kicad/include/gal/opengl/glm/gtx/euler_angles.inl

245 lines
6.4 KiB
C++

///////////////////////////////////////////////////////////////////////////////////////////////////
// OpenGL Mathematics Copyright (c) 2005 - 2012 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 valType>
GLM_FUNC_QUALIFIER detail::tmat4x4<valType> eulerAngleX
(
valType const & angleX
)
{
valType cosX = glm::cos(angleX);
valType sinX = glm::sin(angleX);
return detail::tmat4x4<valType>(
valType(1), valType(0), valType(0), valType(0),
valType(0), cosX, sinX, valType(0),
valType(0),-sinX, cosX, valType(0),
valType(0), valType(0), valType(0), valType(1));
}
template <typename valType>
GLM_FUNC_QUALIFIER detail::tmat4x4<valType> eulerAngleY
(
valType const & angleY
)
{
valType cosY = glm::cos(angleY);
valType sinY = glm::sin(angleY);
return detail::tmat4x4<valType>(
cosY, valType(0), sinY, valType(0),
valType(0), valType(1), valType(0), valType(0),
-sinY, valType(0), cosY, valType(0),
valType(0), valType(0), valType(0), valType(1));
}
template <typename valType>
GLM_FUNC_QUALIFIER detail::tmat4x4<valType> eulerAngleZ
(
valType const & angleZ
)
{
valType cosZ = glm::cos(angleZ);
valType sinZ = glm::sin(angleZ);
return detail::tmat4x4<valType>(
cosZ, sinZ, valType(0), valType(0),
-sinZ, cosZ, valType(0), valType(0),
valType(0), valType(0), valType(1), valType(0),
valType(0), valType(0), valType(0), valType(1));
}
template <typename valType>
GLM_FUNC_QUALIFIER detail::tmat4x4<valType> eulerAngleXY
(
valType const & angleX,
valType const & angleY
)
{
valType cosX = glm::cos(angleX);
valType sinX = glm::sin(angleX);
valType cosY = glm::cos(angleY);
valType sinY = glm::sin(angleY);
return detail::tmat4x4<valType>(
cosY, -sinX * sinY, cosX * sinY, valType(0),
valType(0), cosX, sinX, valType(0),
-sinY , -sinX * cosY, cosX * cosY, valType(0),
valType(0), valType(0), valType(0), valType(1));
}
template <typename valType>
GLM_FUNC_QUALIFIER detail::tmat4x4<valType> eulerAngleYX
(
valType const & angleY,
valType const & angleX
)
{
valType cosX = glm::cos(angleX);
valType sinX = glm::sin(angleX);
valType cosY = glm::cos(angleY);
valType sinY = glm::sin(angleY);
return detail::tmat4x4<valType>(
cosY, valType(0), sinY, valType(0),
-sinX * sinY, cosX, sinX * cosY, valType(0),
-cosX * sinY, -sinX, cosX * cosY, valType(0),
valType(0), valType(0), valType(0), valType(1));
}
template <typename valType>
GLM_FUNC_QUALIFIER detail::tmat4x4<valType> eulerAngleXZ
(
valType const & angleX,
valType const & angleZ
)
{
return eulerAngleX(angleX) * eulerAngleZ(angleZ);
}
template <typename valType>
GLM_FUNC_QUALIFIER detail::tmat4x4<valType> eulerAngleZX
(
valType const & angleZ,
valType const & angleX
)
{
return eulerAngleZ(angleZ) * eulerAngleX(angleX);
}
template <typename valType>
GLM_FUNC_QUALIFIER detail::tmat4x4<valType> eulerAngleYXZ
(
valType const & yaw,
valType const & pitch,
valType const & roll
)
{
valType tmp_ch = glm::cos(yaw);
valType tmp_sh = glm::sin(yaw);
valType tmp_cp = glm::cos(pitch);
valType tmp_sp = glm::sin(pitch);
valType tmp_cb = glm::cos(roll);
valType tmp_sb = glm::sin(roll);
detail::tmat4x4<valType> 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] = valType(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] = valType(0);
Result[2][0] = tmp_sh * tmp_cp;
Result[2][1] = -tmp_sp;
Result[2][2] = tmp_ch * tmp_cp;
Result[2][3] = valType(0);
Result[3][0] = valType(0);
Result[3][1] = valType(0);
Result[3][2] = valType(0);
Result[3][3] = valType(1);
return Result;
}
template <typename valType>
GLM_FUNC_QUALIFIER detail::tmat4x4<valType> yawPitchRoll
(
valType const & yaw,
valType const & pitch,
valType const & roll
)
{
valType tmp_ch = glm::cos(yaw);
valType tmp_sh = glm::sin(yaw);
valType tmp_cp = glm::cos(pitch);
valType tmp_sp = glm::sin(pitch);
valType tmp_cb = glm::cos(roll);
valType tmp_sb = glm::sin(roll);
detail::tmat4x4<valType> 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] = valType(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] = valType(0);
Result[2][0] = tmp_sh * tmp_cp;
Result[2][1] = -tmp_sp;
Result[2][2] = tmp_ch * tmp_cp;
Result[2][3] = valType(0);
Result[3][0] = valType(0);
Result[3][1] = valType(0);
Result[3][2] = valType(0);
Result[3][3] = valType(1);
return Result;
}
template <typename valType>
GLM_FUNC_QUALIFIER detail::tmat2x2<valType> orientate2
(
valType const & angle
)
{
valType c = glm::cos(angle);
valType s = glm::sin(angle);
detail::tmat2x2<valType> Result;
Result[0][0] = c;
Result[0][1] = s;
Result[1][0] = -s;
Result[1][1] = c;
return Result;
}
template <typename valType>
GLM_FUNC_QUALIFIER detail::tmat3x3<valType> orientate3
(
valType const & angle
)
{
valType c = glm::cos(angle);
valType s = glm::sin(angle);
detail::tmat3x3<valType> 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 valType>
GLM_FUNC_QUALIFIER detail::tmat3x3<valType> orientate3
(
detail::tvec3<valType> const & angles
)
{
return detail::tmat3x3<valType>(yawPitchRoll(angles.x, angles.y, angles.z));
}
template <typename valType>
GLM_FUNC_QUALIFIER detail::tmat4x4<valType> orientate4
(
detail::tvec3<valType> const & angles
)
{
return yawPitchRoll(angles.z, angles.x, angles.y);
}
}//namespace glm