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Diffstat (limited to 'external/include/glm/gtx/euler_angles.inl')
| -rw-r--r-- | external/include/glm/gtx/euler_angles.inl | 900 |
1 files changed, 0 insertions, 900 deletions
diff --git a/external/include/glm/gtx/euler_angles.inl b/external/include/glm/gtx/euler_angles.inl deleted file mode 100644 index 8a289d8..0000000 --- a/external/include/glm/gtx/euler_angles.inl +++ /dev/null @@ -1,900 +0,0 @@ -/// @ref gtx_euler_angles -/// @file glm/gtx/euler_angles.inl - -#include "compatibility.hpp" // glm::atan2 - -namespace glm -{ - template<typename T> - GLM_FUNC_QUALIFIER mat<4, 4, T, defaultp> eulerAngleX - ( - T const& angleX - ) - { - T cosX = glm::cos(angleX); - T sinX = glm::sin(angleX); - - return mat<4, 4, 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 mat<4, 4, T, defaultp> eulerAngleY - ( - T const& angleY - ) - { - T cosY = glm::cos(angleY); - T sinY = glm::sin(angleY); - - return mat<4, 4, 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 mat<4, 4, T, defaultp> eulerAngleZ - ( - T const& angleZ - ) - { - T cosZ = glm::cos(angleZ); - T sinZ = glm::sin(angleZ); - - return mat<4, 4, 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 mat<4, 4, T, defaultp> derivedEulerAngleX - ( - T const & angleX, - T const & angularVelocityX - ) - { - T cosX = glm::cos(angleX) * angularVelocityX; - T sinX = glm::sin(angleX) * angularVelocityX; - - return mat<4, 4, T, defaultp>( - T(0), T(0), T(0), T(0), - T(0),-sinX, cosX, T(0), - T(0),-cosX,-sinX, T(0), - T(0), T(0), T(0), T(0)); - } - - template <typename T> - GLM_FUNC_QUALIFIER mat<4, 4, T, defaultp> derivedEulerAngleY - ( - T const & angleY, - T const & angularVelocityY - ) - { - T cosY = glm::cos(angleY) * angularVelocityY; - T sinY = glm::sin(angleY) * angularVelocityY; - - return mat<4, 4, T, defaultp>( - -sinY, T(0), -cosY, T(0), - T(0), T(0), T(0), T(0), - cosY, T(0), -sinY, T(0), - T(0), T(0), T(0), T(0)); - } - - template <typename T> - GLM_FUNC_QUALIFIER mat<4, 4, T, defaultp> derivedEulerAngleZ - ( - T const & angleZ, - T const & angularVelocityZ - ) - { - T cosZ = glm::cos(angleZ) * angularVelocityZ; - T sinZ = glm::sin(angleZ) * angularVelocityZ; - - return mat<4, 4, T, defaultp>( - -sinZ, cosZ, T(0), T(0), - -cosZ, -sinZ, T(0), T(0), - T(0), T(0), T(0), T(0), - T(0), T(0), T(0), T(0)); - } - - template<typename T> - GLM_FUNC_QUALIFIER mat<4, 4, 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 mat<4, 4, 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 mat<4, 4, 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 mat<4, 4, 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 mat<4, 4, T, defaultp> eulerAngleXZ - ( - T const& angleX, - T const& angleZ - ) - { - return eulerAngleX(angleX) * eulerAngleZ(angleZ); - } - - template<typename T> - GLM_FUNC_QUALIFIER mat<4, 4, T, defaultp> eulerAngleZX - ( - T const& angleZ, - T const& angleX - ) - { - return eulerAngleZ(angleZ) * eulerAngleX(angleX); - } - - template<typename T> - GLM_FUNC_QUALIFIER mat<4, 4, T, defaultp> eulerAngleYZ - ( - T const& angleY, - T const& angleZ - ) - { - return eulerAngleY(angleY) * eulerAngleZ(angleZ); - } - - template<typename T> - GLM_FUNC_QUALIFIER mat<4, 4, T, defaultp> eulerAngleZY - ( - T const& angleZ, - T const& angleY - ) - { - return eulerAngleZ(angleZ) * eulerAngleY(angleY); - } - - template<typename T> - GLM_FUNC_QUALIFIER mat<4, 4, T, defaultp> eulerAngleXYZ - ( - T const& t1, - T const& t2, - T const& t3 - ) - { - T c1 = glm::cos(-t1); - T c2 = glm::cos(-t2); - T c3 = glm::cos(-t3); - T s1 = glm::sin(-t1); - T s2 = glm::sin(-t2); - T s3 = glm::sin(-t3); - - mat<4, 4, T, defaultp> Result; - Result[0][0] = c2 * c3; - Result[0][1] =-c1 * s3 + s1 * s2 * c3; - Result[0][2] = s1 * s3 + c1 * s2 * c3; - Result[0][3] = static_cast<T>(0); - Result[1][0] = c2 * s3; - Result[1][1] = c1 * c3 + s1 * s2 * s3; - Result[1][2] =-s1 * c3 + c1 * s2 * s3; - Result[1][3] = static_cast<T>(0); - Result[2][0] =-s2; - Result[2][1] = s1 * c2; - Result[2][2] = c1 * c2; - 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 mat<4, 4, 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); - - mat<4, 4, 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 mat<4, 4, T, defaultp> eulerAngleXZX - ( - T const & t1, - T const & t2, - T const & t3 - ) - { - T c1 = glm::cos(t1); - T s1 = glm::sin(t1); - T c2 = glm::cos(t2); - T s2 = glm::sin(t2); - T c3 = glm::cos(t3); - T s3 = glm::sin(t3); - - mat<4, 4, T, defaultp> Result; - Result[0][0] = c2; - Result[0][1] = c1 * s2; - Result[0][2] = s1 * s2; - Result[0][3] = static_cast<T>(0); - Result[1][0] =-c3 * s2; - Result[1][1] = c1 * c2 * c3 - s1 * s3; - Result[1][2] = c1 * s3 + c2 * c3 * s1; - Result[1][3] = static_cast<T>(0); - Result[2][0] = s2 * s3; - Result[2][1] =-c3 * s1 - c1 * c2 * s3; - Result[2][2] = c1 * c3 - c2 * s1 * s3; - 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 mat<4, 4, T, defaultp> eulerAngleXYX - ( - T const & t1, - T const & t2, - T const & t3 - ) - { - T c1 = glm::cos(t1); - T s1 = glm::sin(t1); - T c2 = glm::cos(t2); - T s2 = glm::sin(t2); - T c3 = glm::cos(t3); - T s3 = glm::sin(t3); - - mat<4, 4, T, defaultp> Result; - Result[0][0] = c2; - Result[0][1] = s1 * s2; - Result[0][2] =-c1 * s2; - Result[0][3] = static_cast<T>(0); - Result[1][0] = s2 * s3; - Result[1][1] = c1 * c3 - c2 * s1 * s3; - Result[1][2] = c3 * s1 + c1 * c2 * s3; - Result[1][3] = static_cast<T>(0); - Result[2][0] = c3 * s2; - Result[2][1] =-c1 * s3 - c2 * c3 * s1; - Result[2][2] = c1 * c2 * c3 - s1 * s3; - 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 mat<4, 4, T, defaultp> eulerAngleYXY - ( - T const & t1, - T const & t2, - T const & t3 - ) - { - T c1 = glm::cos(t1); - T s1 = glm::sin(t1); - T c2 = glm::cos(t2); - T s2 = glm::sin(t2); - T c3 = glm::cos(t3); - T s3 = glm::sin(t3); - - mat<4, 