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Diffstat (limited to 'include/cglm/struct/euler.h')
| -rw-r--r-- | include/cglm/struct/euler.h | 249 |
1 files changed, 249 insertions, 0 deletions
diff --git a/include/cglm/struct/euler.h b/include/cglm/struct/euler.h new file mode 100644 index 0000000..19697f7 --- /dev/null +++ b/include/cglm/struct/euler.h @@ -0,0 +1,249 @@ +/* + * Copyright (c), Recep Aslantas. + * + * MIT License (MIT), http://opensource.org/licenses/MIT + * Full license can be found in the LICENSE file + */ + +/* + NOTE: + angles must be passed as [X-Angle, Y-Angle, Z-angle] order + For instance you don't pass angles as [Z-Angle, X-Angle, Y-angle] to + glm_euler_zxy function, All RELATED functions accept angles same order + which is [X, Y, Z]. + */ + +/* + Types: + enum glm_euler_seq + + Functions: + CGLM_INLINE vec3s glms_euler_angles(mat4s m) + CGLM_INLINE mat4s glms_euler_xyz(vec3s angles) + CGLM_INLINE mat4s glms_euler_xzy(vec3s angles) + CGLM_INLINE mat4s glms_euler_yxz(vec3s angles) + CGLM_INLINE mat4s glms_euler_yzx(vec3s angles) + CGLM_INLINE mat4s glms_euler_zxy(vec3s angles) + CGLM_INLINE mat4s glms_euler_zyx(vec3s angles) + CGLM_INLINE mat4s glms_euler_by_order(vec3s angles, glm_euler_seq ord) + CGLM_INLINE versors glms_euler_xyz_quat(vec3s angles) + CGLM_INLINE versors glms_euler_xzy_quat(vec3s angles) + CGLM_INLINE versors glms_euler_yxz_quat(vec3s angles) + CGLM_INLINE versors glms_euler_yzx_quat(vec3s angles) + CGLM_INLINE versors glms_euler_zxy_quat(vec3s angles) + CGLM_INLINE versors glms_euler_zyx_quat(vec3s angles) + */ + +#ifndef cglms_euler_h +#define cglms_euler_h + +#include "../common.h" +#include "../types-struct.h" +#include "../euler.h" + +/*! + * @brief extract euler angles (in radians) using xyz order + * + * @param[in] m affine transform + * @returns angles vector [x, y, z] + */ +CGLM_INLINE +vec3s +glms_euler_angles(mat4s m) { + vec3s dest; + glm_euler_angles(m.raw, dest.raw); + return dest; +} + +/*! + * @brief build rotation matrix from euler angles + * + * @param[in] angles angles as vector [Xangle, Yangle, Zangle] + * @returns rotation matrix + */ +CGLM_INLINE +mat4s +glms_euler_xyz(vec3s angles) { + mat4s dest; + glm_euler_xyz(angles.raw, dest.raw); + return dest; +} + +/*! + * @brief build rotation matrix from euler angles + * + * @param[in] angles angles as vector [Xangle, Yangle, Zangle] + * @returns rotation matrix + */ +CGLM_INLINE +mat4s +glms_euler_xzy(vec3s angles) { + mat4s dest; + glm_euler_xzy(angles.raw, dest.raw); + return dest; +} + + +/*! + * @brief build rotation matrix from euler angles + * + * @param[in] angles angles as vector [Xangle, Yangle, Zangle] + * @returns rotation matrix + */ +CGLM_INLINE +mat4s +glms_euler_yxz(vec3s angles) { + mat4s dest; + glm_euler_yxz(angles.raw, dest.raw); + return dest; +} + +/*! + * @brief build rotation matrix from euler angles + * + * @param[in] angles angles as vector [Xangle, Yangle, Zangle] + * @returns rotation matrix + */ +CGLM_INLINE +mat4s +glms_euler_yzx(vec3s angles) { + mat4s dest; + glm_euler_yzx(angles.raw, dest.raw); + return dest; +} + +/*! + * @brief build rotation matrix from euler angles + * + * @param[in] angles angles as vector [Xangle, Yangle, Zangle] + * @returns rotation matrix + */ +CGLM_INLINE +mat4s +glms_euler_zxy(vec3s angles) { + mat4s dest; + glm_euler_zxy(angles.raw, dest.raw); + return dest; +} + +/*! + * @brief build rotation matrix from euler angles + * + * @param[in] angles angles as vector [Xangle, Yangle, Zangle] + * @returns rotation matrix + */ +CGLM_INLINE +mat4s +glms_euler_zyx(vec3s angles) { + mat4s dest; + glm_euler_zyx(angles.raw, dest.raw); + return dest; +} + +/*! + * @brief build rotation matrix from euler angles + * + * @param[in] angles angles as vector [Xangle, Yangle, Zangle] + * @param[in] ord euler order + * @returns rotation matrix + */ +CGLM_INLINE +mat4s +glms_euler_by_order(vec3s angles, glm_euler_seq ord) { + mat4s dest; + glm_euler_by_order(angles.raw, ord, dest.raw); + return dest; +} + +/*! + * @brief creates NEW quaternion using rotation angles and does + * rotations in x y z order (roll pitch yaw) + * + * @param[in] angles angles x y z (radians) + * @returns quaternion + */ +CGLM_INLINE +versors +glms_euler_xyz_quat(vec3s angles) { + versors dest; + glm_euler_xyz_quat(angles.raw, dest.raw); + return dest; +} + +/*! + * @brief creates NEW quaternion using rotation angles and does + * rotations in x z y order (roll yaw pitch) + * + * @param[in] angles angles x y z (radians) + * @returns quaternion + */ +CGLM_INLINE +versors +glms_euler_xzy_quat(vec3s angles) { + versors dest; + glm_euler_xzy_quat(angles.raw, dest.raw); + return dest; +} + +/*! + * @brief creates NEW quaternion using rotation angles and does + * rotations in y x z order (pitch roll yaw) + * + * @param[in] angles angles x y z (radians) + * @returns quaternion + */ +CGLM_INLINE +versors +glms_euler_yxz_quat(vec3s angles) { + versors dest; + glm_euler_yxz_quat(angles.raw, dest.raw); + return dest; +} + +/*! + * @brief creates NEW quaternion using rotation angles and does + * rotations in y z x order (pitch yaw roll) + * + * @param[in] angles angles x y z (radians) + * @returns quaternion + */ +CGLM_INLINE +versors +glms_euler_yzx_quat(vec3s angles) { + versors dest; + glm_euler_yzx_quat(angles.raw, dest.raw); + return dest; +} + +/*! + * @brief creates NEW quaternion using rotation angles and does + * rotations in z x y order (yaw roll pitch) + * + * @param[in] angles angles x y z (radians) + * @returns quaternion + */ +CGLM_INLINE +versors +glms_euler_zxy_quat(vec3s angles) { + versors dest; + glm_euler_zxy_quat(angles.raw, dest.raw); + return dest; +} + +/*! + * @brief creates NEW quaternion using rotation angles and does + * rotations in z y x order (yaw pitch roll) + * + * @param[in] angles angles x y z (radians) + * @returns quaternion + */ +CGLM_INLINE +versors +glms_euler_zyx_quat(vec3s angles) { + versors dest; + glm_euler_zyx_quat(angles.raw, dest.raw); + return dest; +} + + +#endif /* cglms_euler_h */ |