * sx;
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cxsy = cx * sy;
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cxcy = cx * cy;
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dest[0][0] = cy * cz;
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dest[0][1] = sxsy + cxcy * sz;
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dest[0][2] = -cxsy + cysx * sz;
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dest[1][0] = -sz;
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dest[1][1] = cx * cz;
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dest[1][2] = cz * sx;
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dest[2][0] = cz * sy;
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dest[2][1] = -cysx + cxsy * sz;
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dest[2][2] = cxcy + sxsy * sz;
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dest[0][3] = 0.0f;
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dest[1][3] = 0.0f;
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dest[2][3] = 0.0f;
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dest[3][0] = 0.0f;
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dest[3][1] = 0.0f;
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dest[3][2] = 0.0f;
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dest[3][3] = 1.0f;
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}
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/*!
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* @brief build rotation matrix from euler angles
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*
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* @param[in] angles angles as vector [Ez, Ex, Ey]
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* @param[in] angles angles as vector [Xangle, Yangle, Zangle]
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* @param[out] dest rotation matrix
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*/
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CGLM_INLINE
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void
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glm_euler_zxy(vec3 angles,
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mat4 dest) {
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glm_euler_yxz(vec3 angles, mat4 dest) {
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float cx, cy, cz,
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sx, sy, sz;
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sx, sy, sz, cycz, sysz, czsy, cysz;
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sx = sinf(angles[0]); cx = cosf(angles[0]);
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sy = sinf(angles[1]); cy = cosf(angles[1]);
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sz = sinf(angles[2]); cz = cosf(angles[2]);
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sx = sinf(angles[0]); cx = cosf(angles[0]);
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sy = sinf(angles[1]); cy = cosf(angles[1]);
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sz = sinf(angles[2]); cz = cosf(angles[2]);
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dest[0][0] = cy * cz + sx * sy * sz;
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dest[0][1] = cx * sz;
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dest[0][2] =-cz * sy + cy * sx * sz;
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dest[1][0] = cz * sx * sy - cy * sz;
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dest[1][1] = cx * cz;
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dest[1][2] = cy * cz * sx + sy * sz;
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dest[2][0] = cx * sy;
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dest[2][1] =-sx;
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dest[2][2] = cx * cy;
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dest[0][3] = 0.0f;
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dest[1][3] = 0.0f;
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dest[2][3] = 0.0f;
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dest[3][0] = 0.0f;
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dest[3][1] = 0.0f;
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dest[3][2] = 0.0f;
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dest[3][3] = 1.0f;
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cycz = cy * cz;
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sysz = sy * sz;
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czsy = cz * sy;
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cysz = cy * sz;
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dest[0][0] = cycz + sx * sysz;
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dest[0][1] = cx * sz;
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dest[0][2] = -czsy + cysz * sx;
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dest[1][0] = -cysz + czsy * sx;
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dest[1][1] = cx * cz;
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dest[1][2] = cycz * sx + sysz;
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dest[2][0] = cx * sy;
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dest[2][1] = -sx;
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dest[2][2] = cx * cy;
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dest[0][3] = 0.0f;
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dest[1][3] = 0.0f;
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dest[2][3] = 0.0f;
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dest[3][0] = 0.0f;
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dest[3][1] = 0.0f;
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dest[3][2] = 0.0f;
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dest[3][3] = 1.0f;
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}
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/*!
