| /////////////////////////////////////////////////////////////////////////////////////////////////// |
| // OpenGL Mathematics Copyright (c) 2005 - 2014 G-Truc Creation (www.g-truc.net) |
| /////////////////////////////////////////////////////////////////////////////////////////////////// |
| // Created : 2005-12-21 |
| // Updated : 2007-08-14 |
| // Licence : This source is under MIT License |
| // File : glm/gtx/euler_angles.inl |
| /////////////////////////////////////////////////////////////////////////////////////////////////// |
| |
| namespace glm |
| { |
| template <typename T> |
| GLM_FUNC_QUALIFIER detail::tmat4x4<T, defaultp> eulerAngleX |
| ( |
| T const & angleX |
| ) |
| { |
| T cosX = glm::cos(angleX); |
| T sinX = glm::sin(angleX); |
| |
| return detail::tmat4x4<T, defaultp>( |
| T(1), T(0), T(0), T(0), |
| T(0), cosX, sinX, T(0), |
| T(0),-sinX, cosX, T(0), |
| T(0), T(0), T(0), T(1)); |
| } |
| |
| template <typename T> |
| GLM_FUNC_QUALIFIER detail::tmat4x4<T, defaultp> eulerAngleY |
| ( |
| T const & angleY |
| ) |
| { |
| T cosY = glm::cos(angleY); |
| T sinY = glm::sin(angleY); |
| |
| return detail::tmat4x4<T, defaultp>( |
| cosY, T(0), -sinY, T(0), |
| T(0), T(1), T(0), T(0), |
| sinY, T(0), cosY, T(0), |
| T(0), T(0), T(0), T(1)); |
| } |
| |
| template <typename T> |
| GLM_FUNC_QUALIFIER detail::tmat4x4<T, defaultp> eulerAngleZ |
| ( |
| T const & angleZ |
| ) |
| { |
| T cosZ = glm::cos(angleZ); |
| T sinZ = glm::sin(angleZ); |
| |
| return detail::tmat4x4<T, defaultp>( |
| cosZ, sinZ, T(0), T(0), |
| -sinZ, cosZ, T(0), T(0), |
| T(0), T(0), T(1), T(0), |
| T(0), T(0), T(0), T(1)); |
| } |
| |
| template <typename T> |
| GLM_FUNC_QUALIFIER detail::tmat4x4<T, defaultp> eulerAngleXY |
| ( |
| T const & angleX, |
| T const & angleY |
| ) |
| { |
| T cosX = glm::cos(angleX); |
| T sinX = glm::sin(angleX); |
| T cosY = glm::cos(angleY); |
| T sinY = glm::sin(angleY); |
| |
| return detail::tmat4x4<T, defaultp>( |
| cosY, -sinX * -sinY, cosX * -sinY, T(0), |
| T(0), cosX, sinX, T(0), |
| sinY, -sinX * cosY, cosX * cosY, T(0), |
| T(0), T(0), T(0), T(1)); |
| } |
| |
| template <typename T> |
| GLM_FUNC_QUALIFIER detail::tmat4x4<T, defaultp> eulerAngleYX |
| ( |
| T const & angleY, |
| T const & angleX |
| ) |
| { |
| T cosX = glm::cos(angleX); |
| T sinX = glm::sin(angleX); |
| T cosY = glm::cos(angleY); |
| T sinY = glm::sin(angleY); |
| |
| return detail::tmat4x4<T, defaultp>( |
| cosY, 0, -sinY, T(0), |
| sinY * sinX, cosX, cosY * sinX, T(0), |
| sinY * cosX, -sinX, cosY * cosX, T(0), |
| T(0), T(0), T(0), T(1)); |
| } |
| |
| template <typename T> |
| GLM_FUNC_QUALIFIER detail::tmat4x4<T, defaultp> eulerAngleXZ |
| ( |
| T const & angleX, |
| T const & angleZ |
| ) |
| { |
| return eulerAngleX(angleX) * eulerAngleZ(angleZ); |
| } |
| |
| template <typename T> |
| GLM_FUNC_QUALIFIER detail::tmat4x4<T, defaultp> eulerAngleZX |
| ( |
| T const & angleZ, |
| T const & angleX |
| ) |
| { |
| return eulerAngleZ(angleZ) * eulerAngleX(angleX); |
| } |
| |
| template <typename T> |
| GLM_FUNC_QUALIFIER detail::tmat4x4<T, defaultp> eulerAngleYZ |
| ( |
| T const & angleY, |
| T const & angleZ |
| ) |
| { |
| return eulerAngleY(angleY) * eulerAngleZ(angleZ); |
| } |
| |
| template <typename T> |
| GLM_FUNC_QUALIFIER detail::tmat4x4<T, defaultp> eulerAngleZY |
| ( |
| T const & angleZ, |
| T const & angleY |
| ) |
| { |
| return eulerAngleZ(angleZ) * eulerAngleY(angleY); |
| } |
| |
| template <typename T> |
