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fix euler angles (extrinsic -> intrinsic)

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because cglm uses intrinsics for these rotations
This commit is contained in:
Recep Aslantas
2018-03-26 23:00:38 +03:00
parent 45f13217c3
commit 205d13aa93
1 changed files with 243 additions and 199 deletions
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442
include/cglm/euler.h
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@@ -5,6 +5,14 @@
* Full license can be found in the LICENSE file * 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 funciton, All RELATED functions accept angles same order
which is [X, Y, Z].
*/
/* /*
Types: Types:
enum glm_euler_sq enum glm_euler_sq
@@ -95,219 +103,255 @@ glm_euler_angles(mat4 m, vec3 dest) {
} }
} }
/*! /*!
* @brief build rotation matrix from euler angles * @brief build rotation matrix from euler angles
* *
* @param[in] angles angles as vector [Ex, Ey, Ez] * @param[in] angles angles as vector [Xangle, Yangle, Zangle]
* @param[out] dest rotation matrix
*/
CGLM_INLINE
void
glm_euler_xyz(vec3 angles, mat4 dest) {
float cx, cy, cz,
sx, sy, sz, czsx, cxcz, sysz;
sx = sinf(angles[0]); cx = cosf(angles[0]);
sy = sinf(angles[1]); cy = cosf(angles[1]);
sz = sinf(angles[2]); cz = cosf(angles[2]);
czsx = cz * sx;
cxcz = cx * cz;
sysz = sy * sz;
dest[0][0] = cy * cz;
dest[0][1] = czsx * sy + cx * sz;
dest[0][2] = -cxcz * sy + sx * sz;
dest[1][0] = -cy * sz;
dest[1][1] = cxcz - sx * sysz;
dest[1][2] = czsx + cx * sysz;
dest[2][0] = sy;
dest[2][1] = -cy * sx;
dest[2][2] = cx * cy;
dest[0][3] = 0.0f;
dest[1][3] = 0.0f;
dest[2][3] = 0.0f;
dest[3][0] = 0.0f;
dest[3][1] = 0.0f;
dest[3][2] = 0.0f;
dest[3][3] = 1.0f;
}
/*!
* @brief build rotation matrix from euler angles
*
* @param[in] angles angles as vector [Xangle, Yangle, Zangle]
* @param[out] dest rotation matrix * @param[out] dest rotation matrix
*/ */
CGLM_INLINE CGLM_INLINE
void void
glm_euler(vec3 angles, mat4 dest) { glm_euler(vec3 angles, mat4 dest) {
float cx, cy, cz, glm_euler_xyz(angles, dest);
sx, sy, sz;
sx = sinf(angles[0]); cx = cosf(angles[0]);
sy = sinf(angles[1]); cy = cosf(angles[1]);
sz = sinf(angles[2]); cz = cosf(angles[2]);
dest[0][0] = cy * cz;
dest[0][1] = cy * sz;
dest[0][2] =-sy;
dest[1][0] = cz * sx * sy - cx * sz;
dest[1][1] = cx * cz + sx * sy * sz;
dest[1][2] = cy * sx;
dest[2][0] = cx * cz * sy + sx * sz;
dest[2][1] =-cz * sx + cx * sy * sz;
dest[2][2] = cx * cy;
dest[0][3] = 0.0f;
dest[1][3] = 0.0f;
dest[2][3] = 0.0f;
dest[3][0] = 0.0f;
dest[3][1] = 0.0f;
dest[3][2] = 0.0f;
dest[3][3] = 1.0f;
} }
/*! /*!
