diff --git a/CREDITS b/CREDITS index a159edfb..7477e001 100644 --- a/CREDITS +++ b/CREDITS @@ -65,3 +65,19 @@ https://forums.khronos.org/showthread.php/10651-Animation-TCB-Spline-Interpolati 12. vec2 cross product http://allenchou.net/2013/07/cross-product-of-2d-vectors/ +13. Ken Shoemake's algorithm Implementation and Euler +Ken Shoemake's algorithm impl. is taken from this repo by permission: + https://github.com/erich666/GraphicsGems/blob/master/gemsiv/euler_angle + +* -------------------------- GraphicsGems EULA ----------------------------- * +| http://www.realtimerendering.com/resources/GraphicsGems/ | +| | +| EULA: The Graphics Gems code is copyright-protected. In other words, you | +| cannot claim the text of the code as your own and resell it. Using the | +| code is permitted in any program, product, or library, non-commercial or | +| commercial. Giving credit is not required, though is a nice gesture. | +| The code comes as-is, and if there are any flaws or problems with any Gems | +| code, nobody involved with Gems - authors, editors, publishers, or | +| webmasters - are to be held responsible. Basically, don't be a jerk, and | +| remember that anything free comes with no guarantee. | +* -------------------------------- END --------------------------------------*/ diff --git a/include/cglm/euler.h b/include/cglm/euler.h index 8ae0c83f..52ce8e6a 100644 --- a/include/cglm/euler.h +++ b/include/cglm/euler.h @@ -18,24 +18,160 @@ enum glm_euler_seq Functions: - CGLM_INLINE glm_euler_seq glm_euler_order(int newOrder[3]); - CGLM_INLINE void glm_euler_angles(mat4 m, vec3 dest); - CGLM_INLINE void glm_euler(vec3 angles, mat4 dest); - CGLM_INLINE void glm_euler_xyz(vec3 angles, mat4 dest); - CGLM_INLINE void glm_euler_zyx(vec3 angles, mat4 dest); - CGLM_INLINE void glm_euler_zxy(vec3 angles, mat4 dest); - CGLM_INLINE void glm_euler_xzy(vec3 angles, mat4 dest); - CGLM_INLINE void glm_euler_yzx(vec3 angles, mat4 dest); - CGLM_INLINE void glm_euler_yxz(vec3 angles, mat4 dest); - CGLM_INLINE void glm_euler_by_order(vec3 angles, - glm_euler_seq ord, - mat4 dest); + CGLM_INLINE glm_eul_mat4(vec3 ea, int order, mat4 dest) */ #ifndef cglm_euler_h #define cglm_euler_h #include "common.h" +#include "util.h" + +/* ---------- Notice for Ken Shoemake's algorithm Implementation -------------* + | Ken Shoemake's algorithm impl. is taken from this repo by permission: | + | https://github.com/erich666/GraphicsGems/blob/master/gemsiv/euler_angle | + | | + | cglm doesn't claim the ownership of GraphicsGems source codes | + | and the algorithm itself. But cglm may change variable names or some piece | + | of codes in order to apply optimizations or to make it usable in cglm. | + | | + | Related issue: https://github.com/recp/cglm/issues/30 | + | | + * -------------------------- GraphicsGems EULA ----------------------------- * + | Related EULA for GraphicsGems can be found at below, plus in CREDITS: | + | http://www.realtimerendering.com/resources/GraphicsGems/ | + | | + | EULA: The Graphics Gems code is copyright-protected. In other words, you | + | cannot claim the text of the code as your own and resell it. Using the | + | code is permitted in any program, product, or library, non-commercial or | + | commercial. Giving credit is not required, though is a nice gesture. | + | The code comes as-is, and if there are any flaws or problems with any Gems | + | code, nobody involved with Gems - authors, editors, publishers, or | + | webmasters - are to be held responsible. Basically, don't be a