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Updated GLM version w/ now standard radians as angles.
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J. de Vries
@@ -1,41 +1,67 @@
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///////////////////////////////////////////////////////////////////////////////////////////////////
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// OpenGL Mathematics Copyright (c) 2005 - 2013 G-Truc Creation (www.g-truc.net)
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///////////////////////////////////////////////////////////////////////////////////////////////////
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// Created : 2011-03-05
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// Updated : 2011-03-05
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// Licence : This source is under MIT License
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// File : glm/gtx/matrix_interpolation.inl
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///////////////////////////////////////////////////////////////////////////////////////////////////
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///////////////////////////////////////////////////////////////////////////////////
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/// OpenGL Mathematics (glm.g-truc.net)
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///
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/// Copyright (c) 2005 - 2015 G-Truc Creation (www.g-truc.net)
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/// Permission is hereby granted, free of charge, to any person obtaining a copy
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/// of this software and associated documentation files (the "Software"), to deal
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/// in the Software without restriction, including without limitation the rights
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/// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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/// copies of the Software, and to permit persons to whom the Software is
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/// furnished to do so, subject to the following conditions:
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///
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/// The above copyright notice and this permission notice shall be included in
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/// all copies or substantial portions of the Software.
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///
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/// Restrictions:
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/// By making use of the Software for military purposes, you choose to make
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/// a Bunny unhappy.
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///
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/// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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/// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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/// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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/// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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/// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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/// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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/// THE SOFTWARE.
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///
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/// @ref gtx_matrix_interpolation
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/// @file glm/gtx/matrix_interpolation.hpp
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/// @date 2011-03-05 / 2011-03-05
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/// @author Christophe Riccio
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///////////////////////////////////////////////////////////////////////////////////
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namespace glm
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{
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template <typename T>
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template <typename T, precision P>
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GLM_FUNC_QUALIFIER void axisAngle
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(
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detail::tmat4x4<T> const & mat,
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detail::tvec3<T> & axis,
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tmat4x4<T, P> const & mat,
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tvec3<T, P> & axis,
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T & angle
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)
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{
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T epsilon = (T)0.01;
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T epsilon2 = (T)0.1;
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if ((fabs(mat[1][0] - mat[0][1]) < epsilon) && (fabs(mat[2][0] - mat[0][2]) < epsilon) && (fabs(mat[2][1] - mat[1][2]) < epsilon)) {
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if ((fabs(mat[1][0] + mat[0][1]) < epsilon2) && (fabs(mat[2][0] + mat[0][2]) < epsilon2) && (fabs(mat[2][1] + mat[1][2]) < epsilon2) && (fabs(mat[0][0] + mat[1][1] + mat[2][2] - (T)3.0) < epsilon2)) {
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if((abs(mat[1][0] - mat[0][1]) < epsilon) && (abs(mat[2][0] - mat[0][2]) < epsilon) && (abs(mat[2][1] - mat[1][2]) < epsilon))
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{
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if ((abs(mat[1][0] + mat[0][1]) < epsilon2) && (abs(mat[2][0] + mat[0][2]) < epsilon2) && (abs(mat[2][1] + mat[1][2]) < epsilon2) && (abs(mat[0][0] + mat[1][1] + mat[2][2] - (T)3.0) < epsilon2))
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{
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angle = (T)0.0;
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axis.x = (T)1.0;
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axis.y = (T)0.0;
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axis.z = (T)0.0;
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return;
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}
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angle = T(3.1415926535897932384626433832795);
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angle = static_cast<T>(3.1415926535897932384626433832795);
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T xx = (mat[0][0] + (T)1.0) / (T)2.0;
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T yy = (mat[1][1] + (T)1.0) / (T)2.0;
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T zz = (mat[2][2] + (T)1.0) / (T)2.0;
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T xy = (mat[1][0] + mat[0][1]) / (T)4.0;
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T xz = (mat[2][0] + mat[0][2]) / (T)4.0;
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T yz = (mat[2][1] + mat[1][2]) / (T)4.0;
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if ((xx > yy) && (xx > zz)) {
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if((xx > yy) && (xx > zz))