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* @brief build rotation matrix from euler angles
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*
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* @param[in] angles angles as vector [Ex, Ez, Ey]
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* @param[in] angles angles as vector [Xangle, Yangle, Zangle]
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* @param[out] dest rotation matrix
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*/
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CGLM_INLINE
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void
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glm_euler_xzy(vec3 angles,
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mat4 dest) {
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glm_euler_yzx(vec3 angles, mat4 dest) {
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float cx, cy, cz,
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sx, sy, sz;
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sx, sy, sz, sxsy, cxcy, cysx, cxsy;
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sx = sinf(angles[0]); cx = cosf(angles[0]);
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sy = sinf(angles[1]); cy = cosf(angles[1]);
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sz = sinf(angles[2]); cz = cosf(angles[2]);
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sx = sinf(angles[0]); cx = cosf(angles[0]);
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sy = sinf(angles[1]); cy = cosf(angles[1]);
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sz = sinf(angles[2]); cz = cosf(angles[2]);
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dest[0][0] = cy * cz;
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dest[0][1] = sz;
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dest[0][2] =-cz * sy;
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dest[1][0] = sx * sy - cx * cy * sz;
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dest[1][1] = cx * cz;
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dest[1][2] = cy * sx + cx * sy * sz;
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dest[2][0] = cx * sy + cy * sx * sz;
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dest[2][1] =-cz * sx;
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dest[2][2] = cx * cy - sx * sy * sz;
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dest[0][3] = 0.0f;
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dest[1][3] = 0.0f;
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dest[2][3] = 0.0f;
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dest[3][0] = 0.0f;
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dest[3][1] = 0.0f;
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dest[3][2] = 0.0f;
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dest[3][3] = 1.0f;
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sxsy = sx * sy;
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cxcy = cx * cy;
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cysx = cy * sx;
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cxsy = cx * sy;
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dest[0][0] = cy * cz;
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dest[0][1] = sz;
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dest[0][2] = -cz * sy;
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dest[1][0] = sxsy - cxcy * sz;
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dest[1][1] = cx * cz;
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dest[1][2] = cysx + cxsy * sz;
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dest[2][0] = cxsy + cysx * sz;
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dest[2][1] = -cz * sx;
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dest[2][2] = cxcy - sxsy * sz;
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dest[0][3] = 0.0f;
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dest[1][3] = 0.0f;
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dest[2][3] = 0.0f;
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dest[3][0] = 0.0f;
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dest[3][1] = 0.0f;
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dest[3][2] = 0.0f;
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dest[3][3] = 1.0f;
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}
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/*!
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* @brief build rotation matrix from euler angles
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*
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* @param[in] angles angles as vector [Ey, Ez, Ex]
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* @param[in] angles angles as vector [Xangle, Yangle, Zangle]
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* @param[out] dest rotation matrix
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*/
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CGLM_INLINE
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void
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glm_euler_yzx(vec3 angles,
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mat4 dest) {
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glm_euler_zxy(vec3 angles, mat4 dest) {
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float cx, cy, cz,
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sx, sy, sz;
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sx, sy, sz, cycz, sxsy, cysz;
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sx = sinf(angles[0]); cx = cosf(angles[0]);
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sy = sinf(angles[1]); cy = cosf(angles[1]);
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sz = sinf(angles[2]); cz = cosf(angles[2]);
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sx = sinf(angles[0]); cx = cosf(angles[0]);
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sy = sinf(angles[1]); cy = cosf(angles[1]);
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sz = sinf(angles[2]); cz = cosf(angles[2]);
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dest[0][0] = cy * cz;
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dest[0][1] = sx * sy + cx * cy * sz;
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dest[0][2] =-cx * sy + cy * sx * sz;
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dest[1][0] =-sz;
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dest[1][1] = cx * cz;
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dest[1][2] = cz * sx;
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dest[2][0] = cz * sy;
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dest[2][1] =-cy * sx + cx * sy * sz;
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dest[2][2] = cx * cy + sx * sy * sz;
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dest[0][3] = 0.0f;
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dest[1][3] = 0.0f;
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dest[2][3] = 0.0f;
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dest[3][0] = 0.0f;
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dest[3][1] = 0.0f;
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dest[3][2] = 0.0f;
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dest[3][3] = 1.0f;
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cycz = cy * cz;
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sxsy = sx * sy;
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cysz = cy * sz;
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dest[0][0] = cycz - sxsy * sz;
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dest[0][1] = cz * sxsy + cysz;
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dest[0][2] = -cx * sy;
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dest[1][0] = -cx * sz;
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dest[1][1] = cx * cz;
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dest[1][2] = sx;
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dest[2][0] = cz * sy + cysz * sx;
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dest[2][1] = -cycz * sx + sy * sz;
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dest[2][2] = cx * cy;
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dest[0][3] = 0.0f;
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dest[1][3] = 0.0f;
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dest[2][3] = 0.0f;
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dest[3][0] = 0.0f;
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dest[3][1] = 0.0f;
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dest[3][2] = 0.0f;
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dest[3][3] = 1.0f;
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}
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/*!
