mirror of
https://github.com/acemod/ACE3.git
synced 2024-08-30 18:23:18 +00:00
288 lines
7.2 KiB
C++
288 lines
7.2 KiB
C++
///////////////////////////////////////////////////////////////////////////////////
|
|
/// OpenGL Mathematics (glm.g-truc.net)
|
|
///
|
|
/// Copyright (c) 2005 - 2015 G-Truc Creation (www.g-truc.net)
|
|
/// Permission is hereby granted, free of charge, to any person obtaining a copy
|
|
/// of this software and associated documentation files (the "Software"), to deal
|
|
/// in the Software without restriction, including without limitation the rights
|
|
/// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
|
/// copies of the Software, and to permit persons to whom the Software is
|
|
/// furnished to do so, subject to the following conditions:
|
|
///
|
|
/// The above copyright notice and this permission notice shall be included in
|
|
/// all copies or substantial portions of the Software.
|
|
///
|
|
/// Restrictions:
|
|
/// By making use of the Software for military purposes, you choose to make
|
|
/// a Bunny unhappy.
|
|
///
|
|
/// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
|
/// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
|
/// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
|
/// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
|
/// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
|
/// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
|
|
/// THE SOFTWARE.
|
|
///
|
|
/// @ref gtx_euler_angles
|
|
/// @file glm/gtx/euler_angles.inl
|
|
/// @date 2005-12-21 / 2011-06-07
|
|
/// @author Christophe Riccio
|
|
///////////////////////////////////////////////////////////////////////////////////////////////////
|
|
|
|
namespace glm
|
|
{
|
|
template <typename T>
|
|
GLM_FUNC_QUALIFIER tmat4x4<T, defaultp> eulerAngleX
|
|
(
|
|
T const & angleX
|
|
)
|
|
{
|
|
T cosX = glm::cos(angleX);
|
|
T sinX = glm::sin(angleX);
|
|
|
|
return 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 tmat4x4<T, defaultp> eulerAngleY
|
|
(
|
|
T const & angleY
|
|
)
|
|
{
|
|
T cosY = glm::cos(angleY);
|
|
T sinY = glm::sin(angleY);
|
|
|
|
return 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 tmat4x4<T, defaultp> eulerAngleZ
|
|
(
|
|
T const & angleZ
|
|
)
|
|
{
|
|
T cosZ = glm::cos(angleZ);
|
|
T sinZ = glm::sin(angleZ);
|
|
|
|
return 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 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 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 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 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 tmat4x4<T, defaultp> eulerAngleXZ
|
|
(
|
|
T const & angleX,
|
|
T const & angleZ
|
|
)
|
|
{
|
|
return eulerAngleX(angleX) * eulerAngleZ(angleZ);
|
|
}
|
|
|
|
template <typename T>
|
|
GLM_FUNC_QUALIFIER tmat4x4<T, defaultp> eulerAngleZX
|
|
(
|
|
T const & angleZ,
|
|
T const & angleX
|
|
)
|
|
{
|
|
return eulerAngleZ(angleZ) * eulerAngleX(angleX);
|
|
}
|
|
|
|
template <typename T>
|
|
GLM_FUNC_QUALIFIER tmat4x4<T, defaultp> eulerAngleYZ
|
|
(
|
|
T const & angleY,
|
|
T const & angleZ
|
|
)
|
|
{
|
|
return eulerAngleY(angleY) * eulerAngleZ(angleZ);
|
|
}
|
|
|
|
template <typename T>
|
|
GLM_FUNC_QUALIFIER tmat4x4<T, defaultp> eulerAngleZY
|
|
(
|
|
T const & angleZ,
|
|
T const & angleY
|
|
)
|
|
{
|
|
return eulerAngleZ(angleZ) * eulerAngleY(angleY);
|
|
}
|
|
|
|
template <typename T>
|
|
GLM_FUNC_QUALIFIER 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);
|
|
|
|
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 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);
|
|
|
|
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 tmat2x2<T, defaultp> orientate2
|
|
(
|
|
T const & angle
|
|
)
|
|
{
|
|
T c = glm::cos(angle);
|
|
T s = glm::sin(angle);
|
|
|
|
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 tmat3x3<T, defaultp> orientate3
|
|
(
|
|
T const & angle
|
|
)
|
|
{
|
|
T c = glm::cos(angle);
|
|
T s = glm::sin(angle);
|
|
|
|
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 tmat3x3<T, P> orientate3
|
|
(
|
|
tvec3<T, P> const & angles
|
|
)
|
|
{
|
|
return tmat3x3<T, P>(yawPitchRoll(angles.z, angles.x, angles.y));
|
|
}
|
|
|
|
template <typename T, precision P>
|
|
GLM_FUNC_QUALIFIER tmat4x4<T, P> orientate4
|
|
(
|
|
tvec3<T, P> const & angles
|
|
)
|
|
{
|
|
return yawPitchRoll(angles.z, angles.x, angles.y);
|
|
}
|
|
}//namespace glm
|