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authorVito Caputo <vcaputo@gnugeneration.com>2017-02-10 07:55:51 -0800
committerVito Caputo <vcaputo@gnugeneration.com>2017-02-10 08:18:11 -0800
commit35d8587b8e6b5a85fe0f978ff8cd5a899a8ff6a4 (patch)
tree9ec99df685acefa0df3530322bf7221c49227339 /src/modules/ray/ray_euler.h
parenta4914d40fd9e25fa4c02af8d4c02d227064c1903 (diff)
ray: implement all orders in ray_euler_basis()
Originally I only implemented pitch->yaw->roll, and being new to all this didn't fully appreciate the limitation that resulted in. This adds all six permutations of pitch/yaw/roll, the scene must specify the desired order when setting up the camera with the euler angles, see the enum in ray_euler.h.
Diffstat (limited to 'src/modules/ray/ray_euler.h')
-rw-r--r--src/modules/ray/ray_euler.h40
1 files changed, 14 insertions, 26 deletions
diff --git a/src/modules/ray/ray_euler.h b/src/modules/ray/ray_euler.h
index 86f5221..3a74cab 100644
--- a/src/modules/ray/ray_euler.h
+++ b/src/modules/ray/ray_euler.h
@@ -5,12 +5,22 @@
#include "ray_3f.h"
+/* Desired order to apply euler angle rotations */
+typedef enum ray_euler_order_t {
+ RAY_EULER_ORDER_PYR,
+ RAY_EULER_ORDER_YRP,
+ RAY_EULER_ORDER_RPY,
+ RAY_EULER_ORDER_PRY,
+ RAY_EULER_ORDER_RYP,
+ RAY_EULER_ORDER_YPR,
+} ray_euler_order_t;
/* 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_order_t order; /* order to apply rotations in */
+ float pitch; /* pitch in radiasn */
+ float yaw; /* yaw in radians */
+ float roll; /* roll in radians */
} ray_euler_t;
@@ -18,28 +28,6 @@ typedef struct ray_euler_t {
#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;
-}
+void ray_euler_basis(ray_euler_t *e, ray_3f_t *forward, ray_3f_t *up, ray_3f_t *left);
#endif
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