implement euler angles zxy, zyx (yaw-pitch-roll)

include/cglm-euler.h

@@ -0,0 +1,75 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+#ifndef cglm_euler_h
+#define cglm_euler_h
+
+#include "cglm.h"
+
+/*!
+ * @brief build rotation matrix from euler angles (zxy)
+ */
+CGLM_INLINE
+void
+glm_euler_angle(float yaw,
+                float pitch,
+                float roll,
+                mat4 dest) {
+  float cx, cy, cz,
+        sx, sy, sz;
+
+  sx = sinf(pitch); cx = cosf(pitch);
+  sy = sinf(yaw);   cy = cosf(yaw);
+  sz = sinf(roll);  cz = cosf(roll);
+
+  dest[0][0] = cy * cz - sx * sy * sz;
+  dest[0][1] = cy * sz + cz * sx * sy;
+  dest[0][2] =-cx * sy;
+  dest[1][0] =-cx * sz;
+  dest[1][1] = cx * cz;
+  dest[1][2] = sx;
+  dest[2][0] = cz * sy + cy * sx * sz;
+  dest[2][1] = sy * sz - cy * cz * sx;
+  dest[2][2] = cx * cy;
+  dest[0][3] = 0.0f;
+  dest[1][3] = 0.0f;
+  dest[2][3] = 0.0f;
+  dest[3][3] = 1.0f;
+}
+
+/*!
+ * @brief build rotation matrix from euler angles/yaw-pitch-roll (zyx)
+ */
+CGLM_INLINE
+void
+glm_yaw_pitch_roll(float yaw,
+                   float pitch,
+                   float roll,
+                   mat4 dest) {
+  float cx, cy, cz,
+        sx, sy, sz;
+
+  sx = sinf(pitch); cx = cosf(pitch);
+  sy = sinf(yaw);   cy = cosf(yaw);
+  sz = sinf(roll);  cz = cosf(roll);
+
+  dest[0][0] = cy * cz;
+  dest[0][1] = cy * sz;
+  dest[0][2] =-sy;
+  dest[1][0] = cz * sx * sy - cx * sz;
+  dest[1][1] = cx* cz + sx * sy * sz;
+  dest[1][2] = cy * sx;
+  dest[2][0] = cx * cz * sy + sx * sz;
+  dest[2][1] =-cz * sx + cx * sy * sz;
+  dest[2][2] = cx * cy;
+  dest[0][3] = 0.0f;
+  dest[1][3] = 0.0f;
+  dest[2][3] = 0.0f;
+  dest[3][3] = 1.0f;
+}
+
+#endif /* cglm_euler_h */

include/cglm.h

@@ -25,5 +25,6 @@ typedef vec4 versor;
 #include "cglm-affine.h"
 #include "cglm-cam.h"
 #include "cglm-quat.h"
+#include "cglm-euler.h"
 
 #endif /* glm_h */