From a8b3118e8305fd1c668ea25e07157b625c9747ff Mon Sep 17 00:00:00 2001 From: Joursoir Date: Sat, 10 Apr 2021 17:29:02 +0000 Subject: add glm headers --- src/include/glm/gtx/matrix_interpolation.inl | 129 +++++++++++++++++++++++++++ 1 file changed, 129 insertions(+) create mode 100644 src/include/glm/gtx/matrix_interpolation.inl (limited to 'src/include/glm/gtx/matrix_interpolation.inl') diff --git a/src/include/glm/gtx/matrix_interpolation.inl b/src/include/glm/gtx/matrix_interpolation.inl new file mode 100644 index 0000000..d376d45 --- /dev/null +++ b/src/include/glm/gtx/matrix_interpolation.inl @@ -0,0 +1,129 @@ +/// @ref gtx_matrix_interpolation + +#include "../gtc/constants.hpp" + +namespace glm +{ + template + GLM_FUNC_QUALIFIER void axisAngle(mat<4, 4, T, Q> const& m, vec<3, T, Q> & axis, T& angle) + { + T epsilon = static_cast(0.01); + T epsilon2 = static_cast(0.1); + + if((abs(m[1][0] - m[0][1]) < epsilon) && (abs(m[2][0] - m[0][2]) < epsilon) && (abs(m[2][1] - m[1][2]) < epsilon)) + { + if ((abs(m[1][0] + m[0][1]) < epsilon2) && (abs(m[2][0] + m[0][2]) < epsilon2) && (abs(m[2][1] + m[1][2]) < epsilon2) && (abs(m[0][0] + m[1][1] + m[2][2] - static_cast(3.0)) < epsilon2)) + { + angle = static_cast(0.0); + axis.x = static_cast(1.0); + axis.y = static_cast(0.0); + axis.z = static_cast(0.0); + return; + } + angle = static_cast(3.1415926535897932384626433832795); + T xx = (m[0][0] + static_cast(1.0)) * static_cast(0.5); + T yy = (m[1][1] + static_cast(1.0)) * static_cast(0.5); + T zz = (m[2][2] + static_cast(1.0)) * static_cast(0.5); + T xy = (m[1][0] + m[0][1]) * static_cast(0.25); + T xz = (m[2][0] + m[0][2]) * static_cast(0.25); + T yz = (m[2][1] + m[1][2]) * static_cast(0.25); + if((xx > yy) && (xx > zz)) + { + if(xx < epsilon) + { + axis.x = static_cast(0.0); + axis.y = static_cast(0.7071); + axis.z = static_cast(0.7071); + } + else + { + axis.x = sqrt(xx); + axis.y = xy / axis.x; + axis.z = xz / axis.x; + } + } + else if (yy > zz) + { + if(yy < epsilon) + { + axis.x = static_cast(0.7071); + axis.y = static_cast(0.0); + axis.z = static_cast(0.7071); + } + else + { + axis.y = sqrt(yy); + axis.x = xy / axis.y; + axis.z = yz / axis.y; + } + } + else + { + if (zz < epsilon) + { + axis.x = static_cast(0.7071); + axis.y = static_cast(0.7071); + axis.z = static_cast(0.0); + } + else + { + axis.z = sqrt(zz); + axis.x = xz / axis.z; + axis.y = yz / axis.z; + } + } + return; + } + T s = sqrt((m[2][1] - m[1][2]) * (m[2][1] - m[1][2]) + (m[2][0] - m[0][2]) * (m[2][0] - m[0][2]) + (m[1][0] - m[0][1]) * (m[1][0] - m[0][1])); + if (glm::abs(s) < T(0.001)) + s = static_cast(1); + T const angleCos = (m[0][0] + m[1][1] + m[2][2] - static_cast(1)) * static_cast(0.5); + if(angleCos - static_cast(1) < epsilon) + angle = pi() * static_cast(0.25); + else + angle = acos(angleCos); + axis.x = (m[1][2] - m[2][1]) / s; + axis.y = (m[2][0] - m[0][2]) / s; + axis.z = (m[0][1] - m[1][0]) / s; + } + + template + GLM_FUNC_QUALIFIER mat<4, 4, T, Q> axisAngleMatrix(vec<3, T, Q> const& axis, T const angle) + { + T c = cos(angle); + T s = sin(angle); + T t = static_cast(1) - c; + vec<3, T, Q> n = normalize(axis); + + return mat<4, 4, T, Q>( + t * n.x * n.x + c, t * n.x * n.y + n.z * s, t * n.x * n.z - n.y * s, static_cast(0.0), + t * n.x * n.y - n.z * s, t * n.y * n.y + c, t * n.y * n.z + n.x * s, static_cast(0.0), + t * n.x * n.z + n.y * s, t * n.y * n.z - n.x * s, t * n.z * n.z + c, static_cast(0.0), + static_cast(0.0), static_cast(0.0), static_cast(0.0), static_cast(1.0)); + } + + template + GLM_FUNC_QUALIFIER mat<4, 4, T, Q> extractMatrixRotation(mat<4, 4, T, Q> const& m) + { + return mat<4, 4, T, Q>( + m[0][0], m[0][1], m[0][2], static_cast(0.0), + m[1][0], m[1][1], m[1][2], static_cast(0.0), + m[2][0], m[2][1], m[2][2], static_cast(0.0), + static_cast(0.0), static_cast(0.0), static_cast(0.0), static_cast(1.0)); + } + + template + GLM_FUNC_QUALIFIER mat<4, 4, T, Q> interpolate(mat<4, 4, T, Q> const& m1, mat<4, 4, T, Q> const& m2, T const delta) + { + mat<4, 4, T, Q> m1rot = extractMatrixRotation(m1); + mat<4, 4, T, Q> dltRotation = m2 * transpose(m1rot); + vec<3, T, Q> dltAxis; + T dltAngle; + axisAngle(dltRotation, dltAxis, dltAngle); + mat<4, 4, T, Q> out = axisAngleMatrix(dltAxis, dltAngle * delta) * m1rot; + out[3][0] = m1[3][0] + delta * (m2[3][0] - m1[3][0]); + out[3][1] = m1[3][1] + delta * (m2[3][1] - m1[3][1]); + out[3][2] = m1[3][2] + delta * (m2[3][2] - m1[3][2]); + return out; + } +}//namespace glm -- cgit v1.2.3-18-g5258