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Merge pull request #37 from recp/euler

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fix euler angles (extrinsic -> intrinsic)
This commit is contained in:
Recep Aslantas
2018-03-28 23:58:15 +03:00
committed by GitHub
parent 45f13217c3 26110f83d1
commit 43b3df992d
10 changed files with 344 additions and 231 deletions
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8
build-deps.sh
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@@ -16,14 +16,18 @@ cd $(dirname "$0")
if [ "$(uname)" = "Darwin" ]; then if [ "$(uname)" = "Darwin" ]; then
libtoolBin=$(which glibtoolize) libtoolBin=$(which glibtoolize)
libtoolBinDir=$(dirname "${libtoolBin}") libtoolBinDir=$(dirname "${libtoolBin}")
ln -s $libtoolBin "${libtoolBinDir}/libtoolize"
if [ ! -f "${libtoolBinDir}/libtoolize" ]; then
ln -s $libtoolBin "${libtoolBinDir}/libtoolize"
fi
fi fi
# general deps: gcc make autoconf automake libtool cmake # general deps: gcc make autoconf automake libtool cmake
# test - cmocka # test - cmocka
cd ./test/lib/cmocka cd ./test/lib/cmocka
mkdir build rm -rf build
mkdir -p build
cd build cd build
cmake -DCMAKE_INSTALL_PREFIX=/usr -DCMAKE_BUILD_TYPE=Debug .. cmake -DCMAKE_INSTALL_PREFIX=/usr -DCMAKE_BUILD_TYPE=Debug ..
make -j8 make -j8

4
include/cglm/call/euler.h
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@@ -21,6 +21,10 @@ CGLM_EXPORT
void void
glmc_euler(vec3 angles, mat4 dest); glmc_euler(vec3 angles, mat4 dest);
CGLM_EXPORT
void
glmc_euler_xyz(vec3 angles, mat4 dest);
CGLM_EXPORT CGLM_EXPORT
void void
glmc_euler_zyx(vec3 angles, mat4 dest); glmc_euler_zyx(vec3 angles, mat4 dest);

