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| /* | ||
| * Copyright (c), Recep Aslantas. | ||
| * | ||
| * MIT License (MIT), http://opensource.org/licenses/MIT | ||
| * Full license can be found in the LICENSE file | ||
| */ | ||
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| /* | ||
| Functions: | ||
| CGLM_INLINE void glm_euler_xyz_quat_lh(vec3 angles, versor dest); | ||
| CGLM_INLINE void glm_euler_xzy_quat_lh(vec3 angles, versor dest); | ||
| CGLM_INLINE void glm_euler_yxz_quat_lh(vec3 angles, versor dest); | ||
| CGLM_INLINE void glm_euler_yzx_quat_lh(vec3 angles, versor dest); | ||
| CGLM_INLINE void glm_euler_zxy_quat_lh(vec3 angles, versor dest); | ||
| CGLM_INLINE void glm_euler_zyx_quat_lh(vec3 angles, versor dest); | ||
| */ | ||
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| /* | ||
| Things to note: | ||
| The only difference between euler to quat rh vs lh is that the zsin part is negative | ||
| */ | ||
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| #ifndef cglm_euler_to_quat_lh_h | ||
| #define cglm_euler_to_quat_lh_h | ||
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| #include "../common.h" | ||
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| /*! | ||
| * @brief creates NEW quaternion using rotation angles and does | ||
| * rotations in x y z order in left hand (roll pitch yaw) | ||
| * | ||
| * @param[in] angles angles x y z (radians) | ||
| * @param[out] dest quaternion | ||
| */ | ||
| CGLM_INLINE | ||
| void | ||
| glm_euler_xyz_quat_lh(vec3 angles, versor dest) { | ||
| float xc, yc, zc, | ||
| xs, ys, zs; | ||
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| 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); | ||
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| dest[0] = xc * ys * zs + xs * yc * zc; | ||
| dest[1] = xc * ys * zc - xs * yc * zs; | ||
| dest[2] = xc * yc * zs + xs * ys * zc; | ||
| dest[3] = xc * yc * zc - xs * ys * zs; | ||
| } | ||
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| /*! | ||
| * @brief creates NEW quaternion using rotation angles and does | ||
| * rotations in x z y order in left hand (roll yaw pitch) | ||
| * | ||
| * @param[in] angles angles x y z (radians) | ||
| * @param[out] dest quaternion | ||
| */ | ||
| CGLM_INLINE | ||
| void | ||
| glm_euler_xzy_quat_lh(vec3 angles, versor dest) { | ||
| float xc, yc, zc, | ||
| xs, ys, zs; | ||
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| 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); | ||
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| dest[0] = -xc * zs * ys + xs * zc * yc; | ||
| dest[1] = xc * zc * ys - xs * zs * yc; | ||
| dest[2] = xc * zs * yc + xs * zc * ys; | ||
| dest[3] = xc * zc * yc + xs * zs * ys; | ||
| } | ||
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| /*! | ||
| * @brief creates NEW quaternion using rotation angles and does | ||
| * rotations in y x z order in left hand (pitch roll yaw) | ||
| * | ||
| * @param[in] angles angles x y z (radians) | ||
| * @param[out] dest quaternion | ||
| */ | ||
| CGLM_INLINE | ||
| void | ||
| glm_euler_yxz_quat_lh(vec3 angles, versor dest) { | ||
| float xc, yc, zc, | ||
| xs, ys, zs; | ||
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| 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); | ||
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| dest[0] = yc * xs * zc + ys * xc * zs; | ||
| dest[1] = -yc * xs * zs + ys * xc * zc; | ||
| dest[2] = yc * xc * zs - ys * xs * zc; | ||
| dest[3] = yc * xc * zc + ys * xs * zs; | ||
| } | ||
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| /*! | ||
| * @brief creates NEW quaternion using rotation angles and does | ||
| * rotations in y z x order in left hand (pitch yaw roll) | ||
| * | ||
| * @param[in] angles angles x y z (radians) | ||
| * @param[out] dest quaternion | ||
| */ | ||
| CGLM_INLINE | ||
| void | ||
| glm_euler_yzx_quat_lh(vec3 angles, versor dest) { | ||
| float xc, yc, zc, | ||
| xs, ys, zs; | ||
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| 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); | ||
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| dest[0] = yc * zc * xs + ys * zs * xc; | ||
| dest[1] = yc * zs * xs + ys * zc * xc; | ||
| dest[2] = yc * zs * xc - ys * zc * xs; | ||
| dest[3] = yc * zc * xc - ys * zs * xs; | ||
| } | ||
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| /*! | ||
| * @brief creates NEW quaternion using rotation angles and does | ||
| * rotations in z x y order in left hand (yaw roll pitch) | ||
| * | ||
| * @param[in] angles angles x y z (radians) | ||
| * @param[out] dest quaternion | ||
| */ | ||
| CGLM_INLINE | ||
| void | ||
| glm_euler_zxy_quat_lh(vec3 angles, versor dest) { | ||
| float xc, yc, zc, | ||
| xs, ys, zs; | ||
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| 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); | ||
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| dest[0] = zc * xs * yc - zs * xc * ys; | ||
| dest[1] = zc * xc * ys + zs * xs * yc; | ||
| dest[2] = zc * xs * ys + zs * xc * yc; | ||
| dest[3] = zc * xc * yc - zs * xs * ys; | ||
| } | ||
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| /*! | ||
| * @brief creates NEW quaternion using rotation angles and does | ||
| * rotations in z y x order in left hand (yaw pitch roll) | ||
| * | ||
| * @param[in] angles angles x y z (radians) | ||
| * @param[out] dest quaternion | ||
| */ | ||
| CGLM_INLINE | ||
| void | ||
| glm_euler_zyx_quat_lh(vec3 angles, versor dest) { | ||
| float xc, yc, zc, | ||
| xs, ys, zs; | ||
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| 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); | ||
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| dest[0] = zc * yc * xs - zs * ys * xc; | ||
| dest[1] = zc * ys * xc + zs * yc * xs; | ||
| dest[2] = -zc * ys * xs + zs * yc * xc; | ||
| dest[3] = zc * yc * xc + zs * ys * xs; | ||
| } | ||
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| #endif /*cglm_euler_to_quat_lh_h*/ |
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