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* @brief build rotation matrix from euler angles
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*
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* @param[in] angles angles as vector [Ey, Ex, Ez]
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* @param[in] angles angles as vector [Xangle, Yangle, Zangle]
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* @param[out] dest rotation matrix
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*/
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CGLM_INLINE
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void
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glm_euler_yxz(vec3 angles,
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mat4 dest) {
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glm_euler_zyx(vec3 angles, mat4 dest) {
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float cx, cy, cz,
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sx, sy, sz;
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sx, sy, sz, czsx, cxcz, sysz;
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sx = sinf(angles[0]); cx = cosf(angles[0]);
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sy = sinf(angles[1]); cy = cosf(angles[1]);
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sz = sinf(angles[2]); cz = cosf(angles[2]);
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sx = sinf(angles[0]); cx = cosf(angles[0]);
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sy = sinf(angles[1]); cy = cosf(angles[1]);
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sz = sinf(angles[2]); cz = cosf(angles[2]);
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dest[0][0] = cy * cz - sx * sy * sz;
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dest[0][1] = cz * sx * sy + cy * sz;
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dest[0][2] =-cx * sy;
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dest[1][0] =-cx * sz;
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dest[1][1] = cx * cz;
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dest[1][2] = sx;
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dest[2][0] = cz * sy + cy * sx * sz;
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dest[2][1] =-cy * cz * sx + sy * sz;
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dest[2][2] = cx * cy;
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dest[0][3] = 0.0f;
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dest[1][3] = 0.0f;
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dest[2][3] = 0.0f;
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dest[3][0] = 0.0f;
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dest[3][1] = 0.0f;
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dest[3][2] = 0.0f;
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dest[3][3] = 1.0f;
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czsx = cz * sx;
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cxcz = cx * cz;
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sysz = sy * sz;
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dest[0][0] = cy * cz;
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dest[0][1] = cy * sz;
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dest[0][2] = -sy;
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dest[1][0] = czsx * sy - cx * sz;
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dest[1][1] = cxcz + sx * sysz;
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dest[1][2] = cy * sx;
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dest[2][0] = cxcz * sy + sx * sz;
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dest[2][1] = -czsx + cx * sysz;
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dest[2][2] = cx * cy;
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dest[0][3] = 0.0f;
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dest[1][3] = 0.0f;
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dest[2][3] = 0.0f;
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dest[3][0] = 0.0f;
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dest[3][1] = 0.0f;
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dest[3][2] = 0.0f;
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dest[3][3] = 1.0f;
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}
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/*!
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* @brief build rotation matrix from euler angles
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*