492
include/cglm/euler.h
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@@ -5,6 +5,14 @@
* Full license can be found in the LICENSE file * Full license can be found in the LICENSE file
*/ */
/*
NOTE:
angles must be passed as [X-Angle, Y-Angle, Z-angle] order
For instance you don't pass angles as [Z-Angle, X-Angle, Y-angle] to
glm_euler_zxy funciton, All RELATED functions accept angles same order
which is [X, Y, Z].
*/
/* /*
Types: Types:
enum glm_euler_sq enum glm_euler_sq
@@ -61,253 +69,283 @@ glm_euler_order(int ord[3]) {
CGLM_INLINE CGLM_INLINE
void void
glm_euler_angles(mat4 m, vec3 dest) { glm_euler_angles(mat4 m, vec3 dest) {
if (m[0][2] < 1.0f) { float m00, m01, m10, m11, m20, m21, m22;
if (m[0][2] > -1.0f) { float thetaX, thetaY, thetaZ;
vec3 a[2];
float cy1, cy2;
int path;
a[0][1] = asinf(-m[0][2]); m00 = m[0][0]; m10 = m[1][0]; m20 = m[2][0];
a[1][1] = CGLM_PI - a[0][1]; m01 = m[0][1]; m11 = m[1][1]; m21 = m[2][1];
m22 = m[2][2];
cy1 = cosf(a[0][1]); if (m20 < 1.0f) {
cy2 = cosf(a[1][1]); if (m20 > -1.0f) {
thetaY = asinf(m20);
a[0][0] = atan2f(m[1][2] / cy1, m[2][2] / cy1); thetaX = atan2f(-m21, m22);
a[1][0] = atan2f(m[1][2] / cy2, m[2][2] / cy2); thetaZ = atan2f(-m10, m00);
} else { /* m20 == -1 */
a[0][2] = atan2f(m[0][1] / cy1, m[0][0] / cy1); /* Not a unique solution */
a[1][2] = atan2f(m[0][1] / cy2, m[0][0] / cy2); thetaY = -CGLM_PI_2;
thetaX = -atan2f(m01, m11);
path = (fabsf(a[0][0]) + fabsf(a[0][1]) + fabsf(a[0][2])) >= thetaZ = 0.0f;
(fabsf(a[1][0]) + fabsf(a[1][1]) + fabsf(a[1][2]));
glm_vec_copy(a[path], dest);
} else {
dest[0] = atan2f(m[1][0], m[2][0]);
dest[1] = CGLM_PI_2;
dest[2] = 0.0f;
} }
} else { } else { /* m20 == +1 */
dest[0] = atan2f(-m[1][0], -m[2][0]); thetaY = CGLM_PI_2;
dest[1] =-CGLM_PI_2; thetaX = atan2f(m01, m11);
dest[2] = 0.0f; thetaZ = 0.0f;
} }
dest[0] = thetaX;
dest[1] = thetaY;
dest[2] = thetaZ;
} }
/*! /*!
* @brief build rotation matrix from euler angles * @brief build rotation matrix from euler angles
* *
* @param[in] angles angles as vector [Ex, Ey, Ez] * @param[in] angles angles as vector [Xangle, Yangle, Zangle]
* @param[out] dest rotation matrix
*/
CGLM_INLINE
void
glm_euler_xyz(vec3 angles, mat4 dest) {
float cx, cy, cz,
sx, sy, sz, czsx, cxcz, sysz;
sx = sinf(angles[0]); cx = cosf(angles[0]);
sy = sinf(angles[1]); cy = cosf(angles[1]);
sz = sinf(angles[2]); cz = cosf(angles[2]);
czsx = cz * sx;
cxcz = cx * cz;
sysz = sy * sz;
dest[0][0] = cy * cz;
dest[0][1] = czsx * sy + cx * sz;
dest[0][2] = -cxcz * sy + sx * sz;
dest[1][0] = -cy * sz;
dest[1][1] = cxcz - sx * sysz;
dest[1][2] = czsx + cx * sysz;
dest[2][0] = sy;
dest[2][1] = -cy * sx;
dest[2][2] = cx * cy;
dest[0][3] = 0.0f;
dest[1][3] = 0.0f;
dest[2][3] = 0.0f;
dest[3][0] = 0.0f;
dest[3][1] = 0.0f;
dest[3][2] = 0.0f;
