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euler angles to matrix from given order

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Recep Aslantas
2016-10-26 12:07:10 +03:00
parent 086c1cf326
commit 45254972f0
1 changed files with 117 additions and 0 deletions
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117
include/cglm-euler.h
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@@ -10,6 +10,24 @@
#include "cglm-common.h"
/*!
* if you have axis order like vec3 orderVec = [0, 1, 2] or [0, 2, 1]...
* vector then you can convert it to this enum by doing this:
* @code
* glm_euler_sq order;
* order = orderVec[0] | orderVec[1] << 2 | orderVec[2] << 4;
* @endcode
* you may need to explicit cast if required
*/
typedef enum glm_euler_sq {
GLM_EULER_XYZ = 0 << 0 | 1 << 2 | 2 << 4,
GLM_EULER_XZY = 0 << 0 | 2 << 2 | 1 << 4,
GLM_EULER_YZX = 1 << 0 | 2 << 2 | 0 << 4,
GLM_EULER_YXZ = 1 << 0 | 0 << 2 | 2 << 4,
GLM_EULER_ZXY = 2 << 0 | 0 << 2 | 1 << 4,
GLM_EULER_ZYX = 2 << 0 | 1 << 2 | 0 << 4
} glm_euler_sq;
/*!
* @brief euler angles (in radian) using xyz sequence
*
@@ -235,4 +253,103 @@ glm_euler_yxz(vec3 angles,
dest[3][3] = 1.0f;
}
/* TODO: too long for inline ? */
CGLM_INLINE
void
glm_euler_by_order(vec3 angles, glm_euler_sq axis, mat4 dest) {
float cx, cy, cz,
sx, sy, sz;
float cycz, cysz, cysx, cxcy,
czsy, cxcz, czsx, cxsz,
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]);
cycz = cy * cz; cysz = cy * sz;
cysx = cy * sx; cxcy = cx * cy;
czsy = cz * sy; cxcz = cx * cz;
czsx = cz * sx; cxsz = cx * sz;
sysz = sy * sz;
switch (axis) {
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;
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;
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;
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;
break;
}
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;
}
#endif /* cglm_euler_h */