4, T, defaultp> Result; - Result[0][0] = c1 * c3 - c2 * s1 * s3; - Result[0][1] = s2* s3; - Result[0][2] =-c3 * s1 - c1 * c2 * s3; - Result[0][3] = static_cast<T>(0); - Result[1][0] = s1 * s2; - Result[1][1] = c2; - Result[1][2] = c1 * s2; - Result[1][3] = static_cast<T>(0); - Result[2][0] = c1 * s3 + c2 * c3 * s1; - Result[2][1] =-c3 * s2; - Result[2][2] = c1 * c2 * c3 - s1 * s3; - 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 mat<4, 4, T, defaultp> eulerAngleYZY - ( - T const & t1, - T const & t2, - T const & t3 - ) - { - T c1 = glm::cos(t1); - T s1 = glm::sin(t1); - T c2 = glm::cos(t2); - T s2 = glm::sin(t2); - T c3 = glm::cos(t3); - T s3 = glm::sin(t3); - - mat<4, 4, T, defaultp> Result; - Result[0][0] = c1 * c2 * c3 - s1 * s3; - Result[0][1] = c3 * s2; - Result[0][2] =-c1 * s3 - c2 * c3 * s1; - Result[0][3] = static_cast<T>(0); - Result[1][0] =-c1 * s2; - Result[1][1] = c2; - Result[1][2] = s1 * s2; - Result[1][3] = static_cast<T>(0); - Result[2][0] = c3 * s1 + c1 * c2 * s3; - Result[2][1] = s2 * s3; - Result[2][2] = c1 * c3 - c2 * s1 * s3; - 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 mat<4, 4, T, defaultp> eulerAngleZYZ - ( - T const & t1, - T const & t2, - T const & t3 - ) - { - T c1 = glm::cos(t1); - T s1 = glm::sin(t1); - T c2 = glm::cos(t2); - T s2 = glm::sin(t2); - T c3 = glm::cos(t3); - T s3 = glm::sin(t3); - - mat<4, 4, T, defaultp> Result; - Result[0][0] = c1 * c2 * c3 - s1 * s3; - Result[0][1] = c1 * s3 + c2 * c3 * s1; - Result[0][2] =-c3 * s2; - Result[0][3] = static_cast<T>(0); - Result[1][0] =-c3 * s1 - c1 * c2 * s3; - Result[1][1] = c1 * c3 - c2 * s1 * s3; - Result[1][2] = s2 * s3; - Result[1][3] = static_cast<T>(0); - Result[2][0] = c1 * s2; - Result[2][1] = s1 * s2; - Result[2][2] = c2; - 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 mat<4, 4, T, defaultp> eulerAngleZXZ - ( - T const & t1, - T const & t2, - T const & t3 - ) - { - T c1 = glm::cos(t1); - T s1 = glm::sin(t1); - T c2 = glm::cos(t2); - T s2 = glm::sin(t2); - T c3 = glm::cos(t3); - T s3 = glm::sin(t3); - - mat<4, 4, T, defaultp> Result; - Result[0][0] = c1 * c3 - c2 * s1 * s3; - Result[0][1] = c3 * s1 + c1 * c2 * s3; - Result[0][2] = s2 *s3; - Result[0][3] = static_cast<T>(0); - Result[1][0] =-c1 * s3 - c2 * c3 * s1; - Result[1][1] = c1 * c2 * c3 - s1 * s3; - Result[1][2] = c3 * s2; - Result[1][3] = static_cast<T>(0); - Result[2][0] = s1 * s2; - Result[2][1] =-c1 * s2; - Result[2][2] = c2; - 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 mat<4, 4, T, defaultp> eulerAngleXZY - ( - T const & t1, - T const & t2, - T const & t3 - ) - { - T c1 = glm::cos(t1); - T s1 = glm::sin(t1); - T c2 = glm::cos(t2); - T s2 = glm::sin(t2); - T c3 = glm::cos(t3); - T s3 = glm::sin(t3); - - mat<4, 4, T, defaultp> Result; - Result[0][0] = c2 * c3; - Result[0][1] = s1 * s3 + c1 * c3 * s2; - Result[0][2] = c3 * s1 * s2 - c1 * s3; - Result[0][3] = static_cast<T>(0); - Result[1][0] =-s2; - Result[1][1] = c1 * c2; - Result[1][2] = c2 * s1; - Result[1][3] = static_cast<T>(0); - Result[2][0] = c2 * s3; - Result[2][1] = c1 * s2 * s3 - c3 * s1; - Result[2][2] = c1 * c3 + s1 * s2 *s3; - 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 mat<4, 4, T, defaultp> eulerAngleYZX - ( - T const & t1, - T const & t2, - T const & t3 - ) - { - T c1 = glm::cos(t1); - T s1 = glm::sin(t1); - T c2 = glm::cos(t2); - T s2 = glm::sin(t2); - T c3 = glm::cos(t3); - T s3 = glm::sin(t3); - - mat<4, 4, T, defaultp> Result; - Result[0][0] = c1 * c2; - Result[0][1] = s2; - Result[0][2] =-c2 * s1; - Result[0][3] = static_cast<T>(0); - Result[1][0] = s1 * s3 - c1 * c3 * s2; - Result[1][1] = c2 * c3; - Result[1][2] = c1 * s3 + c3 * s1 * s2; - Result[1][3] = static_cast<T>(0); - Result[2][0] = c3 * s1 + c1 * s2 * s3; - Result[2][1] =-c2 * s3; - Result[2][2] = c1 * c3 - s1 * s2 * s3; - 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 mat<4, 4, T, defaultp> eulerAngleZYX - ( - T const & t1, - T const & t2, - T const & t3 - ) - { - T c1 = glm::cos(t1); - T s1 = glm::sin(t1); - T c2 = glm::cos(t2); - T s2 = glm::sin(t2); - T c3 = glm::cos(t3); - T s3 = glm::sin(t3); - - mat<4, 4, T, defaultp> Result; - Result[0][0] = c1 * c2; - Result[0][1] = c2 * s1; - Result[0][2] =-s2; - Result[0][3] = static_cast<T>(0); - Result[1][0] = c1 * s2 * s3 - c3 * s1; - Result[1][1] = c1 * c3 + s1 * s2 * s3; - Result[1][2] = c2 * s3; - Result[1][3] = static_cast<T>(0); - Result[2][0] = s1 * s3 + c1 * c3 * s2; - Result[2][1] = c3 * s1 * s2 - c1 * s3; - Result[2][2] = c2 * c3; - 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 mat<4, 4, T, defaultp> eulerAngleZXY - ( - T const & t1, - T const & t2, - T const & t3 - ) - { - T c1 = glm::cos(t1); - T s1 = glm::sin(t1); - T c2 = glm::cos(t2); - T s2 = glm::sin(t2); - T c3 = glm::cos(t3); - T s3 = glm::sin(t3); - - mat<4, 4, T, defaultp> Result; - Result[0][0] = c1 * c3 - s1 * s2 * s3; - Result[0][1] = c3 * s1 + c1 * s2 * s3; - Result[0][2] =-c2 * s3; - Result[0][3] = static_cast<T>(0); - Result[1][0] =-c2 * s1; - Result[1][1] = c1 * c2; - Result[1][2] = s2; - Result[1][3] = static_cast<T>(0); - Result[2][0] = c1 * s3 + c3 * s1 * s2; - Result[2][1] = s1 * s3 - c1 * c3 * s2; - Result[2][2] = c2 * c3; - 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 mat<4, 4, 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); - - mat<4, 4, 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 mat<2, 2, T, defaultp> orientate2 - ( - T const& angle - ) - { - T c = glm::cos(angle); - T s = glm::sin(angle); - - mat<2, 2, 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 mat<3, 3, T, defaultp> orientate3 - ( - T const& angle - ) - { - T c = glm::cos(angle); - T s = glm::sin(angle); - - mat<3, 3, 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, qualifier Q> - GLM_FUNC_QUALIFIER mat<3, 3, T, Q> orientate3 - ( - vec<3, T, Q> const& angles - ) - { - return