dest[3][3] = 1.0f;
}
/*!
* @brief build rotation matrix from euler angles
*
* @param[in] angles angles as vector [Xangle, Yangle, Zangle]
* @param[out] dest rotation matrix * @param[out] dest rotation matrix
*/ */
CGLM_INLINE CGLM_INLINE
void void
glm_euler(vec3 angles, mat4 dest) { glm_euler(vec3 angles, mat4 dest) {
float cx, cy, cz, glm_euler_xyz(angles, dest);
sx, sy, sz;
sx = sinf(angles[0]); cx = cosf(angles[0]);
sy = sinf(angles[1]); cy = cosf(angles[1]);
sz = sinf(angles[2]); cz = cosf(angles[2]);
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][0] = 0.0f;
dest[3][1] = 0.0f;
dest[3][2] = 0.0f;
dest[3][3] = 1.0f;
} }
/*! /*!
* @brief build rotation matrix from euler angles * @brief build rotation matrix from euler angles
* *
* @param[in] angles angles as vector [Ez, Ey, Ex] * @param[in] angles angles as vector [Xangle, Yangle, Zangle]
* @param[out] dest rotation matrix * @param[out] dest rotation matrix
*/ */
CGLM_INLINE CGLM_INLINE
void void
glm_euler_zyx(vec3 angles, glm_euler_xzy(vec3 angles, mat4 dest) {
mat4 dest) {
float cx, cy, cz, float cx, cy, cz,
sx, sy, sz; sx, sy, sz, sxsy, cysx, cxsy, cxcy;
sx = sinf(angles[0]); cx = cosf(angles[0]); sx = sinf(angles[0]); cx = cosf(angles[0]);
sy = sinf(angles[1]); cy = cosf(angles[1]); sy = sinf(angles[1]); cy = cosf(angles[1]);
sz = sinf(angles[2]); cz = cosf(angles[2]); sz = sinf(angles[2]); cz = cosf(angles[2]);
dest[0][0] = cy * cz; sxsy = sx * sy;
dest[0][1] = cz * sx * sy + cx * sz; cysx = cy * sx;
dest[0][2] =-cx * cz * sy + sx * sz; cxsy = cx * sy;
dest[1][0] =-cy * sz; cxcy = cx * cy;
dest[1][1] = cx * cz - sx * sy * sz;
dest[1][2] = cz * sx + cx * sy * sz; dest[0][0] = cy * cz;
dest[2][0] = sy; dest[0][1] = sxsy + cxcy * sz;
dest[2][1] =-cy * sx; dest[0][2] = -cxsy + cysx * sz;
dest[2][2] = cx * cy; dest[1][0] = -sz;
dest[0][3] = 0.0f; dest[1][1] = cx * cz;
dest[1][3] = 0.0f; dest[1][2] = cz * sx;
dest[2][3] = 0.0f; dest[2][0] = cz * sy;
dest[3][0] = 0.0f; dest[2][1] = -cysx + cxsy * sz;
dest[3][1] = 0.0f; dest[2][2] = cxcy + sxsy * sz;
dest[3][2] = 0.0f; dest[0][3] = 0.0f;
dest[3][3] = 1.0f; dest[1][3] = 0.0f;
dest[2][3] = 0.0f;
dest[3][0] = 0.0f;
dest[3][1] = 0.0f;
dest[3][2] = 0.0f;
dest[3][3] = 1.0f;
} }
/*! /*!
* @brief build rotation matrix from euler angles * @brief build rotation matrix from euler angles
* *
* @param[in] angles angles as vector [Ez, Ex, Ey] * @param[in] angles angles as vector [Xangle, Yangle, Zangle]
* @param[out] dest rotation matrix * @param[out] dest rotation matrix
*/ */
CGLM_INLINE CGLM_INLINE
void void
glm_euler_zxy(vec3 angles, glm_euler_yxz(vec3 angles, mat4 dest) {
mat4 dest) {
float cx, cy, cz, float cx, cy, cz,
sx, sy, sz; sx, sy, sz, cycz, sysz, czsy, cysz;
sx = sinf(angles[0]); cx = cosf(angles[0]); sx = sinf(angles[0]); cx = cosf(angles[0]);