jerk, and | + | remember that anything free comes with no guarantee. | + * -------------------------------- END --------------------------------------*/ + +/* Order type constants, constructors, extractors + * There are 24 possible conventions, designated by: + * o EulAxI = axis used initially + * o EulPar = parity of axis permutation + * o EulRep = repetition of initial axis as last + * o EulFrm = frame from which axes are taken + * Axes I,J,K will be a permutation of X,Y,Z. + * Axis H will be either I or K, depending on EulRep. + * Frame S takes axes from initial static frame. + * If ord = (AxI=X, Par=Even, Rep=No, Frm=S), then + * {a,b,c,ord} means Rz(c)Ry(b)Rx(a), where Rz(c)v + * rotates v around Z by c radians. +*/ + +#define EulRep(ord) (((unsigned)(ord)>>1)&1) +#define EulFrm(ord) ((unsigned)(ord)&1) +#define EulPar(ord) (((unsigned)(ord)>>2)&1) + +/*! this code is merely a quick (and legal!) way to set arrays, + EulSafe being 0,1,2,0 */ +#define EulSafe "\000\001\002\000" +#define EulNext "\001\002\000\001" +#define EulAxI(ord) ((int)(EulSafe[(((unsigned)(ord)>>3)&3)])) +#define EulAxJ(ord) ((int)(EulNext[EulAxI(ord)+(EulPar(ord)==EulParOdd)])) +#define EulAxK(ord) ((int)(EulNext[EulAxI(ord)+(EulPar(ord)!=EulParOdd)])) +#define EulAxH(ord) ((EulRep(ord)==EulRepNo)?EulAxK(ord):EulAxI(ord)) + +/*! EulGetOrd unpacks all useful information about order simultaneously. */ +#define EulGetOrd(ord,i,j,k,h,n,s,f) \ + {unsigned o=(unsigned)ord;f=o&1;o>>=1;s=o&1;o>>=1;\ + n=o&1;o>>=1;i=EulSafe[o&3];j=EulNext[i+n];k=EulNext[i+1-n];h=s?k:i;} + +typedef enum glm_eul_order { + /*! Static axes */ + GLM_EUL_XYZs = 0, + GLM_EUL_XYXs = 2, + GLM_EUL_XZYs = 4, + GLM_EUL_XZXs = 6, + GLM_EUL_YZXs = 8, + GLM_EUL_YZYs = 10, + GLM_EUL_YXZs = 12, + GLM_EUL_YXYs = 14, + GLM_EUL_ZXYs = 16, + GLM_EUL_ZXZs = 18, + GLM_EUL_ZYXs = 20, + GLM_EUL_ZYZs = 22, + + /*! Rotating axes */ + GLM_EUL_ZYXr = 1, + GLM_EUL_XYXr = 3, + GLM_EUL_YZXr = 5, + GLM_EUL_XZXr = 7, + GLM_EUL_XZYr = 9, + GLM_EUL_YZYr = 11, + GLM_EUL_ZXYr = 13, + GLM_EUL_YXYr = 15, + GLM_EUL_YXZr = 17, + GLM_EUL_ZXZr = 19, + GLM_EUL_XYZr = 21, + GLM_EUL_ZYZr = 23 +} glm_eul_order; + +/*! + * @brief build matrix from euler angles + * + * @param[in] ea [Xangle, Yangle, Zangle] + * @param[out] dest rotation matrix + */ +CGLM_INLINE +void +glm_eul_mat4(vec3 ea, glm_eul_order order, mat4 dest) { + float ti, tj, th, ci, cj, ch, si, sj, sh, cc, cs, sc, ss; + int i, j, k, h, parOdd, repYes, frmR; + + EulGetOrd(order, i, j, k, h, parOdd, repYes, frmR); + + if (frmR == 1) + glm_swapf(&ea[0], &ea[2]); + + if (parOdd == 1) + glm_vec3_negate(ea); + + ti = ea[0]; tj = ea[1]; th = ea[2]; + + ci = cosf(ti); cj = cosf(tj); + ch = cosf(th); si = sinf(ti); + sj = sinf(tj); sh = sinf(th); + + cc = ci * ch; cs = ci * sh; + sc = si * ch; ss = si * sh; + + if (repYes == 1) { + dest[i][i] = cj; + dest[i][j] = sj * si; + dest[i][k] = sj * ci; + dest[j][i] = sj * sh; + dest[j][j] = -cj * ss + cc; + dest[j][k] = -cj * cs - sc; + dest[k][i] = -sj * ch; + dest[k][j] = cj * sc + cs; + dest[k][k] = cj * cc - ss; + } else { + dest[i][i] = cj * ch; + dest[i][j] = sj * sc - cs; + dest[i][k] = sj * cc + ss; + dest[j][i] = cj * sh; + dest[j][j] = sj * ss + cc; + dest[j][k] = sj * cs - sc; + dest[k][i] = -sj; + dest[k][j] = cj * si; + dest[k][k] = cj * ci; + } + + dest[3][0] = 0.f; + dest[3][1] = 0.f; + dest[3][2] = 0.f; + dest[0][3] = 0.f; + dest[1][3] = 0.f; + dest[2][3] = 0.f; + dest[3][3] = 1.f; +} /*! * if you have axis order like vec3 orderVec = [0, 1, 2] or [0, 2, 1]...