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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
*/
/*
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 */
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