335 lines
10 KiB
C++
335 lines
10 KiB
C++
/// @ref gtx_euler_angles
|
|
/// @file glm/gtx/euler_angles.hpp
|
|
///
|
|
/// @see core (dependence)
|
|
///
|
|
/// @defgroup gtx_euler_angles GLM_GTX_euler_angles
|
|
/// @ingroup gtx
|
|
///
|
|
/// Include <glm/gtx/euler_angles.hpp> to use the features of this extension.
|
|
///
|
|
/// Build matrices from Euler angles.
|
|
///
|
|
/// Extraction of Euler angles from rotation matrix.
|
|
/// Based on the original paper 2014 Mike Day - Extracting Euler Angles from a Rotation Matrix.
|
|
|
|
#pragma once
|
|
|
|
// Dependency:
|
|
#include "../glm.hpp"
|
|
|
|
#ifndef GLM_ENABLE_EXPERIMENTAL
|
|
# error "GLM: GLM_GTX_euler_angles is an experimental extension and may change in the future. Use #define GLM_ENABLE_EXPERIMENTAL before including it, if you really want to use it."
|
|
#endif
|
|
|
|
#if GLM_MESSAGES == GLM_ENABLE && !defined(GLM_EXT_INCLUDED)
|
|
# pragma message("GLM: GLM_GTX_euler_angles extension included")
|
|
#endif
|
|
|
|
namespace glm
|
|
{
|
|
/// @addtogroup gtx_euler_angles
|
|
/// @{
|
|
|
|
/// Creates a 3D 4 * 4 homogeneous rotation matrix from an euler angle X.
|
|
/// @see gtx_euler_angles
|
|
template<typename T>
|
|
GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleX(
|
|
T const& angleX);
|
|
|
|
/// Creates a 3D 4 * 4 homogeneous rotation matrix from an euler angle Y.
|
|
/// @see gtx_euler_angles
|
|
template<typename T>
|
|
GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleY(
|
|
T const& angleY);
|
|
|
|
/// Creates a 3D 4 * 4 homogeneous rotation matrix from an euler angle Z.
|
|
/// @see gtx_euler_angles
|
|
template<typename T>
|
|
GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleZ(
|
|
T const& angleZ);
|
|
|
|
/// Creates a 3D 4 * 4 homogeneous derived matrix from the rotation matrix about X-axis.
|
|
/// @see gtx_euler_angles
|
|
template <typename T>
|
|
GLM_FUNC_DECL mat<4, 4, T, defaultp> derivedEulerAngleX(
|
|
T const & angleX, T const & angularVelocityX);
|
|
|
|
/// Creates a 3D 4 * 4 homogeneous derived matrix from the rotation matrix about Y-axis.
|
|
/// @see gtx_euler_angles
|
|
template <typename T>
|
|
GLM_FUNC_DECL mat<4, 4, T, defaultp> derivedEulerAngleY(
|
|
T const & angleY, T const & angularVelocityY);
|
|
|
|
/// Creates a 3D 4 * 4 homogeneous derived matrix from the rotation matrix about Z-axis.
|
|
/// @see gtx_euler_angles
|
|
template <typename T>
|
|
GLM_FUNC_DECL mat<4, 4, T, defaultp> derivedEulerAngleZ(
|
|
T const & angleZ, T const & angularVelocityZ);
|
|
|
|
/// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (X * Y).
|
|
/// @see gtx_euler_angles
|
|
template<typename T>
|
|
GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleXY(
|
|
T const& angleX,
|
|
T const& angleY);
|
|
|
|
/// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (Y * X).
|
|
/// @see gtx_euler_angles
|
|
template<typename T>
|
|
GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleYX(
|
|
T const& angleY,
|
|
T const& angleX);
|
|
|
|
/// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (X * Z).
|
|
/// @see gtx_euler_angles
|
|
template<typename T>
|
|
GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleXZ(
|
|
T const& angleX,
|
|
T const& angleZ);
|
|
|
|
/// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (Z * X).
|
|
/// @see gtx_euler_angles
|
|
template<typename T>
|
|
GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleZX(
|
|
T const& angle,
|
|
T const& angleX);
|
|
|
|
/// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (Y * Z).
|
|
/// @see gtx_euler_angles
|
|
template<typename T>
|
|
GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleYZ(
|
|
T const& angleY,
|
|
T const& angleZ);
|
|
|
|
/// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (Z * Y).
