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author | Vito Caputo <vcaputo@gnugeneration.com> | 2017-01-18 19:12:41 -0800 |
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committer | GitHub <noreply@github.com> | 2017-01-18 19:12:41 -0800 |
commit | 467137113c8b3d6bcb73ecff8c76f23793f25cb7 (patch) | |
tree | ecf3064d6587ec875d5c021d46d44855dc814212 /src/modules/ray/ray_euler.h | |
parent | ee2073d4e411555aba878277131b56f7eb562c84 (diff) | |
parent | 404a356b2b22a134aea151145d1baabf253ee491 (diff) |
Merge build system cleanups
- Move source to src/ subdir
- Use $(top_srcdir)/src instead of ../../
Diffstat (limited to 'src/modules/ray/ray_euler.h')
-rw-r--r-- | src/modules/ray/ray_euler.h | 45 |
1 files changed, 45 insertions, 0 deletions
diff --git a/src/modules/ray/ray_euler.h b/src/modules/ray/ray_euler.h new file mode 100644 index 0000000..86f5221 --- /dev/null +++ b/src/modules/ray/ray_euler.h @@ -0,0 +1,45 @@ +#ifndef _RAY_EULER_H +#define _RAY_EULER_H + +#include <math.h> + +#include "ray_3f.h" + + +/* euler angles are convenient for describing orientation */ +typedef struct ray_euler_t { + float pitch; /* pitch in radiasn */ + float yaw; /* yaw in radians */ + float roll; /* roll in radians */ +} ray_euler_t; + + +/* convenience macro for converting degrees to radians */ +#define RAY_EULER_DEGREES(_deg) \ + (_deg * (2 * M_PI / 360.0f)) + + +/* produce basis vectors from euler angles */ +static inline void ray_euler_basis(ray_euler_t *e, ray_3f_t *forward, ray_3f_t *up, ray_3f_t *left) +{ + float cos_yaw = cosf(e->yaw); + float sin_yaw = sinf(e->yaw); + float cos_roll = cosf(e->roll); + float sin_roll = sinf(e->roll); + float cos_pitch = cosf(e->pitch); + float sin_pitch = sinf(e->pitch); + + forward->x = sin_yaw; + forward->y = -sin_pitch * cos_yaw; + forward->z = cos_pitch * cos_yaw; + + up->x = -cos_yaw * sin_roll; + up->y = -sin_pitch * sin_yaw * sin_roll + cos_pitch * cos_roll; + up->z = cos_pitch * sin_yaw * sin_roll + sin_pitch * cos_roll; + + left->x = cos_yaw * cos_roll; + left->y = sin_pitch * sin_yaw * cos_roll + cos_pitch * sin_roll; + left->z = -cos_pitch * sin_yaw * cos_roll + sin_pitch * sin_roll; +} + +#endif |