initial commit

2025-02-17 21:05:45 +01:00
commit 06623aeb64
282 changed files with 113292 additions and 0 deletions
--- a/lib/glm/gtx/euler_angles.inl
+++ b/lib/glm/gtx/euler_angles.inl
@@ -0,0 +1,312 @@
+/// @ref gtx_euler_angles
+/// @file glm/gtx/euler_angles.inl
+
+#include "compatibility.hpp" // glm::atan2
+
+namespace glm
+{
+	template <typename T>
+	GLM_FUNC_QUALIFIER tmat4x4<T, defaultp> eulerAngleX
+	(
+		T const & angleX
+	)
+	{
+		T cosX = glm::cos(angleX);
+		T sinX = glm::sin(angleX);
+	
+		return tmat4x4<T, defaultp>(
+			T(1), T(0), T(0), T(0),
+			T(0), cosX, sinX, T(0),
+			T(0),-sinX, cosX, T(0),
+			T(0), T(0), T(0), T(1));
+	}
+
+	template <typename T>
+	GLM_FUNC_QUALIFIER tmat4x4<T, defaultp> eulerAngleY
+	(
+		T const & angleY
+	)
+	{
+		T cosY = glm::cos(angleY);
+		T sinY = glm::sin(angleY);
+
+		return tmat4x4<T, defaultp>(
+			cosY,	T(0),	-sinY,	T(0),
+			T(0),	T(1),	T(0),	T(0),
+			sinY,	T(0),	cosY,	T(0),
+			T(0),	T(0),	T(0),	T(1));
+	}
+
+	template <typename T>
+	GLM_FUNC_QUALIFIER tmat4x4<T, defaultp> eulerAngleZ
+	(
+		T const & angleZ
+	)
+	{
+		T cosZ = glm::cos(angleZ);
+		T sinZ = glm::sin(angleZ);
+
+		return tmat4x4<T, defaultp>(
+			cosZ,	sinZ,	T(0), T(0),
+			-sinZ,	cosZ,	T(0), T(0),
+			T(0),	T(0),	T(1), T(0),
+			T(0),	T(0),	T(0), T(1));
+	}
+
+	template <typename T>
+	GLM_FUNC_QUALIFIER tmat4x4<T, defaultp> eulerAngleXY
+	(
+		T const & angleX,
+		T const & angleY
+	)
+	{
+		T cosX = glm::cos(angleX);
+		T sinX = glm::sin(angleX);
+		T cosY = glm::cos(angleY);
+		T sinY = glm::sin(angleY);
+
+		return tmat4x4<T, defaultp>(
+			cosY,   -sinX * -sinY,  cosX * -sinY,   T(0),
+			T(0),   cosX,           sinX,           T(0),
+			sinY,   -sinX * cosY,   cosX * cosY,    T(0),
+			T(0),   T(0),           T(0),           T(1));
+	}
+
+	template <typename T>
+	GLM_FUNC_QUALIFIER tmat4x4<T, defaultp> eulerAngleYX
+	(
+		T const & angleY,
+		T const & angleX
+	)
+	{
+		T cosX = glm::cos(angleX);
+		T sinX = glm::sin(angleX);
+		T cosY = glm::cos(angleY);
+		T sinY = glm::sin(angleY);
+
+		return tmat4x4<T, defaultp>(
+			cosY,          0,      -sinY,    T(0),
+			sinY * sinX,  cosX, cosY * sinX, T(0),
+			sinY * cosX, -sinX, cosY * cosX, T(0),
+			T(0),         T(0),     T(0),    T(1));
+	}
+
+	template <typename T>
+	GLM_FUNC_QUALIFIER tmat4x4<T, defaultp> eulerAngleXZ
+	(
+		T const & angleX,
+		T const & angleZ
+	)
+	{
+		return eulerAngleX(angleX) * eulerAngleZ(angleZ);
+	}
+
+	template <typename T>
+	GLM_FUNC_QUALIFIER tmat4x4<T, defaultp> eulerAngleZX
+	(
+		T const & angleZ,
+		T const & angleX
+	)
+	{
+		return eulerAngleZ(angleZ) * eulerAngleX(angleX);
+	}
+
+	template <typename T>