|
|
/// @see gtx_euler_angles
|
|
template<typename T>
|
|
GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleZY(
|
|
T const& angleZ,
|
|
T const& angleY);
|
|
|
|
/// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (X * Y * Z).
|
|
/// @see gtx_euler_angles
|
|
template<typename T>
|
|
GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleXYZ(
|
|
T const& t1,
|
|
T const& t2,
|
|
T const& t3);
|
|
|
|
/// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (Y * X * Z).
|
|
/// @see gtx_euler_angles
|
|
template<typename T>
|
|
GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleYXZ(
|
|
T const& yaw,
|
|
T const& pitch,
|
|
T const& roll);
|
|
|
|
/// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (X * Z * X).
|
|
/// @see gtx_euler_angles
|
|
template <typename T>
|
|
GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleXZX(
|
|
T const & t1,
|
|
T const & t2,
|
|
T const & t3);
|
|
|
|
/// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (X * Y * X).
|
|
/// @see gtx_euler_angles
|
|
template <typename T>
|
|
GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleXYX(
|
|
T const & t1,
|
|
T const & t2,
|
|
T const & t3);
|
|
|
|
/// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (Y * X * Y).
|
|
/// @see gtx_euler_angles
|
|
template <typename T>
|
|
GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleYXY(
|
|
T const & t1,
|
|
T const & t2,
|
|
T const & t3);
|
|
|
|
/// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (Y * Z * Y).
|
|
/// @see gtx_euler_angles
|
|
template <typename T>
|
|
GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleYZY(
|
|
T const & t1,
|
|
T const & t2,
|
|
T const & t3);
|
|
|
|
/// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (Z * Y * Z).
|
|
/// @see gtx_euler_angles
|
|
template <typename T>
|
|
GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleZYZ(
|
|
T const & t1,
|
|
T const & t2,
|
|
T const & t3);
|
|
|
|
/// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (Z * X * Z).
|
|
/// @see gtx_euler_angles
|
|
template <typename T>
|
|
GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleZXZ(
|
|
T const & t1,
|
|
T const & t2,
|
|
T const & t3);
|
|
|
|
/// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (X * Z * Y).
|
|
/// @see gtx_euler_angles
|
|
template <typename T>
|
|
GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleXZY(
|
|
T const & t1,
|
|
T const & t2,
|
|
T const & t3);
|
|
|
|
/// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (Y * Z * X).
|
|
/// @see gtx_euler_angles
|
|
template <typename T>
|
|
GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleYZX(
|
|
T const & t1,
|
|
T const & t2,
|
|
T const & t3);
|
|
|
|
/// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (Z * Y * X).
|
|
/// @see gtx_euler_angles
|
|
template <typename T>
|
|
GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleZYX(
|
|
T const & t1,
|
|
T const & t2,
|
|
T const & t3);
|
|
|
|
/// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (Z * X * Y).
|
|
/// @see gtx_euler_angles
|
|
template <typename T>
|
|
GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleZXY(
|
|
T const & t1,
|
|
T const & t2,
|
|
T const & t3);
|
|
|
|
/// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (Y * X * Z).
|
|
/// @see gtx_euler_angles
|
|
template<typename T>
|
|
GLM_FUNC_DECL mat<4, 4, T, defaultp> yawPitchRoll(
|
|
T const& yaw,
|
|
T const& pitch,
|
|
T const& roll);
|
|
|
|
/// Creates a 2D 2 * 2 rotation matrix from an euler angle.
|
|
/// @see gtx_euler_angles
|
|
template<typename T>
|
|
GLM_FUNC_DECL mat<2, 2, T, defaultp> orientate2(T const& angle);
|
|
|
|
/// Creates a 2D 4 * 4 homogeneous rotation matrix from an euler angle.
|
|
/// @see gtx_euler_angles
|
|
template<typename T>
|
|
GLM_FUNC_DECL mat<3, 3, T, defaultp> orientate3(T const& angle);
|
|
|
|
/// Creates a 3D 3 * 3 rotation matrix from euler angles (Y * X * Z).
|
|
/// @see gtx_euler_angles
|
|
template<typename T, qualifier Q>
|
|
GLM_FUNC_DECL mat<3, 3, T, Q> orientate3(vec<3, T, Q> const& angles);
|
|
|
|
/// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (Y * X * Z).
