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Diffstat (limited to 'include/cglm/handed/euler_to_quat_rh.h')
| -rw-r--r-- | include/cglm/handed/euler_to_quat_rh.h | 170 |
1 files changed, 170 insertions, 0 deletions
diff --git a/include/cglm/handed/euler_to_quat_rh.h b/include/cglm/handed/euler_to_quat_rh.h new file mode 100644 index 0000000..aeb6f81 --- /dev/null +++ b/include/cglm/handed/euler_to_quat_rh.h @@ -0,0 +1,170 @@ +/* + * Copyright (c), Recep Aslantas. + * + * MIT License (MIT), http://opensource.org/licenses/MIT + * Full license can be found in the LICENSE file + */ + +/* + Functions: + CGLM_INLINE void glm_euler_xyz_quat_rh(vec3 angles, versor dest); + CGLM_INLINE void glm_euler_xzy_quat_rh(vec3 angles, versor dest); + CGLM_INLINE void glm_euler_yxz_quat_rh(vec3 angles, versor dest); + CGLM_INLINE void glm_euler_yzx_quat_rh(vec3 angles, versor dest); + CGLM_INLINE void glm_euler_zxy_quat_rh(vec3 angles, versor dest); + CGLM_INLINE void glm_euler_zyx_quat_rh(vec3 angles, versor dest); + */ + +/* + Things to note: + The only difference between euler to quat rh vs lh is that the zsin part is negative + */ + +#ifndef cglm_euler_to_quat_rh_h +#define cglm_euler_to_quat_rh_h + +#include "../common.h" + +/*! + * @brief creates NEW quaternion using rotation angles and does + * rotations in x y z order in right hand (roll pitch yaw) + * + * @param[in] angles angles x y z (radians) + * @param[out] dest quaternion + */ +CGLM_INLINE +void +glm_euler_xyz_quat_rh(vec3 angles, versor dest) { + float xc, yc, zc, + xs, ys, zs; + + xs = sinf(angles[0] * 0.5f); xc = cosf(angles[0] * 0.5f); + ys = sinf(angles[1] * 0.5f); yc = cosf(angles[1] * 0.5f); + zs = sinf(angles[2] * 0.5f); zc = cosf(angles[2] * 0.5f); + + dest[0] = xc * ys * zs + xs * yc * zc; + dest[1] = xc * ys * zc - xs * yc * zs; + dest[2] = xc * yc * zs + xs * ys * zc; + dest[3] = xc * yc * zc - xs * ys * zs; + +} + +/*! + * @brief creates NEW quaternion using rotation angles and does + * rotations in x z y order in right hand (roll yaw pitch) + * + * @param[in] angles angles x y z (radians) + * @param[out] dest quaternion + */ +CGLM_INLINE +void +glm_euler_xzy_quat_rh(vec3 angles, versor dest) { + float xc, yc, zc, + xs, ys, zs; + + xs = sinf(angles[0] * 0.5f); xc = cosf(angles[0] * 0.5f); + ys = sinf(angles[1] * 0.5f); yc = cosf(angles[1] * 0.5f); + zs = sinf(angles[2] * 0.5f); zc = cosf(angles[2] * 0.5f); + + dest[0] = -xc * zs * ys + xs * zc * yc; + dest[1] = xc * zc * ys - xs * zs * yc; + dest[2] = xc * zs * yc + xs * zc * ys; + dest[3] = xc * zc * yc + xs * zs * ys; + +} + +/*! + * @brief creates NEW quaternion using rotation angles and does + * rotations in y x z order in right hand (pitch roll yaw) + * + * @param[in] angles angles x y z (radians) + * @param[out] dest quaternion + */ +CGLM_INLINE +void +glm_euler_yxz_quat_rh(vec3 angles, versor dest) { + float xc, yc, zc, + xs, ys, zs; + + xs = sinf(angles[0] * 0.5f); xc = cosf(angles[0] * 0.5f); + ys = sinf(angles[1] * 0.5f); yc = cosf(angles[1] * 0.5f); + zs = sinf(angles[2] * 0.5f); zc = cosf(angles[2] * 0.5f); + + dest[0] = yc * xs * zc + ys * xc * zs; + dest[1] = -yc * xs * zs + ys * xc * zc; + dest[2] = yc * xc * zs - ys * xs * zc; + dest[3] = yc * xc * zc + ys * xs * zs; +} + +/*! + * @brief creates NEW quaternion using rotation angles and does + * rotations in y z x order in right hand (pitch yaw roll) + * + * @param[in] angles angles x y z (radians) + * @param[out] dest quaternion + */ +CGLM_INLINE +void +glm_euler_yzx_quat_rh(vec3 angles, versor dest) { + float xc, yc, zc, + xs, ys, zs; + + xs = sinf(angles[0] * 0.5f); xc = cosf(angles[0] * 0.5f); + ys = sinf(angles[1] * 0.5f); yc = cosf(angles[1] * 0.5f); + zs = sinf(angles[2] * 0.5f); zc = cosf(angles[2] * 0.5f); + + dest[0] = yc * zc * xs + ys * zs * xc; + dest[1] = yc * zs * xs + ys * zc * xc; + dest[2] = yc * zs * xc - ys * zc * xs; + dest[3] = yc * zc * xc - ys * zs * xs; + +} + +/*! + * @brief creates NEW quaternion using rotation angles and does + * rotations in z x y order in right hand (yaw roll pitch) + * + * @param[in] angles angles x y z (radians) + * @param[out] dest quaternion + */ +CGLM_INLINE +void +glm_euler_zxy_quat_rh(vec3 angles, versor dest) { + float xc, yc, zc, + xs, ys, zs; + + xs = sinf(angles[0] * 0.5f); xc = cosf(angles[0] * 0.5f); + ys = sinf(angles[1] * 0.5f); yc = cosf(angles[1] * 0.5f); + zs = sinf(angles[2] * 0.5f); zc = cosf(angles[2] * 0.5f); + + dest[0] = zc * xs * yc - zs * xc * ys; + dest[1] = zc * xc * ys + zs * xs * yc; + dest[2] = zc * xs * ys + zs * xc * yc; + dest[3] = zc * xc * yc - zs * xs * ys; +} + +/*! + * @brief creates NEW quaternion using rotation angles and does + * rotations in z y x order in right hand (yaw pitch roll) + * + * @param[in] angles angles x y z (radians) + * @param[out] dest quaternion + */ +CGLM_INLINE +void +glm_euler_zyx_quat_rh(vec3 angles, versor dest) { + float xc, yc, zc, + xs, ys, zs; + + xs = sinf(angles[0] * 0.5f); xc = cosf(angles[0] * 0.5f); + ys = sinf(angles[1] * 0.5f); yc = cosf(angles[1] * 0.5f); + zs = sinf(angles[2] * 0.5f); zc = cosf(angles[2] * 0.5f); + + dest[0] = zc * yc * xs - zs * ys * xc; + dest[1] = zc * ys * xc + zs * yc * xs; + dest[2] = -zc * ys * xs + zs * yc * xc; + dest[3] = zc * yc * xc + zs * ys * xs; +} + + +#endif /*cglm_euler_to_quat_rh_h*/ |