+	GLM_FUNC_QUALIFIER tmat4x4<T, defaultp> eulerAngleYZ
+	(
+		T const & angleY,
+		T const & angleZ
+	)
+	{
+		return eulerAngleY(angleY) * eulerAngleZ(angleZ);
+	}
+
+	template <typename T>
+	GLM_FUNC_QUALIFIER tmat4x4<T, defaultp> eulerAngleZY
+	(
+		T const & angleZ,
+		T const & angleY
+	)
+	{
+		return eulerAngleZ(angleZ) * eulerAngleY(angleY);
+	}
+    
+    template <typename T>
+    GLM_FUNC_QUALIFIER tmat4x4<T, defaultp> eulerAngleXYZ
+    (
+     T const & t1,
+     T const & t2,
+     T const & t3
+     )
+    {
+        T c1 = glm::cos(-t1);
+        T c2 = glm::cos(-t2);
+        T c3 = glm::cos(-t3);
+        T s1 = glm::sin(-t1);
+        T s2 = glm::sin(-t2);
+        T s3 = glm::sin(-t3);
+        
+        tmat4x4<T, defaultp> Result;
+        Result[0][0] = c2 * c3;
+        Result[0][1] =-c1 * s3 + s1 * s2 * c3;
+        Result[0][2] = s1 * s3 + c1 * s2 * c3;
+        Result[0][3] = static_cast<T>(0);
+        Result[1][0] = c2 * s3;
+        Result[1][1] = c1 * c3 + s1 * s2 * s3;
+        Result[1][2] =-s1 * c3 + c1 * s2 * s3;
+        Result[1][3] = static_cast<T>(0);
+        Result[2][0] =-s2;
+        Result[2][1] = s1 * c2;
+        Result[2][2] = c1 * c2;
+        Result[2][3] = static_cast<T>(0);
+        Result[3][0] = static_cast<T>(0);
+        Result[3][1] = static_cast<T>(0);
+        Result[3][2] = static_cast<T>(0);
+        Result[3][3] = static_cast<T>(1);
+        return Result;
+    }
+    
+	template <typename T>
+	GLM_FUNC_QUALIFIER tmat4x4<T, defaultp> eulerAngleYXZ
+	(
+		T const & yaw,
+		T const & pitch,
+		T const & roll
+	)
+	{
+		T tmp_ch = glm::cos(yaw);
+		T tmp_sh = glm::sin(yaw);
+		T tmp_cp = glm::cos(pitch);
+		T tmp_sp = glm::sin(pitch);
+		T tmp_cb = glm::cos(roll);
+		T tmp_sb = glm::sin(roll);
+
+		tmat4x4<T, defaultp> Result;
+		Result[0][0] = tmp_ch * tmp_cb + tmp_sh * tmp_sp * tmp_sb;
+		Result[0][1] = tmp_sb * tmp_cp;
+		Result[0][2] = -tmp_sh * tmp_cb + tmp_ch * tmp_sp * tmp_sb;
+		Result[0][3] = static_cast<T>(0);
+		Result[1][0] = -tmp_ch * tmp_sb + tmp_sh * tmp_sp * tmp_cb;
+		Result[1][1] = tmp_cb * tmp_cp;
+		Result[1][2] = tmp_sb * tmp_sh + tmp_ch * tmp_sp * tmp_cb;
+		Result[1][3] = static_cast<T>(0);
+		Result[2][0] = tmp_sh * tmp_cp;
+		Result[2][1] = -tmp_sp;
+		Result[2][2] = tmp_ch * tmp_cp;
+		Result[2][3] = static_cast<T>(0);
+		Result[3][0] = static_cast<T>(0);
+		Result[3][1] = static_cast<T>(0);
+		Result[3][2] = static_cast<T>(0);
+		Result[3][3] = static_cast<T>(1);
+		return Result;
+	}
+
+	template <typename T>
+	GLM_FUNC_QUALIFIER tmat4x4<T, defaultp> yawPitchRoll
+	(
+		T const & yaw,
+		T const & pitch,
+		T const & roll
+	)
+	{
+		T tmp_ch = glm::cos(yaw);
+		T tmp_sh = glm::sin(yaw);
