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extract euler angles from matrix (xyz)

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Recep Aslantas
2016-10-24 14:01:21 +03:00
parent f8bd200d40
commit cb0239503f
1 changed files with 32 additions and 1 deletions
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33
include/cglm-euler.h
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@@ -11,7 +11,38 @@
#include "cglm-common.h"
/*!
* @brief build rotation matrix from euler angles/yaw-pitch-roll (xyz)
* @brief euler angles (in radian) for xyz sequence
*
* @param[in] m affine transform
* @param[out] pitch x
* @param[out] yaw y
* @param[out] roll z
*/
CGLM_INLINE
void
glm_euler_angles(mat4 m,
float * __restrict pitch,
float * __restrict yaw,
float * __restrict roll) {
if (m[2][0] < 1.0f) {
if (m[2][0] > -1.0f) {
*yaw = asinf(m[2][0]);
*pitch = atan2f(-m[2][1], m[2][2]);
*roll = atan2f(-m[1][0], m[0][0]);
} else {
*yaw = -M_PI_2;
*pitch = -atan2(m[0][1], m[2][1]);
*roll = 0;
}
} else {
*yaw = M_PI_2;
*pitch = atan2f(m[0][1], m[1][1]);
*roll = 0;
}
}
/*!
* @brief build rotation matrix from euler angles(xyz)/yaw-pitch-roll (Y-UP)
*/
CGLM_INLINE
void