| GLM_FUNC_QUALIFIER detail::tmat4x4<T, defaultp> eulerAngleYXZ |
| ( |
| T const & yaw, |
| T const & pitch, |
| T const & roll |
| ) |
| { |
| T tmp_ch = glm::cos(yaw); |
| T tmp_sh = glm::sin(yaw); |
| T tmp_cp = glm::cos(pitch); |
| T tmp_sp = glm::sin(pitch); |
| T tmp_cb = glm::cos(roll); |
| T tmp_sb = glm::sin(roll); |
| |
| detail::tmat4x4<T, defaultp> Result; |
| Result[0][0] = tmp_ch * tmp_cb + tmp_sh * tmp_sp * tmp_sb; |
| Result[0][1] = tmp_sb * tmp_cp; |
| Result[0][2] = -tmp_sh * tmp_cb + tmp_ch * tmp_sp * tmp_sb; |
| Result[0][3] = static_cast<T>(0); |
| Result[1][0] = -tmp_ch * tmp_sb + tmp_sh * tmp_sp * tmp_cb; |
| Result[1][1] = tmp_cb * tmp_cp; |
| Result[1][2] = tmp_sb * tmp_sh + tmp_ch * tmp_sp * tmp_cb; |
| Result[1][3] = static_cast<T>(0); |
| Result[2][0] = tmp_sh * tmp_cp; |
| Result[2][1] = -tmp_sp; |
| Result[2][2] = tmp_ch * tmp_cp; |
| Result[2][3] = static_cast<T>(0); |
| Result[3][0] = static_cast<T>(0); |
| Result[3][1] = static_cast<T>(0); |
| Result[3][2] = static_cast<T>(0); |
| Result[3][3] = static_cast<T>(1); |
| return Result; |
| } |
| |
| template <typename T> |
| GLM_FUNC_QUALIFIER detail::tmat4x4<T, defaultp> yawPitchRoll |
| ( |
| T const & yaw, |
| T const & pitch, |
| T const & roll |
| ) |
| { |
| T tmp_ch = glm::cos(yaw); |
| T tmp_sh = glm::sin(yaw); |
| T tmp_cp = glm::cos(pitch); |
| T tmp_sp = glm::sin(pitch); |
| T tmp_cb = glm::cos(roll); |
| T tmp_sb = glm::sin(roll); |
| |
| detail::tmat4x4<T, defaultp> Result; |
| Result[0][0] = tmp_ch * tmp_cb + tmp_sh * tmp_sp * tmp_sb; |
| Result[0][1] = tmp_sb * tmp_cp; |
| Result[0][2] = -tmp_sh * tmp_cb + tmp_ch * tmp_sp * tmp_sb; |
| Result[0][3] = static_cast<T>(0); |
| Result[1][0] = -tmp_ch * tmp_sb + tmp_sh * tmp_sp * tmp_cb; |
| Result[1][1] = tmp_cb * tmp_cp; |
| Result[1][2] = tmp_sb * tmp_sh + tmp_ch * tmp_sp * tmp_cb; |
| Result[1][3] = static_cast<T>(0); |
| Result[2][0] = tmp_sh * tmp_cp; |
| Result[2][1] = -tmp_sp; |
| Result[2][2] = tmp_ch * tmp_cp; |
| Result[2][3] = static_cast<T>(0); |
| Result[3][0] = static_cast<T>(0); |
| Result[3][1] = static_cast<T>(0); |
| Result[3][2] = static_cast<T>(0); |
| Result[3][3] = static_cast<T>(1); |
| return Result; |
| } |
| |
| template <typename T> |
| GLM_FUNC_QUALIFIER detail::tmat2x2<T, defaultp> orientate2 |
| ( |
| T const & angle |
| ) |
| { |
| T c = glm::cos(angle); |
| T s = glm::sin(angle); |
| |
| detail::tmat2x2<T, defaultp> Result; |
| Result[0][0] = c; |
| Result[0][1] = s; |
| Result[1][0] = -s; |
| Result[1][1] = c; |
| return Result; |
| } |
| |
| template <typename T> |
| GLM_FUNC_QUALIFIER detail::tmat3x3<T, defaultp> orientate3 |
| ( |
| T const & angle |
| ) |
| { |
| T c = glm::cos(angle); |
| T s = glm::sin(angle); |
| |
| detail::tmat3x3<T, defaultp> Result; |
| Result[0][0] = c; |
| Result[0][1] = s; |
| Result[0][2] = 0.0f; |
| Result[1][0] = -s; |
| Result[1][1] = c; |
| Result[1][2] = 0.0f; |
| Result[2][0] = 0.0f; |
| Result[2][1] = 0.0f; |
| Result[2][2] = 1.0f; |
| return Result; |
| } |
| |
| template <typename T, precision P> |
| GLM_FUNC_QUALIFIER detail::tmat3x3<T, P> orientate3 |
| ( |
| detail::tvec3<T, P> const & angles |
| ) |
| { |
| return detail::tmat3x3<T, P>(yawPitchRoll(angles.x, angles.y, angles.z)); |
| } |
| |
| template <typename T, precision P> |
| GLM_FUNC_QUALIFIER detail::tmat4x4<T, P> orientate4 |
| ( |
| detail::tvec3<T, P> const & angles |
| ) |
| { |
| return yawPitchRoll(angles.z, angles.x, angles.y); |
| } |
| }//namespace glm |