+		T tmp_cp = glm::cos(pitch);
+		T tmp_sp = glm::sin(pitch);
+		T tmp_cb = glm::cos(roll);
+		T tmp_sb = glm::sin(roll);
+
+		tmat4x4<T, defaultp> Result;
+		Result[0][0] = tmp_ch * tmp_cb + tmp_sh * tmp_sp * tmp_sb;
+		Result[0][1] = tmp_sb * tmp_cp;
+		Result[0][2] = -tmp_sh * tmp_cb + tmp_ch * tmp_sp * tmp_sb;
+		Result[0][3] = static_cast<T>(0);
+		Result[1][0] = -tmp_ch * tmp_sb + tmp_sh * tmp_sp * tmp_cb;
+		Result[1][1] = tmp_cb * tmp_cp;
+		Result[1][2] = tmp_sb * tmp_sh + tmp_ch * tmp_sp * tmp_cb;
+		Result[1][3] = static_cast<T>(0);
+		Result[2][0] = tmp_sh * tmp_cp;
+		Result[2][1] = -tmp_sp;
+		Result[2][2] = tmp_ch * tmp_cp;
+		Result[2][3] = static_cast<T>(0);
+		Result[3][0] = static_cast<T>(0);
+		Result[3][1] = static_cast<T>(0);
+		Result[3][2] = static_cast<T>(0);
+		Result[3][3] = static_cast<T>(1);
+		return Result;
+	}
+
+	template <typename T>
+	GLM_FUNC_QUALIFIER tmat2x2<T, defaultp> orientate2
+	(
+		T const & angle
+	)
+	{
+		T c = glm::cos(angle);
+		T s = glm::sin(angle);
+
+		tmat2x2<T, defaultp> Result;
+		Result[0][0] = c;
+		Result[0][1] = s;
+		Result[1][0] = -s;
+		Result[1][1] = c;
+		return Result;
+	}
+
+	template <typename T>
+	GLM_FUNC_QUALIFIER tmat3x3<T, defaultp> orientate3
+	(
+		T const & angle
+	)
+	{
+		T c = glm::cos(angle);
+		T s = glm::sin(angle);
+
+		tmat3x3<T, defaultp> Result;
+		Result[0][0] = c;
+		Result[0][1] = s;
+		Result[0][2] = 0.0f;
+		Result[1][0] = -s;
+		Result[1][1] = c;
+		Result[1][2] = 0.0f;
+		Result[2][0] = 0.0f;
+		Result[2][1] = 0.0f;
+		Result[2][2] = 1.0f;
+		return Result;
+	}
+
+	template <typename T, precision P>
+	GLM_FUNC_QUALIFIER tmat3x3<T, P> orientate3
+	(
+		tvec3<T, P> const & angles
+	)
+	{
+		return tmat3x3<T, P>(yawPitchRoll(angles.z, angles.x, angles.y));
+	}
+
+	template <typename T, precision P>
+	GLM_FUNC_QUALIFIER tmat4x4<T, P> orientate4
+	(
+		tvec3<T, P> const & angles
+	)
+	{
+		return yawPitchRoll(angles.z, angles.x, angles.y);
+	}
+    
+    template <typename T>
+    GLM_FUNC_DECL void extractEulerAngleXYZ(tmat4x4<T, defaultp> const & M,
+                                            T & t1,
+                                            T & t2,
+                                            T & t3)
+    {
+        float T1 = glm::atan2<T, defaultp>(M[2][1], M[2][2]);
+        float C2 = glm::sqrt(M[0][0]*M[0][0] + M[1][0]*M[1][0]);
+        float T2 = glm::atan2<T, defaultp>(-M[2][0], C2);
+        float S1 = glm::sin(T1);
+        float C1 = glm::cos(T1);
+        float T3 = glm::atan2<T, defaultp>(S1*M[0][2] - C1*M[0][1], C1*M[1][1] - S1*M[1][2  ]);
+        t1 = -T1;
+        t2 = -T2;
+        t3 = -T3;
+    }
+}//namespace glm