sy = sinf(angles[1]); cy = cosf(angles[1]); sy = sinf(angles[1]); cy = cosf(angles[1]);
sz = sinf(angles[2]); cz = cosf(angles[2]); sz = sinf(angles[2]); cz = cosf(angles[2]);
dest[0][0] = cy * cz + sx * sy * sz; cycz = cy * cz;
dest[0][1] = cx * sz; sysz = sy * sz;
dest[0][2] =-cz * sy + cy * sx * sz; czsy = cz * sy;
dest[1][0] = cz * sx * sy - cy * sz; cysz = cy * sz;
dest[1][1] = cx * cz;
dest[1][2] = cy * cz * sx + sy * sz; dest[0][0] = cycz + sx * sysz;
dest[2][0] = cx * sy; dest[0][1] = cx * sz;
dest[2][1] =-sx; dest[0][2] = -czsy + cysz * sx;
dest[2][2] = cx * cy; dest[1][0] = -cysz + czsy * sx;
dest[0][3] = 0.0f; dest[1][1] = cx * cz;
dest[1][3] = 0.0f; dest[1][2] = cycz * sx + sysz;
dest[2][3] = 0.0f; dest[2][0] = cx * sy;
dest[3][0] = 0.0f; dest[2][1] = -sx;
dest[3][1] = 0.0f; dest[2][2] = cx * cy;
dest[3][2] = 0.0f; dest[0][3] = 0.0f;
dest[3][3] = 1.0f; dest[1][3] = 0.0f;
dest[2][3] = 0.0f;
dest[3][0] = 0.0f;
dest[3][1] = 0.0f;
dest[3][2] = 0.0f;
dest[3][3] = 1.0f;
} }
/*! /*!
* @brief build rotation matrix from euler angles * @brief build rotation matrix from euler angles
* *
* @param[in] angles angles as vector [Ex, Ez, Ey] * @param[in] angles angles as vector [Xangle, Yangle, Zangle]
* @param[out] dest rotation matrix * @param[out] dest rotation matrix
*/ */
CGLM_INLINE CGLM_INLINE
void void
glm_euler_xzy(vec3 angles, glm_euler_yzx(vec3 angles, mat4 dest) {
mat4 dest) {
float cx, cy, cz, float cx, cy, cz,
sx, sy, sz; sx, sy, sz, sxsy, cxcy, cysx, cxsy;
sx = sinf(angles[0]); cx = cosf(angles[0]); sx = sinf(angles[0]); cx = cosf(angles[0]);
sy = sinf(angles[1]); cy = cosf(angles[1]); sy = sinf(angles[1]); cy = cosf(angles[1]);
sz = sinf(angles[2]); cz = cosf(angles[2]); sz = sinf(angles[2]); cz = cosf(angles[2]);
dest[0][0] = cy * cz; sxsy = sx * sy;
dest[0][1] = sz; cxcy = cx * cy;
dest[0][2] =-cz * sy; cysx = cy * sx;
dest[1][0] = sx * sy - cx * cy * sz; cxsy = cx * sy;
dest[1][1] = cx * cz;
dest[1][2] = cy * sx + cx * sy * sz; dest[0][0] = cy * cz;
dest[2][0] = cx * sy + cy * sx * sz; dest[0][1] = sz;
dest[2][1] =-cz * sx; dest[0][2] = -cz * sy;
dest[2][2] = cx * cy - sx * sy * sz; dest[1][0] = sxsy - cxcy * sz;
dest[0][3] = 0.0f; dest[1][1] = cx * cz;
dest[1][3] = 0.0f; dest[1][2] = cysx + cxsy * sz;
dest[2][3] = 0.0f; dest[2][0] = cxsy + cysx * sz;
dest[3][0] = 0.0f; dest[2][1] = -cz * sx;
dest[3][1] = 0.0f; dest[2][2] = cxcy - sxsy * sz;
dest[3][2] = 0.0f; dest[0][3] = 0.0f;
dest[3][3] = 1.0f; dest[1][3] = 0.0f;
dest[2][3] = 0.0f;
dest[3][0] = 0.0f;
dest[3][1] = 0.0f;
dest[3][2] = 0.0f;
dest[3][3] = 1.0f;
} }
/*! /*!
* @brief build rotation matrix from euler angles * @brief build rotation matrix from euler angles
* *
* @param[in] angles angles as vector [Ey, Ez, Ex] * @param[in] angles angles as vector [Xangle, Yangle, Zangle]
