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