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+/// @ref gtx_euler_angles
+/// @file glm/gtx/euler_angles.hpp
+///
+/// @see core (dependence)
+///
+/// @defgroup gtx_euler_angles GLM_GTX_euler_angles
+/// @ingroup gtx
+///
+/// Include <glm/gtx/euler_angles.hpp> to use the features of this extension.
+///
+/// Build matrices from Euler angles.
+///
+/// Extraction of Euler angles from rotation matrix.
+/// Based on the original paper 2014 Mike Day - Extracting Euler Angles from a Rotation Matrix.
+
+#pragma once
+
+// Dependency:
+#include "../glm.hpp"
+
+#if GLM_MESSAGES == GLM_ENABLE && !defined(GLM_EXT_INCLUDED)
+# ifndef GLM_ENABLE_EXPERIMENTAL
+# pragma message("GLM: GLM_GTX_euler_angles is an experimental extension and may change in the future. Use #define GLM_ENABLE_EXPERIMENTAL before including it, if you really want to use it.")
+# else
+# pragma message("GLM: GLM_GTX_euler_angles extension included")
+# endif
+#endif
+
+namespace glm
+{
+ /// @addtogroup gtx_euler_angles
+ /// @{
+
+ /// Creates a 3D 4 * 4 homogeneous rotation matrix from an euler angle X.
+ /// @see gtx_euler_angles
+ template<typename T>
+ GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleX(
+ T const& angleX);
+
+ /// Creates a 3D 4 * 4 homogeneous rotation matrix from an euler angle Y.
+ /// @see gtx_euler_angles
+ template<typename T>
+ GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleY(
+ T const& angleY);
+
+ /// Creates a 3D 4 * 4 homogeneous rotation matrix from an euler angle Z.
+ /// @see gtx_euler_angles
+ template<typename T>
+ GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleZ(
+ T const& angleZ);
+
+ /// Creates a 3D 4 * 4 homogeneous derived matrix from the rotation matrix about X-axis.
+ /// @see gtx_euler_angles
+ template <typename T>
+ GLM_FUNC_DECL mat<4, 4, T, defaultp> derivedEulerAngleX(
+ T const & angleX, T const & angularVelocityX);
+
+ /// Creates a 3D 4 * 4 homogeneous derived matrix from the rotation matrix about Y-axis.
+ /// @see gtx_euler_angles
+ template <typename T>
+ GLM_FUNC_DECL mat<4, 4, T, defaultp> derivedEulerAngleY(
+ T const & angleY, T const & angularVelocityY);
+
+ /// Creates a 3D 4 * 4 homogeneous derived matrix from the rotation matrix about Z-axis.
+ /// @see gtx_euler_angles
+ template <typename T>
+ GLM_FUNC_DECL mat<4, 4, T, defaultp> derivedEulerAngleZ(
+ T const & angleZ, T const & angularVelocityZ);
+
+ /// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (X * Y).
+ /// @see gtx_euler_angles
+ template<typename T>
+ GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleXY(
+ T const& angleX,
+ T const& angleY);
+
+ /// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (Y * X).
+ /// @see gtx_euler_angles
+ template<typename T>
+ GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleYX(
+ T const& angleY,
+ T const& angleX);
+
+ /// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (X * Z).
+ /// @see gtx_euler_angles
+ template<typename T>
+ GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleXZ(
+ T const& angleX,
+ T const& angleZ);
+
+ /// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (Z * X).
+ /// @see gtx_euler_angles
+ template<typename T>
+ GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleZX(
+ T const& angle,
+ T const& angleX);
+
+ /// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (Y * Z).
+ /// @see gtx_euler_angles
+ template<typename T>
+ GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleYZ(
+ T const& angleY,
+ T const& angleZ);
+
+ /// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (Z * Y).
+ /// @see gtx_euler_angles
+ template<typename T>
+ GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleZY(
+ T const& angleZ,
+ T const& angleY);
+
+ /// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (X * Y * Z).