* @param[out] dest rotation matrix * @param[out] dest rotation matrix
*/ */
CGLM_INLINE CGLM_INLINE
void void
glm_euler_yzx(vec3 angles, glm_euler_zxy(vec3 angles, mat4 dest) {
mat4 dest) {
float cx, cy, cz, float cx, cy, cz,
sx, sy, sz; sx, sy, sz, cycz, sxsy, cysz;
sx = sinf(angles[0]); cx = cosf(angles[0]); sx = sinf(angles[0]); cx = cosf(angles[0]);
sy = sinf(angles[1]); cy = cosf(angles[1]); sy = sinf(angles[1]); cy = cosf(angles[1]);
sz = sinf(angles[2]); cz = cosf(angles[2]); sz = sinf(angles[2]); cz = cosf(angles[2]);
dest[0][0] = cy * cz; cycz = cy * cz;
dest[0][1] = sx * sy + cx * cy * sz; sxsy = sx * sy;
dest[0][2] =-cx * sy + cy * sx * sz; cysz = cy * sz;
dest[1][0] =-sz;
dest[1][1] = cx * cz; dest[0][0] = cycz - sxsy * sz;
dest[1][2] = cz * sx; dest[0][1] = cz * sxsy + cysz;
dest[2][0] = cz * sy; dest[0][2] = -cx * sy;
dest[2][1] =-cy * sx + cx * sy * sz; dest[1][0] = -cx * sz;
dest[2][2] = cx * cy + sx * sy * sz; dest[1][1] = cx * cz;
dest[0][3] = 0.0f; dest[1][2] = sx;
dest[1][3] = 0.0f; dest[2][0] = cz * sy + cysz * sx;
dest[2][3] = 0.0f; dest[2][1] = -cycz * sx + sy * sz;
dest[3][0] = 0.0f; dest[2][2] = cx * cy;
dest[3][1] = 0.0f; dest[0][3] = 0.0f;
dest[3][2] = 0.0f; dest[1][3] = 0.0f;
dest[3][3] = 1.0f; dest[2][3] = 0.0f;
dest[3][0] = 0.0f;
dest[3][1] = 0.0f;
dest[3][2] = 0.0f;
dest[3][3] = 1.0f;
} }
/*! /*!
* @brief build rotation matrix from euler angles * @brief build rotation matrix from euler angles
* *
* @param[in] angles angles as vector [Ey, Ex, Ez] * @param[in] angles angles as vector [Xangle, Yangle, Zangle]
* @param[out] dest rotation matrix * @param[out] dest rotation matrix
*/ */
CGLM_INLINE CGLM_INLINE
void void
glm_euler_yxz(vec3 angles, glm_euler_zyx(vec3 angles, mat4 dest) {
mat4 dest) {
float cx, cy, cz, float cx, cy, cz,
sx, sy, sz; sx, sy, sz, czsx, cxcz, sysz;
sx = sinf(angles[0]); cx = cosf(angles[0]); sx = sinf(angles[0]); cx = cosf(angles[0]);
sy = sinf(angles[1]); cy = cosf(angles[1]); sy = sinf(angles[1]); cy = cosf(angles[1]);
sz = sinf(angles[2]); cz = cosf(angles[2]); sz = sinf(angles[2]); cz = cosf(angles[2]);
dest[0][0] = cy * cz - sx * sy * sz; czsx = cz * sx;
dest[0][1] = cz * sx * sy + cy * sz; cxcz = cx * cz;
dest[0][2] =-cx * sy; sysz = sy * sz;
dest[1][0] =-cx * sz;
dest[1][1] = cx * cz; dest[0][0] = cy * cz;
dest[1][2] = sx; dest[0][1] = cy * sz;
dest[2][0] = cz * sy + cy * sx * sz; dest[0][2] = -sy;
dest[2][1] =-cy * cz * sx + sy * sz; dest[1][0] = czsx * sy - cx * sz;
dest[2][2] = cx * cy; dest[1][1] = cxcz + sx * sysz;
dest[0][3] = 0.0f; dest[1][2] = cy * sx;
dest[1][3] = 0.0f; dest[2][0] = cxcz * sy + sx * sz;
dest[2][3] = 0.0f; dest[2][1] = -czsx + cx * sysz;
dest[3][0] = 0.0f; dest[2][2] = cx * cy;
dest[3][1] = 0.0f; dest[0][3] = 0.0f;