mat<3, 3, T, Q>(yawPitchRoll(angles.z, angles.x, angles.y)); - } - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER mat<4, 4, T, Q> orientate4 - ( - vec<3, T, Q> const& angles - ) - { - return yawPitchRoll(angles.z, angles.x, angles.y); - } - - template<typename T> - GLM_FUNC_DECL void extractEulerAngleXYZ(mat<4, 4, T, defaultp> const& M, - T & t1, - T & t2, - T & t3) - { - float T1 = glm::atan2<T, defaultp>(M[2][1], M[2][2]); - float C2 = glm::sqrt(M[0][0]*M[0][0] + M[1][0]*M[1][0]); - float T2 = glm::atan2<T, defaultp>(-M[2][0], C2); - float S1 = glm::sin(T1); - float C1 = glm::cos(T1); - float T3 = glm::atan2<T, defaultp>(S1*M[0][2] - C1*M[0][1], C1*M[1][1] - S1*M[1][2 ]); - t1 = -T1; - t2 = -T2; - t3 = -T3; - } - - template <typename T> - GLM_FUNC_QUALIFIER void extractEulerAngleYXZ(mat<4, 4, T, defaultp> const & M, - T & t1, - T & t2, - T & t3) - { - T T1 = glm::atan2<T, defaultp>(M[2][0], M[2][2]); - T C2 = glm::sqrt(M[0][1]*M[0][1] + M[1][1]*M[1][1]); - T T2 = glm::atan2<T, defaultp>(-M[2][1], C2); - T S1 = glm::sin(T1); - T C1 = glm::cos(T1); - T T3 = glm::atan2<T, defaultp>(S1*M[1][2] - C1*M[1][0], C1*M[0][0] - S1*M[0][2]); - t1 = T1; - t2 = T2; - t3 = T3; - } - - template <typename T> - GLM_FUNC_QUALIFIER void extractEulerAngleXZX(mat<4, 4, T, defaultp> const & M, - T & t1, - T & t2, - T & t3) - { - T T1 = glm::atan2<T, defaultp>(M[0][2], M[0][1]); - T S2 = glm::sqrt(M[1][0]*M[1][0] + M[2][0]*M[2][0]); - T T2 = glm::atan2<T, defaultp>(S2, M[0][0]); - T S1 = glm::sin(T1); - T C1 = glm::cos(T1); - T T3 = glm::atan2<T, defaultp>(C1*M[1][2] - S1*M[1][1], C1*M[2][2] - S1*M[2][1]); - t1 = T1; - t2 = T2; - t3 = T3; - } - - template <typename T> - GLM_FUNC_QUALIFIER void extractEulerAngleXYX(mat<4, 4, T, defaultp> const & M, - T & t1, - T & t2, - T & t3) - { - T T1 = glm::atan2<T, defaultp>(M[0][1], -M[0][2]); - T S2 = glm::sqrt(M[1][0]*M[1][0] + M[2][0]*M[2][0]); - T T2 = glm::atan2<T, defaultp>(S2, M[0][0]); - T S1 = glm::sin(T1); - T C1 = glm::cos(T1); - T T3 = glm::atan2<T, defaultp>(-C1*M[2][1] - S1*M[2][2], C1*M[1][1] + S1*M[1][2]); - t1 = T1; - t2 = T2; - t3 = T3; - } - - template <typename T> - GLM_FUNC_QUALIFIER void extractEulerAngleYXY(mat<4, 4, T, defaultp> const & M, - T & t1, - T & t2, - T & t3) - { - T T1 = glm::atan2<T, defaultp>(M[1][0], M[1][2]); - T S2 = glm::sqrt(M[0][1]*M[0][1] + M[2][1]*M[2][1]); - T T2 = glm::atan2<T, defaultp>(S2, M[1][1]); - T S1 = glm::sin(T1); - T C1 = glm::cos(T1); - T T3 = glm::atan2<T, defaultp>(C1*M[2][0] - S1*M[2][2], C1*M[0][0] - S1*M[0][2]); - t1 = T1; - t2 = T2; - t3 = T3; - } - - template <typename T> - GLM_FUNC_QUALIFIER void extractEulerAngleYZY(mat<4, 4, T, defaultp> const & M, - T & t1, - T & t2, - T & t3) - { - T T1 = glm::atan2<T, defaultp>(M[1][2], -M[1][0]); - T S2 = glm::sqrt(M[0][1]*M[0][1] + M[2][1]*M[2][1]); - T T2 = glm::atan2<T, defaultp>(S2, M[1][1]); - T S1 = glm::sin(T1); - T C1 = glm::cos(T1); - T