* @brief build rotation matrix from euler angles * @brief build rotation matrix from euler angles
* *
* @param[in] angles angles as vector [Ez, Ey, Ex] * @param[in] angles angles as vector [Xangle, Yangle, Zangle]
* @param[out] dest rotation matrix * @param[out] dest rotation matrix
*/ */
CGLM_INLINE CGLM_INLINE
void void
glm_euler_zyx(vec3 angles, glm_euler_xzy(vec3 angles, mat4 dest) {
mat4 dest) {
float cx, cy, cz, float cx, cy, cz,
sx, sy, sz; sx, sy, sz, sxsy, cysx, cxsy, cxcy;
sx = sinf(angles[0]); cx = cosf(angles[0]); sx = sinf(angles[0]); cx = cosf(angles[0]);
sy = sinf(angles[1]); cy = cosf(angles[1]); sy = sinf(angles[1]); cy = cosf(angles[1]);
sz = sinf(angles[2]); cz = cosf(angles[2]); sz = sinf(angles[2]); cz = cosf(angles[2]);
dest[0][0] = cy * cz; sxsy = sx * sy;
dest[0][1] = cz * sx * sy + cx * sz; cysx = cy * sx;
dest[0][2] =-cx * cz * sy + sx * sz; cxsy = cx * sy;
dest[1][0] =-cy * sz; cxcy = cx * cy;
dest[1][1] = cx * cz - sx * sy * sz;
dest[1][2] = cz * sx + cx * sy * sz; dest[0][0] = cy * cz;
dest[2][0] = sy; dest[0][1] = sxsy + cxcy * sz;
dest[2][1] =-cy * sx; dest[0][2] = -cxsy + cysx * sz;
dest[2][2] = cx * cy; dest[1][0] = -sz;
dest[0][3] = 0.0f; dest[1][1] = cx * cz;
dest[1][3] = 0.0f; dest[1][2] = cz * sx;
dest[2][3] = 0.0f; dest[2][0] = cz * sy;
dest[3][0] = 0.0f; dest[2][1] = -cysx + cxsy * sz;
dest[3][1] = 0.0f; dest[2][2] = cxcy + sxsy * sz;
dest[3][2] = 0.0f; dest[0][3] = 0.0f;
dest[3][3] = 1.0f; dest[1][3] = 0.0f;
dest[2][3] = 0.0f;
dest[3][0] = 0.0f;
dest[3][1] = 0.0f;
dest[3][2] = 0.0f;
dest[3][3] = 1.0f;
} }
/*! /*!
* @brief build rotation matrix from euler angles * @brief build rotation matrix from euler angles
* *
* @param[in] angles angles as vector [Ez, Ex, Ey] * @param[in] angles angles as vector [Xangle, Yangle, Zangle]
* @param[out] dest rotation matrix * @param[out] dest rotation matrix
*/ */
CGLM_INLINE CGLM_INLINE
void void
glm_euler_zxy(vec3 angles, glm_euler_yxz(vec3 angles, mat4 dest) {
mat4 dest) {
float cx, cy, cz, float cx, cy, cz,
sx, sy, sz; sx, sy, sz, cycz, sysz, czsy, cysz;
sx = sinf(angles[0]); cx = cosf(angles[0]); sx = sinf(angles[0]); cx = cosf(angles[0]);
sy = sinf(angles[1]); cy = cosf(angles[1]); sy = sinf(angles[1]); cy = cosf(angles[1]);
sz = sinf(angles[2]); cz = cosf(angles[2]); sz = sinf(angles[2]); cz = cosf(angles[2]);
dest[0][0] = cy * cz + sx * sy * sz; cycz = cy * cz;
dest[0][1] = cx * sz; sysz = sy * sz;
dest[0][2] =-cz * sy + cy * sx * sz; czsy = cz * sy;
dest[1][0] = cz * sx * sy - cy * sz; cysz = cy * sz;
dest[1][1] = cx * cz;
dest[1][2] = cy * cz * sx + sy * sz; dest[0][0] = cycz + sx * sysz;
dest[2][0] = cx * sy; dest[0][1] = cx * sz;
dest[2][1] =-sx; dest[0][2] = -czsy + cysz * sx;
dest[2][2] = cx * cy; dest[1][0] = -cysz + czsy * sx;
dest[0][3] = 0.0f; dest[1][1] = cx * cz;
dest[1][3] = 0.0f; dest[1][2] = cycz * sx + sysz;
dest[2][3] = 0.0f; dest[2][0] = cx * sy;
dest[3][0] = 0.0f; dest[2][1] = -sx;
dest[3][1] = 0.0f; dest[2][2] = cx * cy;
dest[3][2] = 0.0f; dest[0][3] = 0.0f;
dest[3][3] = 1.0f; dest[1][3] = 0.0f;
dest[2][3] = 0.0f;
dest[3][0] = 0.0f;
dest[3][1] = 0.0f;
dest[3][2] = 0.0f;
dest[3][3] = 1.0f;
} }
/*! /*!
