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-rw-r--r--modules/ray/ray_euler.h45
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diff --git a/modules/ray/ray_euler.h b/modules/ray/ray_euler.h
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+#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
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