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/*
* 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*/
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