* @brief build rotation matrix from euler angles * @brief build rotation matrix from euler angles
* *
* @param[in] angles angles as vector [Ex, Ez, Ey] * @param[in] angles angles as vector [Xangle, Yangle, Zangle]
* @param[out] dest rotation matrix * @param[out] dest rotation matrix
*/ */
CGLM_INLINE CGLM_INLINE
void void
glm_euler_xzy(vec3 angles, glm_euler_yzx(vec3 angles, mat4 dest) {
mat4 dest) {
float cx, cy, cz, float cx, cy, cz,
sx, sy, sz; sx, sy, sz, sxsy, cxcy, cysx, cxsy;
sx = sinf(angles[0]); cx = cosf(angles[0]); sx = sinf(angles[0]); cx = cosf(angles[0]);
sy = sinf(angles[1]); cy = cosf(angles[1]); sy = sinf(angles[1]); cy = cosf(angles[1]);
sz = sinf(angles[2]); cz = cosf(angles[2]); sz = sinf(angles[2]); cz = cosf(angles[2]);
dest[0][0] = cy * cz; sxsy = sx * sy;
dest[0][1] = sz; cxcy = cx * cy;
dest[0][2] =-cz * sy; cysx = cy * sx;
dest[1][0] = sx * sy - cx * cy * sz; cxsy = cx * sy;
dest[1][1] = cx * cz;
dest[1][2] = cy * sx + cx * sy * sz; dest[0][0] = cy * cz;
dest[2][0] = cx * sy + cy * sx * sz; dest[0][1] = sz;
dest[2][1] =-cz * sx; dest[0][2] = -cz * sy;
dest[2][2] = cx * cy - sx * sy * sz; dest[1][0] = sxsy - cxcy * sz;
dest[0][3] = 0.0f; dest[1][1] = cx * cz;
dest[1][3] = 0.0f; dest[1][2] = cysx + cxsy * sz;
dest[2][3] = 0.0f; dest[2][0] = cxsy + cysx * sz;
dest[3][0] = 0.0f; dest[2][1] = -cz * sx;
dest[3][1] = 0.0f; dest[2][2] = cxcy - sxsy * sz;
dest[3][2] = 0.0f; dest[0][3] = 0.0f;
dest[3][3] = 1.0f; dest[1][3] = 0.0f;
dest[2][3] = 0.0f;
dest[3][0] = 0.0f;
dest[3][1] = 0.0f;
dest[3][2] = 0.0f;
dest[3][3] = 1.0f;
} }
/*! /*!
* @brief build rotation matrix from euler angles * @brief build rotation matrix from euler angles
* *
* @param[in] angles angles as vector [Ey, Ez, Ex] * @param[in] angles angles as vector [Xangle, Yangle, Zangle]
* @param[out] dest rotation matrix * @param[out] dest rotation matrix
*/ */
CGLM_INLINE CGLM_INLINE
void void
glm_euler_yzx(vec3 angles, glm_euler_zxy(vec3 angles, mat4 dest) {
mat4 dest) {
float cx, cy, cz, float cx, cy, cz,
sx, sy, sz; sx, sy, sz, cycz, sxsy, cysz;
sx = sinf(angles[0]); cx = cosf(angles[0]); sx = sinf(angles[0]); cx = cosf(angles[0]);
sy = sinf(angles[1]); cy = cosf(angles[1]); sy = sinf(angles[1]); cy = cosf(angles[1]);
sz = sinf(angles[2]); cz = cosf(angles[2]); sz = sinf(angles[2]); cz = cosf(angles[2]);
dest[0][0] = cy * cz; cycz = cy * cz;
dest[0][1] = sx * sy + cx * cy * sz; sxsy = sx * sy;
dest[0][2] =-cx * sy + cy * sx * sz; cysz = cy * sz;
dest[1][0] =-sz;
dest[1][1] = cx * cz; dest[0][0] = cycz - sxsy * sz;
dest[1][2] = cz * sx; dest[0][1] = cz * sxsy + cysz;
dest[2][0] = cz * sy; dest[0][2] = -cx * sy;
dest[2][1] =-cy * sx + cx * sy * sz; dest[1][0] = -cx * sz;
dest[2][2] = cx * cy + sx * sy * sz; dest[1][1] = cx * cz;
dest[0][3] = 0.0f; dest[1][2] = sx;
dest[1][3] = 0.0f; dest[2][0] = cz * sy + cysz * sx;
dest[2][3] = 0.0f; dest[2][1] = -cycz * sx + sy * sz;
dest[3][0] = 0.0f; dest[2][2] = cx * cy;
dest[3][1] = 0.0f; dest[0][3] = 0.0f;
dest[3][2] = 0.0f; dest[1][3] = 0.0f;
dest[3][3] = 1.0f; dest[2][3] = 0.0f;
dest[3][0] = 0.0f;
dest[3][1] = 0.0f;
dest[3][2] = 0.0f;
dest[3][3] = 1.0f;
} }
/*! /*!
