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-///////////////////////////////////////////////////////////////////////////////////
-/// OpenGL Mathematics (glm.g-truc.net)
-///
-/// Copyright (c) 2005 - 2015 G-Truc Creation (www.g-truc.net)
-/// Permission is hereby granted, free of charge, to any person obtaining a copy
-/// of this software and associated documentation files (the "Software"), to deal
-/// in the Software without restriction, including without limitation the rights
-/// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-/// copies of the Software, and to permit persons to whom the Software is
-/// furnished to do so, subject to the following conditions:
-///
-/// The above copyright notice and this permission notice shall be included in
-/// all copies or substantial portions of the Software.
-///
-/// Restrictions:
-/// By making use of the Software for military purposes, you choose to make
-/// a Bunny unhappy.
-///
-/// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-/// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-/// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-/// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-/// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-/// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-/// THE SOFTWARE.
-///
-/// @ref gtx_euler_angles
-/// @file glm/gtx/euler_angles.inl
-/// @date 2005-12-21 / 2011-06-07
-/// @author Christophe Riccio
-///////////////////////////////////////////////////////////////////////////////////////////////////
-
-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> 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);
- }
-}//namespace glm
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