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-rw-r--r--src/modules/ray/Makefile.am2
-rw-r--r--src/modules/ray/ray.c1
-rw-r--r--src/modules/ray/ray_euler.c90
-rw-r--r--src/modules/ray/ray_euler.h40
4 files changed, 106 insertions, 27 deletions
diff --git a/src/modules/ray/Makefile.am b/src/modules/ray/Makefile.am
index 6c9a50a..7acfdd8 100644
--- a/src/modules/ray/Makefile.am
+++ b/src/modules/ray/Makefile.am
@@ -1,4 +1,4 @@
noinst_LIBRARIES = libray.a
-libray_a_SOURCES = ray_3f.h ray.c ray_camera.c ray_camera.h ray_color.h ray_euler.h ray.h ray_light_emitter.h ray_object.c ray_object.h ray_object_light.h ray_object_plane.h ray_object_point.h ray_object_sphere.h ray_object_type.h ray_ray.h ray_scene.c ray_scene.h ray_surface.h ray_threads.c ray_threads.h
+libray_a_SOURCES = ray_3f.h ray.c ray_camera.c ray_camera.h ray_color.h ray_euler.c ray_euler.h ray.h ray_light_emitter.h ray_object.c ray_object.h ray_object_light.h ray_object_plane.h ray_object_point.h ray_object_sphere.h ray_object_type.h ray_ray.h ray_scene.c ray_scene.h ray_surface.h ray_threads.c ray_threads.h
libray_a_CFLAGS = @ROTOTILLER_CFLAGS@ -ffast-math
libray_a_CPPFLAGS = @ROTOTILLER_CFLAGS@ -I@top_srcdir@/src
diff --git a/src/modules/ray/ray.c b/src/modules/ray/ray.c
index 60d08cf..951b1d7 100644
--- a/src/modules/ray/ray.c
+++ b/src/modules/ray/ray.c
@@ -90,6 +90,7 @@ static void ray(fb_fragment_t *fragment)
ray_camera_t camera = {
.position = { .x = 0.0, .y = 0.0, .z = 6.0 },
.orientation = {
+ .order = RAY_EULER_ORDER_YPR, /* yaw,pitch,roll */
.yaw = RAY_EULER_DEGREES(0.0f),
.pitch = RAY_EULER_DEGREES(0.0f),
.roll = RAY_EULER_DEGREES(180.0f),
diff --git a/src/modules/ray/ray_euler.c b/src/modules/ray/ray_euler.c
new file mode 100644
index 0000000..8709fa3
--- /dev/null
+++ b/src/modules/ray/ray_euler.c
@@ -0,0 +1,90 @@
+#include <assert.h>
+#include <math.h>
+
+#include "ray_3f.h"
+#include "ray_euler.h"
+
+/* produce orthonormal basis vectors from euler angles, rotated in the specified order */
+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);
+
+ /* Rotation matrices from http://www.songho.ca/opengl/gl_anglestoaxes.html */
+ switch (e->order) {
+ case RAY_EULER_ORDER_PYR:
+ /* pitch, yaw, roll */
+ 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;
+
+ forward->x = sin_yaw;
+ forward->y = -sin_pitch * cos_yaw;
+ forward->z = cos_pitch * cos_yaw;
+ break;
+
+ case RAY_EULER_ORDER_YRP:
+ /* yaw, roll, pitch */
+ up->x = -cos_yaw * sin_roll * cos_pitch + sin_yaw * sin_pitch;
+ up->y = cos_roll * cos_pitch;
+ up->z = sin_yaw * sin_roll * cos_pitch + cos_yaw * sin_pitch;
+
+ forward->x = cos_yaw * sin_roll * sin_pitch + sin_yaw * cos_pitch;
+ forward->y = -cos_roll * sin_pitch;
+ forward->z = -sin_yaw * sin_roll * sin_pitch + cos_yaw * cos_pitch;
+ break;
+
+ case RAY_EULER_ORDER_RPY:
+ /* roll, pitch, yaw */
+ up->x = -sin_roll * cos_pitch;
+ up->y = cos_roll * cos_pitch;
+ up->z = sin_pitch;
+
+ forward->x = cos_roll * sin_yaw + sin_roll * sin_pitch * cos_yaw;
+ forward->y = sin_roll * sin_yaw - cos_roll * sin_pitch * cos_yaw;
+ forward->z = cos_pitch * cos_yaw;
+ break;
+
+ case RAY_EULER_ORDER_PRY:
+ /* pitch, roll, yaw */
+ up->x = -sin_roll;
+ up->y = cos_pitch * cos_roll;
+ up->z = sin_pitch * cos_roll;
+
+ forward->x = cos_roll * sin_yaw;
+ forward->y = cos_pitch * sin_roll * sin_yaw - sin_pitch * cos_yaw;
+ forward->z = sin_pitch * sin_roll * sin_yaw + cos_pitch * cos_yaw;
+ break;
+
+ case RAY_EULER_ORDER_RYP:
+ /* roll, yaw, pitch */
+ up->x = -sin_roll * cos_pitch + cos_roll * sin_yaw * sin_pitch;
+ up->y = cos_roll * cos_pitch + sin_roll * sin_yaw * sin_pitch;
+ up->z = cos_yaw * sin_pitch;
+
+ forward->x = sin_roll * sin_pitch + cos_roll * sin_yaw * cos_pitch;
+ forward->y = -cos_roll * sin_pitch + sin_roll * sin_yaw * cos_pitch;
+ forward->z = cos_yaw * cos_pitch;
+ break;
+
+ case RAY_EULER_ORDER_YPR:
+ /* yaw, pitch, roll */
+ up->x = -cos_yaw * sin_roll + sin_yaw * sin_pitch * cos_roll;
+ up->y = cos_pitch * cos_roll;
+ up->z = sin_yaw * sin_roll + cos_yaw * sin_pitch * cos_roll;
+
+ forward->x = sin_yaw * cos_pitch;
+ forward->y = -sin_pitch;
+ forward->z = cos_yaw * cos_pitch;
+ break;
+
+ default:
+ assert(0);
+ }
+
+ *left = ray_3f_cross(up, forward);
+}
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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