+ /// @see gtx_euler_angles
+ template<typename T>
+ GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleXYZ(
+ T const& t1,
+ T const& t2,
+ T const& t3);
+
+ /// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (Y * X * Z).
+ /// @see gtx_euler_angles
+ template<typename T>
+ GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleYXZ(
+ T const& yaw,
+ T const& pitch,
+ T const& roll);
+
+ /// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (X * Z * X).
+ /// @see gtx_euler_angles
+ template <typename T>
+ GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleXZX(
+ T const & t1,
+ T const & t2,
+ T const & t3);
+
+ /// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (X * Y * X).
+ /// @see gtx_euler_angles
+ template <typename T>
+ GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleXYX(
+ T const & t1,
+ T const & t2,
+ T const & t3);
+
+ /// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (Y * X * Y).
+ /// @see gtx_euler_angles
+ template <typename T>
+ GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleYXY(
+ T const & t1,
+ T const & t2,
+ T const & t3);
+
+ /// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (Y * Z * Y).
+ /// @see gtx_euler_angles
+ template <typename T>
+ GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleYZY(
+ T const & t1,
+ T const & t2,
+ T const & t3);
+
+ /// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (Z * Y * Z).
+ /// @see gtx_euler_angles
+ template <typename T>
+ GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleZYZ(
+ T const & t1,
+ T const & t2,
+ T const & t3);
+
+ /// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (Z * X * Z).
+ /// @see gtx_euler_angles
+ template <typename T>
+ GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleZXZ(
+ T const & t1,
+ T const & t2,
+ T const & t3);
+
+ /// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (X * Z * Y).
+ /// @see gtx_euler_angles
+ template <typename T>
+ GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleXZY(
+ T const & t1,
+ T const & t2,
+ T const & t3);
+
+ /// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (Y * Z * X).
+ /// @see gtx_euler_angles
+ template <typename T>
+ GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleYZX(
+ T const & t1,
+ T const & t2,
+ T const & t3);
+
+ /// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (Z * Y * X).
+ /// @see gtx_euler_angles
+ template <typename T>
+ GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleZYX(
+ T const & t1,
+ T const & t2,
+ T const & t3);
+
+ /// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (Z * X * Y).
+ /// @see gtx_euler_angles
+ template <typename T>
+ GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleZXY(
+ T const & t1,
+ T const & t2,
+ T const & t3);
+
+ /// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (Y * X * Z).
+ /// @see gtx_euler_angles
+ template<typename T>
+ GLM_FUNC_DECL mat<4, 4, T, defaultp> yawPitchRoll(
+ T const& yaw,
+ T const& pitch,
+ T const& roll);
+
+ /// Creates a 2D 2 * 2 rotation matrix from an euler angle.
+ /// @see gtx_euler_angles
+ template<typename T>
+ GLM_FUNC_DECL mat<2, 2, T, defaultp> orientate2(T const& angle);
+
+ /// Creates a 2D 4 * 4 homogeneous rotation matrix from an euler angle.
+ /// @see gtx_euler_angles
+ template<typename T>
+ GLM_FUNC_DECL mat<3, 3, T, defaultp> orientate3(T const& angle);
+
+ /// Creates a 3D 3 * 3 rotation matrix from euler angles (Y * X * Z).
+ /// @see gtx_euler_angles
+ template<typename T, qualifier Q>
+ GLM_FUNC_DECL mat<3, 3, T, Q> orientate3(vec<3, T, Q> const& angles);
+
+ /// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (Y * X * Z).
