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euler: use enum and static values for EULER ORDER, remove some macros

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This commit is contained in:
Recep Aslantas
2020-03-23 09:23:45 +03:00
parent af2c866c6d
commit 3335c04a34
1 changed files with 38 additions and 45 deletions
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83
include/cglm/euler.h
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@@ -65,14 +65,8 @@
* rotates v around Z by c radians.
*/
#define EulFrmS 0
#define EulFrmR 1
#define EulFrm(ord) ((unsigned)(ord)&1)
#define EulRepNo 0
#define EulRepYes 1
#define EulRep(ord) (((unsigned)(ord)>>1)&1)
#define EulParEven 0
#define EulParOdd 1
#define EulFrm(ord) ((unsigned)(ord)&1)
#define EulPar(ord) (((unsigned)(ord)>>2)&1)
/*! this code is merely a quick (and legal!) way to set arrays,
@@ -83,61 +77,60 @@
#define EulAxJ(ord) ((int)(EulNext[EulAxI(ord)+(EulPar(ord)==EulParOdd)]))
#define EulAxK(ord) ((int)(EulNext[EulAxI(ord)+(EulPar(ord)!=EulParOdd)]))
#define EulAxH(ord) ((EulRep(ord)==EulRepNo)?EulAxK(ord):EulAxI(ord))
/*! EulGetOrd unpacks all useful information about order simultaneously. */
#define EulGetOrd(ord,i,j,k,h,n,s,f) \
{unsigned o=(unsigned)ord;f=o&1;o>>=1;s=o&1;o>>=1;\
n=o&1;o>>=1;i=EulSafe[o&3];j=EulNext[i+n];k=EulNext[i+1-n];h=s?k:i;}
/*! EulOrd creates an order value between 0 and 23 from 4-tuple choices. */
#define EulOrd(i,p,r,f) (((((((i)<<1)+(p))<<1)+(r))<<1)+(f))
/* EulOrd first param: X = 0, Y = 1, Z = 2 */
/*! Static axes */
#define GLM_EUL_XYZs EulOrd(0,EulParEven,EulRepNo,EulFrmS)
#define GLM_EUL_XYXs EulOrd(0,EulParEven,EulRepYes,EulFrmS)
#define GLM_EUL_XZYs EulOrd(0,EulParOdd,EulRepNo,EulFrmS)
#define GLM_EUL_XZXs EulOrd(0,EulParOdd,EulRepYes,EulFrmS)
#define GLM_EUL_YZXs EulOrd(1,EulParEven,EulRepNo,EulFrmS)
#define GLM_EUL_YZYs EulOrd(1,EulParEven,EulRepYes,EulFrmS)
#define GLM_EUL_YXZs EulOrd(1,EulParOdd,EulRepNo,EulFrmS)
#define GLM_EUL_YXYs EulOrd(1,EulParOdd,EulRepYes,EulFrmS)
#define GLM_EUL_ZXYs EulOrd(2,EulParEven,EulRepNo,EulFrmS)
#define GLM_EUL_ZXZs EulOrd(2,EulParEven,EulRepYes,EulFrmS)
#define GLM_EUL_ZYXs EulOrd(2,EulParOdd,EulRepNo,EulFrmS)
#define GLM_EUL_ZYZs EulOrd(2,EulParOdd,EulRepYes,EulFrmS)
/*! Rotating axes */
#define GLM_EUL_ZYXr EulOrd(0,EulParEven,EulRepNo,EulFrmR)
#define GLM_EUL_XYXr EulOrd(0,EulParEven,EulRepYes,EulFrmR)
#define GLM_EUL_YZXr EulOrd(0,EulParOdd,EulRepNo,EulFrmR)
#define GLM_EUL_XZXr EulOrd(0,EulParOdd,EulRepYes,EulFrmR)
#define GLM_EUL_XZYr EulOrd(1,EulParEven,EulRepNo,EulFrmR)
#define GLM_EUL_YZYr EulOrd(1,EulParEven,EulRepYes,EulFrmR)
#define GLM_EUL_ZXYr EulOrd(1,EulParOdd,EulRepNo,EulFrmR)
#define GLM_EUL_YXYr EulOrd(1,EulParOdd,EulRepYes,EulFrmR)
#define GLM_EUL_YXZr EulOrd(2,EulParEven,EulRepNo,EulFrmR)
#define GLM_EUL_ZXZr EulOrd(2,EulParEven,EulRepYes,EulFrmR)
#define GLM_EUL_XYZr EulOrd(2,EulParOdd,EulRepNo,EulFrmR)
#define GLM_EUL_ZYZr EulOrd(2,EulParOdd,EulRepYes,EulFrmR)
typedef enum glm_eul_order {
/*! Static axes */
GLM_EUL_XYZs = 0,
GLM_EUL_XYXs = 2,
GLM_EUL_XZYs = 4,
GLM_EUL_XZXs = 6,
GLM_EUL_YZXs = 8,
GLM_EUL_YZYs = 10,
GLM_EUL_YXZs = 12,
GLM_EUL_YXYs = 14,
GLM_EUL_ZXYs = 16,
GLM_EUL_ZXZs = 18,
GLM_EUL_ZYXs = 20,
GLM_EUL_ZYZs = 22,
/*! Rotating axes */
GLM_EUL_ZYXr = 1,
GLM_EUL_XYXr = 3,
GLM_EUL_YZXr = 5,
GLM_EUL_XZXr = 7,
GLM_EUL_XZYr = 9,
GLM_EUL_YZYr = 11,
GLM_EUL_ZXYr = 13,
GLM_EUL_YXYr = 15,
GLM_EUL_YXZr = 17,
GLM_EUL_ZXZr = 19,
GLM_EUL_XYZr = 21,
GLM_EUL_ZYZr = 23
} glm_eul_order;
/*!
* @brief build matrix from euler angles
*
* @param[in] ea [Xangle, Yangle, Zangle, OrderCode]
* @param[in] ea [Xangle, Yangle, Zangle]
* @param[out] dest rotation matrix
*/
CGLM_INLINE
void
glm_eul_mat4(vec3 ea, int order, mat4 dest) {
glm_eul_mat4(vec3 ea, glm_eul_order order, mat4 dest) {
float ti, tj, th, ci, cj, ch, si, sj, sh, cc, cs, sc, ss;
int i, j, k, h, n, s, f;
int i, j, k, h, parOdd, repYes, frmR;
EulGetOrd(order, i, j, k, h, n, s, f);
EulGetOrd(order, i, j, k, h, parOdd, repYes, frmR);
if (f == EulFrmR)
if (frmR == 1)
glm_swapf(&ea[0], &ea[2]);
if (n == EulParOdd)
if (parOdd == 1)
glm_vec3_negate(ea);
ti = ea[0]; tj = ea[1]; th = ea[2];
@@ -149,7 +142,7 @@ glm_eul_mat4(vec3 ea, int order, mat4 dest) {
cc = ci * ch; cs = ci * sh;
sc = si * ch; ss = si * sh;
if (s == EulRepYes) {
if (repYes == 1) {
dest[i][i] = cj;
dest[i][j] = sj * si;
dest[i][k] = sj * ci;