dest[3][2] = 0.0f; dest[1][3] = 0.0f;
dest[3][3] = 1.0f; dest[2][3] = 0.0f;
dest[3][0] = 0.0f;
dest[3][1] = 0.0f;
dest[3][2] = 0.0f;
dest[3][3] = 1.0f;
} }
/*! /*!
* @brief build rotation matrix from euler angles * @brief build rotation matrix from euler angles
* *
* @param[in] angles angles as vector (ord parameter spceifies angles order) * @param[in] angles angles as vector [Xangle, Yangle, Zangle]
* @param[in] ord euler order * @param[in] ord euler order
* @param[out] dest rotation matrix * @param[out] dest rotation matrix
*/ */
@@ -332,71 +370,71 @@ glm_euler_by_order(vec3 angles, glm_euler_sq ord, mat4 dest) {
sysz = sy * sz; sysz = sy * sz;
switch (ord) { 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: case GLM_EULER_XZY:
dest[0][0] = cycz; dest[0][0] = cycz;
dest[0][1] = sz; dest[0][1] = sx * sy + cx * cysz;
dest[0][2] =-czsy; dest[0][2] = -cx * sy + cysx * sz;
dest[1][0] = sx * sy - cx * cysz; dest[1][0] = -sz;
dest[1][1] = cxcz; dest[1][1] = cxcz;
dest[1][2] = cysx + cx * sysz; dest[1][2] = czsx;
dest[2][0] = cx * sy + cysx * sz; dest[2][0] = czsy;
dest[2][1] =-czsx; dest[2][1] = -cysx + cx * sysz;
dest[2][2] = cxcy - sx * sysz; dest[2][2] = cxcy + sx * sysz;
break; break;
case GLM_EULER_ZXY: case GLM_EULER_XYZ:
dest[0][0] = cycz + sx * sysz; dest[0][0] = cycz;
dest[0][1] = cxsz; dest[0][1] = czsx * sy + cxsz;
dest[0][2] =-czsy + cysx * sz; dest[0][2] = -cx * czsy + sx * sz;
dest[1][0] = czsx * sy - cysz; dest[1][0] = -cysz;
dest[1][1] = cxcz; dest[1][1] = cxcz - sx * sysz;
dest[1][2] = cycz * sx + sysz; dest[1][2] = czsx + cx * sysz;
dest[2][0] = cx * sy; dest[2][0] = sy;
dest[2][1] =-sx; dest[2][1] = -cysx;
dest[2][2] = cxcy; 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;
break; break;
case GLM_EULER_YXZ: case GLM_EULER_YXZ:
dest[0][0] = cycz - sx * sysz; dest[0][0] = cycz + sx * sysz;
dest[0][1] = czsx * sy + cysz; dest[0][1] = cxsz;
dest[0][2] =-cx * sy; dest[0][2] = -czsy + cysx * sz;
dest[1][0] =-cxsz; dest[1][0] = czsx * sy - cysz;
dest[1][1] = cxcz; dest[1][1] = cxcz;
dest[1][2] = sx; dest[1][2] = cycz * sx + sysz;
dest[2][0] = czsy + cysx * sz; dest[2][0] = cx * sy;
dest[2][1] =-cycz * sx + sysz; dest[2][1] = -sx;
dest[2][2] = cxcy; dest[2][2] = cxcy;
break; break;
case GLM_EULER_YZX: case GLM_EULER_YZX:
dest[0][0] = cycz; dest[0][0] = cycz;
dest[0][1] = sx * sy + cx * cysz; dest[0][1] = sz;
dest[0][2] =-cx * sy + cysx * sz; dest[0][2] = -czsy;
dest[1][0] =-sz; dest[1][0] = sx * sy - cx * cysz;
dest[1][1] = cxcz; dest[1][1] = cxcz;
dest[1][2] = czsx; dest[1][2] = cysx + cx * sysz;
dest[2][0] = czsy; dest[2][0] = cx * sy + cysx * sz;
dest[2][1] =-cysx + cx * sysz; dest[2][1] = -czsx;
dest[2][2] = cxcy + sx * sysz; 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; break;
} }

