diff options
Diffstat (limited to 'src/include/glm/gtx/euler_angles.inl')
| -rw-r--r-- | src/include/glm/gtx/euler_angles.inl | 899 |
1 files changed, 899 insertions, 0 deletions
diff --git a/src/include/glm/gtx/euler_angles.inl b/src/include/glm/gtx/euler_angles.inl new file mode 100644 index 0000000..d9f672b --- /dev/null +++ b/src/include/glm/gtx/euler_angles.inl @@ -0,0 +1,899 @@ +/// @ref gtx_euler_angles
+
+#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)
+ {
+ T T1 = glm::atan2<T, defaultp>(M[2][1], M[2][2]);
+ T C2 = glm::sqrt(M[0][0]*M[0][0] + M[1][0]*M[1][0]);
+ T T2 = glm::atan2<T, defaultp>(-M[2][0], C2);
+ T S1 = glm::sin(T1);
+ T C1 = glm::cos(T1);
+ T 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
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