* @brief build rotation matrix from euler angles * @brief build rotation matrix from euler angles
* *
* @param[in] angles angles as vector [Ey, Ex, Ez] * @param[in] angles angles as vector [Xangle, Yangle, Zangle]
* @param[out] dest rotation matrix * @param[out] dest rotation matrix
*/ */
CGLM_INLINE CGLM_INLINE
void void
glm_euler_yxz(vec3 angles, glm_euler_zyx(vec3 angles, mat4 dest) {
mat4 dest) {
float cx, cy, cz, float cx, cy, cz,
sx, sy, sz; sx, sy, sz, czsx, cxcz, sysz;
sx = sinf(angles[0]); cx = cosf(angles[0]); sx = sinf(angles[0]); cx = cosf(angles[0]);
sy = sinf(angles[1]); cy = cosf(angles[1]); sy = sinf(angles[1]); cy = cosf(angles[1]);
sz = sinf(angles[2]); cz = cosf(angles[2]); sz = sinf(angles[2]); cz = cosf(angles[2]);
dest[0][0] = cy * cz - sx * sy * sz; czsx = cz * sx;
dest[0][1] = cz * sx * sy + cy * sz; cxcz = cx * cz;
dest[0][2] =-cx * sy; sysz = sy * sz;
dest[1][0] =-cx * sz;
dest[1][1] = cx * cz; dest[0][0] = cy * cz;
dest[1][2] = sx; dest[0][1] = cy * sz;
dest[2][0] = cz * sy + cy * sx * sz; dest[0][2] = -sy;
dest[2][1] =-cy * cz * sx + sy * sz; dest[1][0] = czsx * sy - cx * sz;
dest[2][2] = cx * cy; dest[1][1] = cxcz + sx * sysz;
dest[0][3] = 0.0f; dest[1][2] = cy * sx;
dest[1][3] = 0.0f; dest[2][0] = cxcz * sy + sx * sz;
dest[2][3] = 0.0f; dest[2][1] = -czsx + cx * sysz;
dest[3][0] = 0.0f; dest[2][2] = cx * cy;
dest[3][1] = 0.0f; dest[0][3] = 0.0f;
dest[3][2] = 0.0f; dest[1][3] = 0.0f;
dest[3][3] = 1.0f; dest[2][3] = 0.0f;
dest[3][0] = 0.0f;
dest[3][1] = 0.0f;
dest[3][2] = 0.0f;
dest[3][3] = 1.0f;
} }
/*! /*!
