YourWishes/cglm
1
0
Fork 0
mirror of https://github.com/recp/cglm.git synced 2026-02-17 03:39:05 +00:00
Code Issues Packages Projects Releases Wiki Activity

fixed up the code to fit with the style, Also found out that I was calculating my quaternion rotations the opposite way (zyx order instead of xyz order)

Browse Source
This commit is contained in:
John Choi
2023-12-10 01:16:09 -06:00
parent 036fd4848b
commit 2eb9a67a3a
2 changed files with 375 additions and 368 deletions
Download Patch File Download Diff File Expand all files Collapse all files

129
include/cglm/euler.h
View File

@@ -465,21 +465,18 @@ glm_euler_by_order(vec3 angles, glm_euler_seq ord, mat4 dest) {
CGLM_INLINE
void
glm_euler_xyz_quat(versor q, vec3 angles) {
float xs = sinf(angles[0] / 2.0f);
float xc = cosf(angles[0] / 2.0f);
float xc, yc, zc,
xs, ys, zs;
float ys = sinf(angles[1] / 2.0f);
float yc = cosf(angles[1] / 2.0f);
float zs = sinf(angles[2] / 2.0f);
float zc = cosf(angles[2] / 2.0f);
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);
q[0] = xc * ys * zs + xs * yc * zc;
q[1] = xc * ys * zc - xs * yc * zs;
q[2] = xc * yc * zs + xs * ys * zc;
q[3] = xc * yc * zc - xs * ys * zs;
glm_quat_init(q,
zc * yc * xs - zs * ys * xc,
zc * ys * xc + zs * yc * xs,
-zc * ys * xs + zs * yc * xc,
zc * yc * xc + zs * ys * xs);
}
/*!
@@ -492,20 +489,17 @@ glm_euler_xyz_quat(versor q, vec3 angles) {
CGLM_INLINE
void
glm_euler_xzy_quat(versor q, vec3 angles) {
float xs = sinf(angles[0] / 2.0f);
float xc = cosf(angles[0] / 2.0f);
float xc, yc, zc,
xs, ys, zs;
float ys = sinf(angles[1] / 2.0f);
float yc = cosf(angles[1] / 2.0f);
float zs = sinf(angles[2] / 2.0f);
float zc = cosf(angles[2] / 2.0f);
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);
glm_quat_init(q,
yc * zc * xs + ys * zs * xc,
yc * zs * xs + ys * zc * xc,
yc * zs * xc - ys * zc * xs,
yc * zc * xc - ys * zs * xs);
q[0] = -xc * zs * ys + xs * zc * yc;
q[1] = xc * zc * ys - xs * zs * yc;
q[2] = xc * zs * yc + xs * zc * ys;
q[3] = xc * zc * yc + xs * zs * ys;
}
@@ -519,20 +513,17 @@ glm_euler_xzy_quat(versor q, vec3 angles) {
CGLM_INLINE
void
glm_euler_yxz_quat(versor q, vec3 angles) {
float xs = sinf(angles[0] / 2.0f);
float xc = cosf(angles[0] / 2.0f);
float xc, yc, zc,
xs, ys, zs;
float ys = sinf(angles[1] / 2.0f);
float yc = cosf(angles[1] / 2.0f);
float zs = sinf(angles[2] / 2.0f);
float zc = cosf(angles[2] / 2.0f);
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);
glm_quat_init(q,
zc * xs * yc - zs * xc * ys,
zc * xc * ys + zs * xs * yc,
zc * xs * ys + zs * xc * yc,
zc * xc * yc - zs * xs * ys);
q[0] = yc * xs * zc + ys * xc * zs;
q[1] = -yc * xs * zs + ys * xc * zc;
q[2] = yc * xc * zs - ys * xs * zc;
q[3] = yc * xc * zc + ys * xs * zs;
}
/*!
@@ -545,20 +536,17 @@ glm_euler_yxz_quat(versor q, vec3 angles) {
CGLM_INLINE
void
glm_euler_yzx_quat(versor q, vec3 angles) {
float xs = sinf(angles[0] / 2.0f);
float xc = cosf(angles[0] / 2.0f);
float xc, yc, zc,
xs, ys, zs;
float ys = sinf(angles[1] / 2.0f);
float yc = cosf(angles[1] / 2.0f);
float zs = sinf(angles[2] / 2.0f);
float zc = cosf(angles[2] / 2.0f);
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);
glm_quat_init(q,
-xc * zs * ys + xs * zc * yc,
xc * zc * ys - xs * zs * yc,
xc * zs * yc + xs * zc * ys,
xc * zc * yc + xs * zs * ys);
q[0] = yc * zc * xs + ys * zs * xc;
q[1] = yc * zs * xs + ys * zc * xc;
q[2] = yc * zs * xc - ys * zc * xs;
q[3] = yc * zc * xc - ys * zs * xs;
}
@@ -572,22 +560,17 @@ glm_euler_yzx_quat(versor q, vec3 angles) {
CGLM_INLINE
void
glm_euler_zxy_quat(versor q, vec3 angles) {
float xs = sinf(angles[0] / 2.0f);
float xc = cosf(angles[0] / 2.0f);
float ys = sinf(angles[1] / 2.0f);
float yc = cosf(angles[1] / 2.0f);
float zs = sinf(angles[2] / 2.0f);
float zc = cosf(angles[2] / 2.0f);
glm_quat_init(q,
yc * xs * zc + ys * xc * zs,
-yc * xs * zs + ys * xc * zc,
yc * xc * zs - ys * xs * zc,
yc * xc * zc + ys * xs * zs);
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);
q[0] = zc * xs * yc - zs * xc * ys;
q[1] = zc * xc * ys + zs * xs * yc;
q[2] = zc * xs * ys + zs * xc * yc;
q[3] = zc * xc * yc - zs * xs * ys;
}
/*!
@@ -600,21 +583,17 @@ glm_euler_zxy_quat(versor q, vec3 angles) {
CGLM_INLINE
void
glm_euler_zyx_quat(versor q, vec3 angles) {
float xs = sinf(angles[0] / 2.0f);
float xc = cosf(angles[0] / 2.0f);
float xc, yc, zc,
xs, ys, zs;
float ys = sinf(angles[1] / 2.0f);
float yc = cosf(angles[1] / 2.0f);
float zs = sinf(angles[2] / 2.0f);
float zc = cosf(angles[2] / 2.0f);
glm_quat_init(q,
xc * ys * zs + xs * yc * zc,
xc * ys * zc - xs * yc * zs,
xc * yc * zs + xs * ys * zc,
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);
q[0] = zc * yc * xs - zs * ys * xc;
q[1] = zc * ys * xc + zs * yc * xs;
q[2] = -zc * ys * xs + zs * yc * xc;
q[3] = zc * yc * xc + zs * ys * xs;
}