+ /// @see gtx_euler_angles
+ template<typename T, qualifier Q>
+ GLM_FUNC_DECL mat<4, 4, T, Q> orientate4(vec<3, T, Q> const& angles);
+
+ /// Extracts the (X * Y * Z) Euler angles from the rotation matrix M
+ /// @see gtx_euler_angles
+ template<typename T>
+ GLM_FUNC_DECL void extractEulerAngleXYZ(mat<4, 4, T, defaultp> const& M,
+ T & t1,
+ T & t2,
+ T & t3);
+
+ /// Extracts the (Y * X * Z) Euler angles from the rotation matrix M
+ /// @see gtx_euler_angles
+ template <typename T>
+ GLM_FUNC_DECL void extractEulerAngleYXZ(mat<4, 4, T, defaultp> const & M,
+ T & t1,
+ T & t2,
+ T & t3);
+
+ /// Extracts the (X * Z * X) Euler angles from the rotation matrix M
+ /// @see gtx_euler_angles
+ template <typename T>
+ GLM_FUNC_DECL void extractEulerAngleXZX(mat<4, 4, T, defaultp> const & M,
+ T & t1,
+ T & t2,
+ T & t3);
+
+ /// Extracts the (X * Y * X) Euler angles from the rotation matrix M
+ /// @see gtx_euler_angles
+ template <typename T>
+ GLM_FUNC_DECL void extractEulerAngleXYX(mat<4, 4, T, defaultp> const & M,
+ T & t1,
+ T & t2,
+ T & t3);
+
+ /// Extracts the (Y * X * Y) Euler angles from the rotation matrix M
+ /// @see gtx_euler_angles
+ template <typename T>
+ GLM_FUNC_DECL void extractEulerAngleYXY(mat<4, 4, T, defaultp> const & M,
+ T & t1,
+ T & t2,
+ T & t3);
+
+ /// Extracts the (Y * Z * Y) Euler angles from the rotation matrix M
+ /// @see gtx_euler_angles
+ template <typename T>
+ GLM_FUNC_DECL void extractEulerAngleYZY(mat<4, 4, T, defaultp> const & M,
+ T & t1,
+ T & t2,
+ T & t3);
+
+ /// Extracts the (Z * Y * Z) Euler angles from the rotation matrix M
+ /// @see gtx_euler_angles
+ template <typename T>
+ GLM_FUNC_DECL void extractEulerAngleZYZ(mat<4, 4, T, defaultp> const & M,
+ T & t1,
+ T & t2,
+ T & t3);
+
+ /// Extracts the (Z * X * Z) Euler angles from the rotation matrix M
+ /// @see gtx_euler_angles
+ template <typename T>
+ GLM_FUNC_DECL void extractEulerAngleZXZ(mat<4, 4, T, defaultp> const & M,
+ T & t1,
+ T & t2,
+ T & t3);
+
+ /// Extracts the (X * Z * Y) Euler angles from the rotation matrix M
+ /// @see gtx_euler_angles
+ template <typename T>
+ GLM_FUNC_DECL void extractEulerAngleXZY(mat<4, 4, T, defaultp> const & M,
+ T & t1,
+ T & t2,
+ T & t3);
+
+ /// Extracts the (Y * Z * X) Euler angles from the rotation matrix M
+ /// @see gtx_euler_angles
+ template <typename T>
+ GLM_FUNC_DECL void extractEulerAngleYZX(mat<4, 4, T, defaultp> const & M,
+ T & t1,
+ T & t2,
+ T & t3);
+
+ /// Extracts the (Z * Y * X) Euler angles from the rotation matrix M
+ /// @see gtx_euler_angles
+ template <typename T>
+ GLM_FUNC_DECL void extractEulerAngleZYX(mat<4, 4, T, defaultp> const & M,
+ T & t1,
+ T & t2,
+ T & t3);
+
+ /// Extracts the (Z * X * Y) Euler angles from the rotation matrix M
+ /// @see gtx_euler_angles
+ template <typename T>
+ GLM_FUNC_DECL void extractEulerAngleZXY(mat<4, 4, T, defaultp> const & M,
+ T & t1,
+ T & t2,
+ T & t3);
+
+ /// @}
+}//namespace glm
+
+#include "euler_angles.inl"
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