* @brief build rotation matrix from euler angles * @brief build rotation matrix from euler angles
* *
* @param[in] angles angles as vector (ord parameter spceifies angles order) * @param[in] angles angles as vector [Xangle, Yangle, Zangle]
* @param[in] ord euler order * @param[in] ord euler order
* @param[out] dest rotation matrix * @param[out] dest rotation matrix
*/ */
@@ -332,71 +376,71 @@ glm_euler_by_order(vec3 angles, glm_euler_sq ord, mat4 dest) {
sysz = sy * sz; sysz = sy * sz;
switch (ord) { switch (ord) {
case GLM_EULER_XYZ:
dest[0][0] = cycz;
dest[0][1] = cysz;
dest[0][2] =-sy;
dest[1][0] = czsx * sy - cxsz;
dest[1][1] = cxcz + sx * sysz;
dest[1][2] = cysx;
dest[2][0] = cx * czsy + sx * sz;
dest[2][1] =-czsx + cx * sysz;
dest[2][2] = cxcy;
break;
case GLM_EULER_XZY: case GLM_EULER_XZY:
dest[0][0] = cycz; dest[0][0] = cycz;
dest[0][1] = sz; dest[0][1] = sx * sy + cx * cysz;
dest[0][2] =-czsy; dest[0][2] = -cx * sy + cysx * sz;
dest[1][0] = sx * sy - cx * cysz; dest[1][0] = -sz;
dest[1][1] = cxcz; dest[1][1] = cxcz;
dest[1][2] = cysx + cx * sysz; dest[1][2] = czsx;
dest[2][0] = cx * sy + cysx * sz; dest[2][0] = czsy;
dest[2][1] =-czsx; dest[2][1] = -cysx + cx * sysz;
dest[2][2] = cxcy - sx * sysz; dest[2][2] = cxcy + sx * sysz;
break; break;
case GLM_EULER_ZXY: case GLM_EULER_XYZ:
dest[0][0] = cycz + sx * sysz; dest[0][0] = cycz;
dest[0][1] = cxsz; dest[0][1] = czsx * sy + cxsz;
dest[0][2] =-czsy + cysx * sz; dest[0][2] = -cx * czsy + sx * sz;
dest[1][0] = czsx * sy - cysz; dest[1][0] = -cysz;
dest[1][1] = cxcz; dest[1][1] = cxcz - sx * sysz;
dest[1][2] = cycz * sx + sysz; dest[1][2] = czsx + cx * sysz;
dest[2][0] = cx * sy; dest[2][0] = sy;
dest[2][1] =-sx; dest[2][1] = -cysx;
dest[2][2] = cxcy; dest[2][2] = cxcy;
break;
case GLM_EULER_ZYX:
dest[0][0] = cycz;
dest[0][1] = czsx * sy + cxsz;
dest[0][2] =-cx * czsy + sx * sz;
dest[1][0] =-cysz;
dest[1][1] = cxcz - sx * sysz;
dest[1][2] = czsx + cx * sysz;
dest[2][0] = sy;
dest[2][1] =-cysx;
dest[2][2] = cxcy;
break; break;
case GLM_EULER_YXZ: case GLM_EULER_YXZ:
dest[0][0] = cycz - sx * sysz; dest[0][0] = cycz + sx * sysz;
dest[0][1] = czsx * sy + cysz; dest[0][1] = cxsz;
dest[0][2] =-cx * sy; dest[0][2] = -czsy + cysx * sz;
dest[1][0] =-cxsz; dest[1][0] = czsx * sy - cysz;
dest[1][1] = cxcz; dest[1][1] = cxcz;
dest[1][2] = sx; dest[1][2] = cycz * sx + sysz;
dest[2][0] = czsy + cysx * sz; dest[2][0] = cx * sy;
dest[2][1] =-cycz * sx + sysz; dest[2][1] = -sx;
dest[2][2] = cxcy; dest[2][2] = cxcy;
break; break;
case GLM_EULER_YZX: case GLM_EULER_YZX:
dest[0][0] = cycz; dest[0][0] = cycz;
dest[0][1] = sx * sy + cx * cysz; dest[0][1] = sz;
dest[0][2] =-cx * sy + cysx * sz; dest[0][2] = -czsy;
dest[1][0] =-sz; dest[1][0] = sx * sy - cx * cysz;
dest[1][1] = cxcz; dest[1][1] = cxcz;
dest[1][2] = czsx; dest[1][2] = cysx + cx * sysz;
dest[2][0] = czsy; dest[2][0] = cx * sy + cysx * sz;
dest[2][1] =-cysx + cx * sysz; dest[2][1] = -czsx;
dest[2][2] = cxcy + sx * sysz; dest[2][2] = cxcy - sx * sysz;
break;
case GLM_EULER_ZXY:
dest[0][0] = cycz - sx * sysz;
dest[0][1] = czsx * sy + cysz;
dest[0][2] = -cx * sy;
dest[1][0] = -cxsz;
dest[1][1] = cxcz;
dest[1][2] = sx;
dest[2][0] = czsy + cysx * sz;
dest[2][1] = -cycz * sx + sysz;
dest[2][2] = cxcy;
break;
case GLM_EULER_ZYX:
dest[0][0] = cycz;
dest[0][1] = cysz;
dest[0][2] = -sy;
dest[1][0] = czsx * sy - cxsz;
dest[1][1] = cxcz + sx * sysz;
dest[1][2] = cysx;
dest[2][0] = cx * czsy + sx * sz;
dest[2][1] = -czsx + cx * sysz;
dest[2][2] = cxcy;
break; break;
} }