T3 = glm::atan2<T, defaultp>(-S1*M[0][0] - C1*M[0][2], S1*M[2][0] + C1*M[2][2]); - t1 = T1; - t2 = T2; - t3 = T3; - } - - template <typename T> - GLM_FUNC_QUALIFIER void extractEulerAngleZYZ(mat<4, 4, T, defaultp> const & M, - T & t1, - T & t2, - T & t3) - { - T T1 = glm::atan2<T, defaultp>(M[2][1], M[2][0]); - T S2 = glm::sqrt(M[0][2]*M[0][2] + M[1][2]*M[1][2]); - T T2 = glm::atan2<T, defaultp>(S2, M[2][2]); - T S1 = glm::sin(T1); - T C1 = glm::cos(T1); - T T3 = glm::atan2<T, defaultp>(C1*M[0][1] - S1*M[0][0], C1*M[1][1] - S1*M[1][0]); - t1 = T1; - t2 = T2; - t3 = T3; - } - - template <typename T> - GLM_FUNC_QUALIFIER void extractEulerAngleZXZ(mat<4, 4, T, defaultp> const & M, - T & t1, - T & t2, - T & t3) - { - T T1 = glm::atan2<T, defaultp>(M[2][0], -M[2][1]); - T S2 = glm::sqrt(M[0][2]*M[0][2] + M[1][2]*M[1][2]); - T T2 = glm::atan2<T, defaultp>(S2, M[2][2]); - T S1 = glm::sin(T1); - T C1 = glm::cos(T1); - T T3 = glm::atan2<T, defaultp>(-C1*M[1][0] - S1*M[1][1], C1*M[0][0] + S1*M[0][1]); - t1 = T1; - t2 = T2; - t3 = T3; - } - - template <typename T> - GLM_FUNC_QUALIFIER void extractEulerAngleXZY(mat<4, 4, T, defaultp> const & M, - T & t1, - T & t2, - T & t3) - { - T T1 = glm::atan2<T, defaultp>(M[1][2], M[1][1]); - T C2 = glm::sqrt(M[0][0]*M[0][0] + M[2][0]*M[2][0]); - T T2 = glm::atan2<T, defaultp>(-M[1][0], C2); - T S1 = glm::sin(T1); - T C1 = glm::cos(T1); - T T3 = glm::atan2<T, defaultp>(S1*M[0][1] - C1*M[0][2], C1*M[2][2] - S1*M[2][1]); - t1 = T1; - t2 = T2; - t3 = T3; - } - - template <typename T> - GLM_FUNC_QUALIFIER void extractEulerAngleYZX(mat<4, 4, T, defaultp> const & M, - T & t1, - T & t2, - T & t3) - { - T T1 = glm::atan2<T, defaultp>(-M[0][2], M[0][0]); - T C2 = glm::sqrt(M[1][1]*M[1][1] + M[2][1]*M[2][1]); - T T2 = glm::atan2<T, defaultp>(M[0][1], C2); - T S1 = glm::sin(T1); - T C1 = glm::cos(T1); - T T3 = glm::atan2<T, defaultp>(S1*M[1][0] + C1*M[1][2], S1*M[2][0] + C1*M[2][2]); - t1 = T1; - t2 = T2; - t3 = T3; - } - - template <typename T> - GLM_FUNC_QUALIFIER void extractEulerAngleZYX(mat<4, 4, T, defaultp> const & M, - T & t1, - T & t2, - T & t3) - { - T T1 = glm::atan2<T, defaultp>(M[0][1], M[0][0]); - T C2 = glm::sqrt(M[1][2]*M[1][2] + M[2][2]*M[2][2]); - T T2 = glm::atan2<T, defaultp>(-M[0][2], C2); - T S1 = glm::sin(T1); - T C1 = glm::cos(T1); - T T3 = glm::atan2<T, defaultp>(S1*M[2][0] - C1*M[2][1], C1*M[1][1] - S1*M[1][0]); - t1 = T1; - t2 = T2; - t3 = T3; - } - - template <typename T> - GLM_FUNC_QUALIFIER void extractEulerAngleZXY(mat<4, 4, T, defaultp> const & M, - T & t1, - T & t2, - T & t3) - { - T T1 = glm::atan2<T, defaultp>(-M[1][0], M[1][1]); - T C2 = glm::sqrt(M[0][2]*M[0][2] + M[2][2]*M[2][2]); - T T2 = glm::atan2<T, defaultp>(M[1][2], C2); - T S1 = glm::sin(T1); - T C1 = glm::cos(T1); - T T3 = glm::atan2<T, defaultp>(C1*M[2][0] + S1*M[2][1], C1*M[0][0] + S1*M[0][1]); - t1 = T1; - t2 = T2; - t3 = T3; - } -}//namespace glm |