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euler angles return angles as vector [x, y, z]

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Recep Aslantas
2016-10-24 21:55:46 +03:00
parent ffe9250a28
commit 27dbdaad12
1 changed files with 43 additions and 0 deletions
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43
include/cglm-euler.h
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@@ -60,6 +60,49 @@ glm_euler_angles(mat4 m,
}
}
/*!
* @brief euler angles (in radian) using xyz sequence
*
* @param[in] m affine transform
* @param[out] v angles vector [x, y, z]
*/
CGLM_INLINE
void
glm_euler_anglesv(mat4 m, vec3 v) {
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][0];
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]));
glm_vec_dup(a[path], v);
} else {
v[0] = -atan2(m[0][1], m[2][1]);
v[1] = -M_PI_2;
v[3] = 0.0f;
}
} else {
v[0] = atan2f(m[0][1], m[1][1]);
v[1] = M_PI_2;
v[2] = 0;
}
}
/*!
* @brief build rotation matrix from euler angles(xyz)
*/