3
makefile.am
View File

@@ -105,7 +105,8 @@ test_tests_SOURCES=\
test/src/test_main.c \ test/src/test_main.c \
test/src/test_mat4.c \ test/src/test_mat4.c \
test/src/test_cam.c \ test/src/test_cam.c \
test/src/test_clamp.c test/src/test_clamp.c \
test/src/test_euler.c
all-local: all-local:
sh ./post-build.sh sh ./post-build.sh

6
src/euler.c
View File

@@ -20,6 +20,12 @@ glmc_euler(vec3 angles, mat4 dest) {
glm_euler(angles, dest); glm_euler(angles, dest);
} }
CGLM_EXPORT
void
glmc_euler_xyz(vec3 angles, mat4 dest) {
glm_euler_xyz(angles, dest);
}
CGLM_EXPORT CGLM_EXPORT
void void
glmc_euler_zyx(vec3 angles, mat4 dest) { glmc_euler_zyx(vec3 angles, mat4 dest) {

7
test/src/test_common.c
View File

@@ -50,3 +50,10 @@ test_assert_mat4_eq2(mat4 m1, mat4 m2, float eps) {
} }
} }
} }
void
test_assert_vec3_eq(vec3 v1, vec3 v2) {
assert_true(fabsf(v1[0] - v2[0]) <= 0.0000009);
assert_true(fabsf(v1[1] - v2[1]) <= 0.0000009);
assert_true(fabsf(v1[2] - v2[2]) <= 0.0000009);
}

3
test/src/test_common.h
View File

@@ -31,4 +31,7 @@ test_assert_mat4_eq(mat4 m1, mat4 m2);
void void
test_assert_mat4_eq2(mat4 m1, mat4 m2, float eps); test_assert_mat4_eq2(mat4 m1, mat4 m2, float eps);
void
test_assert_vec3_eq(vec3 v1, vec3 v2);
#endif /* test_common_h */ #endif /* test_common_h */

44
test/src/test_euler.c Normal file
View File

@@ -0,0 +1,44 @@
/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
#include "test_common.h"
void
test_euler(void **state) {
mat4 rot1, rot2;
vec3 inAngles, outAngles;
inAngles[0] = glm_rad(-45.0f); /* X angle */
inAngles[1] = glm_rad(88.0f); /* Y angle */
inAngles[2] = glm_rad(18.0f); /* Z angle */
glm_euler_xyz(inAngles, rot1);
/* extract angles */
glmc_euler_angles(rot1, outAngles);
/* angles must be equal in that range */
test_assert_vec3_eq(inAngles, outAngles);
/* matrices must be equal */
glmc_euler_xyz(outAngles, rot2);
test_assert_mat4_eq(rot1, rot2);
/* change range */
inAngles[0] = glm_rad(-145.0f); /* X angle */
inAngles[1] = glm_rad(818.0f); /* Y angle */
inAngles[2] = glm_rad(181.0f); /* Z angle */
glm_euler_xyz(inAngles, rot1);
glmc_euler_angles(rot1, outAngles);
/* angles may not be equal but matrices MUST! */
/* matrices must be equal */
glmc_euler_xyz(outAngles, rot2);
test_assert_mat4_eq(rot1, rot2);
}

5
test/src/test_main.c
View File

@@ -17,7 +17,10 @@ main(int argc, const char * argv[]) {
cmocka_unit_test(test_camera_decomp), cmocka_unit_test(test_camera_decomp),
/* vector */ /* vector */
cmocka_unit_test(test_clamp) cmocka_unit_test(test_clamp),
/* euler */
cmocka_unit_test(test_euler)
}; };
return cmocka_run_group_tests(tests, NULL, NULL); return cmocka_run_group_tests(tests, NULL, NULL);

3
test/src/test_tests.h
View File

@@ -19,4 +19,7 @@ test_camera_decomp(void **state);
void void
test_clamp(void **state); test_clamp(void **state);
void
test_euler(void **state);
#endif /* test_tests_h */ #endif /* test_tests_h */