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* @param[in] angles angles as vector (ord parameter spceifies angles order)
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* @param[in] angles angles as vector [Xangle, Yangle, Zangle]
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* @param[in] ord euler order
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* @param[out] dest rotation matrix
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*/
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@@ -332,71 +376,71 @@ glm_euler_by_order(vec3 angles, glm_euler_sq ord, mat4 dest) {
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sysz = sy * sz;
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|
||||
switch (ord) {
|
||||
case GLM_EULER_XYZ:
|
||||
dest[0][0] = cycz;
|
||||
dest[0][1] = cysz;
|
||||
dest[0][2] =-sy;
|
||||
dest[1][0] = czsx * sy - cxsz;
|
||||
dest[1][1] = cxcz + sx * sysz;
|
||||
dest[1][2] = cysx;
|
||||
dest[2][0] = cx * czsy + sx * sz;
|
||||
dest[2][1] =-czsx + cx * sysz;
|
||||
dest[2][2] = cxcy;
|
||||
break;
|
||||
case GLM_EULER_XZY:
|
||||
dest[0][0] = cycz;
|
||||
dest[0][1] = sz;
|
||||
dest[0][2] =-czsy;
|
||||
dest[1][0] = sx * sy - cx * cysz;
|
||||
dest[1][1] = cxcz;
|
||||
dest[1][2] = cysx + cx * sysz;
|
||||
dest[2][0] = cx * sy + cysx * sz;
|
||||
dest[2][1] =-czsx;
|
||||
dest[2][2] = cxcy - sx * sysz;
|
||||
dest[0][0] = cycz;
|
||||
dest[0][1] = sx * sy + cx * cysz;
|
||||
dest[0][2] = -cx * sy + cysx * sz;
|
||||
dest[1][0] = -sz;
|
||||
dest[1][1] = cxcz;
|
||||
dest[1][2] = czsx;
|
||||
dest[2][0] = czsy;
|
||||
dest[2][1] = -cysx + cx * sysz;
|
||||
dest[2][2] = cxcy + sx * sysz;
|
||||
break;
|
||||
case GLM_EULER_ZXY:
|
||||
dest[0][0] = cycz + sx * sysz;
|
||||
dest[0][1] = cxsz;
|
||||
dest[0][2] =-czsy + cysx * sz;
|
||||
dest[1][0] = czsx * sy - cysz;
|
||||
dest[1][1] = cxcz;
|
||||
dest[1][2] = cycz * sx + sysz;
|
||||
dest[2][0] = cx * sy;
|
||||
dest[2][1] =-sx;
|
||||
dest[2][2] = cxcy;
|
||||
break;
|
||||
case GLM_EULER_ZYX:
|
||||
dest[0][0] = cycz;
|
||||
dest[0][1] = czsx * sy + cxsz;
|
||||
dest[0][2] =-cx * czsy + sx * sz;
|
||||
dest[1][0] =-cysz;
|
||||
dest[1][1] = cxcz - sx * sysz;
|
||||
dest[1][2] = czsx + cx * sysz;
|
||||
dest[2][0] = sy;
|
||||
dest[2][1] =-cysx;
|
||||
dest[2][2] = cxcy;
|
||||
case GLM_EULER_XYZ:
|
||||
dest[0][0] = cycz;
|
||||
dest[0][1] = czsx * sy + cxsz;
|
||||
dest[0][2] = -cx * czsy + sx * sz;
|
||||
dest[1][0] = -cysz;
|
||||
dest[1][1] = cxcz - sx * sysz;
|
||||
dest[1][2] = czsx + cx * sysz;
|
||||
dest[2][0] = sy;
|
||||
dest[2][1] = -cysx;
|
||||
dest[2][2] = cxcy;
|
||||
break;
|
||||
case GLM_EULER_YXZ:
|
||||
dest[0][0] = cycz - sx * sysz;
|
||||
dest[0][1] = czsx * sy + cysz;
|
||||
dest[0][2] =-cx * sy;
|
||||
dest[1][0] =-cxsz;
|
||||
dest[1][1] = cxcz;
|
||||
dest[1][2] = sx;
|
||||
dest[2][0] = czsy + cysx * sz;
|
||||
dest[2][1] =-cycz * sx + sysz;
|
||||
dest[2][2] = cxcy;
|
||||
dest[0][0] = cycz + sx * sysz;
|
||||
dest[0][1] = cxsz;
|
||||
dest[0][2] = -czsy + cysx * sz;
|
||||
dest[1][0] = czsx * sy - cysz;
|
||||
dest[1][1] = cxcz;
|
||||
dest[1][2] = cycz * sx + sysz;
|
||||
dest[2][0] = cx * sy;
|
||||
dest[2][1] = -sx;
|
||||
dest[2][2] = cxcy;
|
||||
break;
|
||||
case GLM_EULER_YZX:
|
||||
dest[0][0] = cycz;
|
||||
dest[0][1] = sx * sy + cx * cysz;
|
||||
dest[0][2] =-cx * sy + cysx * sz;
|
||||
dest[1][0] =-sz;
|
||||
dest[1][1] = cxcz;
|
||||
dest[1][2] = czsx;
|
||||
dest[2][0] = czsy;
|
||||
dest[2][1] =-cysx + cx * sysz;
|
||||
dest[2][2] = cxcy + sx * sysz;
|
||||
dest[0][0] = cycz;
|
||||
dest[0][1] = sz;
|
||||
dest[0][2] = -czsy;
|
||||
dest[1][0] = sx * sy - cx * cysz;
|
||||
dest[1][1] = cxcz;
|
||||
dest[1][2] = cysx + cx * sysz;
|
||||
dest[2][0] = cx * sy + cysx * sz;
|
||||
dest[2][1] = -czsx;
|
||||
dest[2][2] = cxcy - sx * sysz;
|
||||
break;
|
||||
case GLM_EULER_ZXY:
|
||||
dest[0][0] = cycz - sx * sysz;
|
||||
dest[0][1] = czsx * sy + cysz;
|
||||
dest[0][2] = -cx * sy;
|
||||
dest[1][0] = -cxsz;
|
||||
dest[1][1] = cxcz;
|
||||
dest[1][2] = sx;
|
||||
dest[2][0] = czsy + cysx * sz;
|
||||
dest[2][1] = -cycz * sx + sysz;
|
||||
dest[2][2] = cxcy;
|
||||
break;
|
||||
case GLM_EULER_ZYX:
|
||||
dest[0][0] = cycz;
|
||||
dest[0][1] = cysz;
|
||||
dest[0][2] = -sy;
|
||||
dest[1][0] = czsx * sy - cxsz;
|
||||
dest[1][1] = cxcz + sx * sysz;
|
||||
dest[1][2] = cysx;
|
||||
dest[2][0] = cx * czsy + sx * sz;
|
||||
dest[2][1] = -czsx + cx * sysz;
|
||||
dest[2][2] = cxcy;
|
||||
break;
|
||||
}
|
||||
|
||||
|
||||
Reference in New Issue
Block a user