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{
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if (xx < epsilon) {
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axis.x = (T)0.0;
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axis.y = (T)0.7071;
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@@ -45,7 +71,9 @@ namespace glm
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axis.y = xy / axis.x;
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axis.z = xz / axis.x;
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}
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} else if (yy > zz) {
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}
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else if (yy > zz)
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{
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if (yy < epsilon) {
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axis.x = (T)0.7071;
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axis.y = (T)0.0;
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@@ -55,7 +83,9 @@ namespace glm
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axis.x = xy / axis.y;
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axis.z = yz / axis.y;
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}
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} else {
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}
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else
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{
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if (zz < epsilon) {
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axis.x = (T)0.7071;
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axis.y = (T)0.7071;
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@@ -77,19 +107,19 @@ namespace glm
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axis.z = (mat[0][1] - mat[1][0]) / s;
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}
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template <typename T>
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GLM_FUNC_QUALIFIER detail::tmat4x4<T> axisAngleMatrix
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template <typename T, precision P>
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GLM_FUNC_QUALIFIER tmat4x4<T, P> axisAngleMatrix
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(
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detail::tvec3<T> const & axis,
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tvec3<T, P> const & axis,
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T const angle
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)
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{
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T c = cos(angle);
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T s = sin(angle);
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T t = T(1) - c;
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detail::tvec3<T> n = normalize(axis);
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T t = static_cast<T>(1) - c;
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tvec3<T, P> n = normalize(axis);
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return detail::tmat4x4<T>(
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return tmat4x4<T, P>(
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t * n.x * n.x + c, t * n.x * n.y + n.z * s, t * n.x * n.z - n.y * s, T(0),
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t * n.x * n.y - n.z * s, t * n.y * n.y + c, t * n.y * n.z + n.x * s, T(0),
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t * n.x * n.z + n.y * s, t * n.y * n.z - n.x * s, t * n.z * n.z + c, T(0),
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@@ -97,11 +127,13 @@ namespace glm
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);
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}
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template <typename T>
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GLM_FUNC_QUALIFIER detail::tmat4x4<T> extractMatrixRotation(
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detail::tmat4x4<T> const & mat)
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template <typename T, precision P>
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GLM_FUNC_QUALIFIER tmat4x4<T, P> extractMatrixRotation
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(
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tmat4x4<T, P> const & mat
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)
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{
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return detail::tmat4x4<T>(
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return tmat4x4<T, P>(
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mat[0][0], mat[0][1], mat[0][2], 0.0,
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mat[1][0], mat[1][1], mat[1][2], 0.0,
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mat[2][0], mat[2][1], mat[2][2], 0.0,
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@@ -109,20 +141,20 @@ namespace glm
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);
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}
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template <typename T>
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GLM_FUNC_QUALIFIER detail::tmat4x4<T> interpolate
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template <typename T, precision P>
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GLM_FUNC_QUALIFIER tmat4x4<T, P> interpolate
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(
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detail::tmat4x4<T> const & m1,
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detail::tmat4x4<T> const & m2,
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tmat4x4<T, P> const & m1,
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tmat4x4<T, P> const & m2,
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T const delta
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)
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{
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detail::tmat4x4<T> m1rot = extractMatrixRotation(m1);
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detail::tmat4x4<T> dltRotation = m2 * transpose(m1rot);
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detail::tvec3<T> dltAxis;
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tmat4x4<T, P> m1rot = extractMatrixRotation(m1);
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tmat4x4<T, P> dltRotation = m2 * transpose(m1rot);
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tvec3<T, P> dltAxis;
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T dltAngle;
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axisAngle(dltRotation, dltAxis, dltAngle);
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detail::tmat4x4<T> out = axisAngleMatrix(dltAxis, dltAngle * delta) * m1rot;
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tmat4x4<T, P> out = axisAngleMatrix(dltAxis, dltAngle * delta) * m1rot;
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out[3][0] = m1[3][0] + delta * (m2[3][0] - m1[3][0]);
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out[3][1] = m1[3][1] + delta * (m2[3][1] - m1[3][1]);
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out[3][2] = m1[3][2] + delta * (m2[3][2] - m1[3][2]);
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