|
|
/// @see gtx_euler_angles
|
|
template<typename T, qualifier Q>
|
|
GLM_FUNC_DECL mat<4, 4, T, Q> orientate4(vec<3, T, Q> const& angles);
|
|
|
|
/// Extracts the (X * Y * Z) Euler angles from the rotation matrix M
|
|
/// @see gtx_euler_angles
|
|
template<typename T>
|
|
GLM_FUNC_DECL void extractEulerAngleXYZ(mat<4, 4, T, defaultp> const& M,
|
|
T & t1,
|
|
T & t2,
|
|
T & t3);
|
|
|
|
/// Extracts the (Y * X * Z) Euler angles from the rotation matrix M
|
|
/// @see gtx_euler_angles
|
|
template <typename T>
|
|
GLM_FUNC_DECL void extractEulerAngleYXZ(mat<4, 4, T, defaultp> const & M,
|
|
T & t1,
|
|
T & t2,
|
|
T & t3);
|
|
|
|
/// Extracts the (X * Z * X) Euler angles from the rotation matrix M
|
|
/// @see gtx_euler_angles
|
|
template <typename T>
|
|
GLM_FUNC_DECL void extractEulerAngleXZX(mat<4, 4, T, defaultp> const & M,
|
|
T & t1,
|
|
T & t2,
|
|
T & t3);
|
|
|
|
/// Extracts the (X * Y * X) Euler angles from the rotation matrix M
|
|
/// @see gtx_euler_angles
|
|
template <typename T>
|
|
GLM_FUNC_DECL void extractEulerAngleXYX(mat<4, 4, T, defaultp> const & M,
|
|
T & t1,
|
|
T & t2,
|
|
T & t3);
|
|
|
|
/// Extracts the (Y * X * Y) Euler angles from the rotation matrix M
|
|
/// @see gtx_euler_angles
|
|
template <typename T>
|
|
GLM_FUNC_DECL void extractEulerAngleYXY(mat<4, 4, T, defaultp> const & M,
|
|
T & t1,
|
|
T & t2,
|
|
T & t3);
|
|
|
|
/// Extracts the (Y * Z * Y) Euler angles from the rotation matrix M
|
|
/// @see gtx_euler_angles
|
|
template <typename T>
|
|
GLM_FUNC_DECL void extractEulerAngleYZY(mat<4, 4, T, defaultp> const & M,
|
|
T & t1,
|
|
T & t2,
|
|
T & t3);
|
|
|
|
/// Extracts the (Z * Y * Z) Euler angles from the rotation matrix M
|
|
/// @see gtx_euler_angles
|
|
template <typename T>
|
|
GLM_FUNC_DECL void extractEulerAngleZYZ(mat<4, 4, T, defaultp> const & M,
|
|
T & t1,
|
|
T & t2,
|
|
T & t3);
|
|
|
|
/// Extracts the (Z * X * Z) Euler angles from the rotation matrix M
|
|
/// @see gtx_euler_angles
|
|
template <typename T>
|
|
GLM_FUNC_DECL void extractEulerAngleZXZ(mat<4, 4, T, defaultp> const & M,
|
|
T & t1,
|
|
T & t2,
|
|
T & t3);
|
|
|
|
/// Extracts the (X * Z * Y) Euler angles from the rotation matrix M
|
|
/// @see gtx_euler_angles
|
|
template <typename T>
|
|
GLM_FUNC_DECL void extractEulerAngleXZY(mat<4, 4, T, defaultp> const & M,
|
|
T & t1,
|
|
T & t2,
|
|
T & t3);
|
|
|
|
/// Extracts the (Y * Z * X) Euler angles from the rotation matrix M
|
|
/// @see gtx_euler_angles
|
|
template <typename T>
|
|
GLM_FUNC_DECL void extractEulerAngleYZX(mat<4, 4, T, defaultp> const & M,
|
|
T & t1,
|
|
T & t2,
|
|
T & t3);
|
|
|
|
/// Extracts the (Z * Y * X) Euler angles from the rotation matrix M
|
|
/// @see gtx_euler_angles
|
|
template <typename T>
|
|
GLM_FUNC_DECL void extractEulerAngleZYX(mat<4, 4, T, defaultp> const & M,
|
|
T & t1,
|
|
T & t2,
|
|
T & t3);
|
|
|
|
/// Extracts the (Z * X * Y) Euler angles from the rotation matrix M
|
|
/// @see gtx_euler_angles
|
|
template <typename T>
|
|
GLM_FUNC_DECL void extractEulerAngleZXY(mat<4, 4, T, defaultp> const & M,
|
|
T & t1,
|
|
T & t2,
|
|
T & t3);
|
|
|
|
/// @}
|
|
}//namespace glm
|
|
|
|
#include "euler_angles.inl"
|