From b5bc962e834992eeba2abdd10f6e37ee2ba20295 Mon Sep 17 00:00:00 2001 From: Vito Caputo Date: Mon, 19 Mar 2018 21:39:09 -0700 Subject: ray: libize raytracer core, introduces src/libs This is the first step of breaking out all the core rendering stuffs into reusable libraries and making modules purely compositional, consumers of various included rendering/effects libraries. Expect multiple modules leveraging libray for a variety of scenes and such. Also expect compositions mixing the various libraries for more interesting visuals. --- src/libs/ray/ray_euler.c | 90 ++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 90 insertions(+) create mode 100644 src/libs/ray/ray_euler.c (limited to 'src/libs/ray/ray_euler.c') diff --git a/src/libs/ray/ray_euler.c b/src/libs/ray/ray_euler.c new file mode 100644 index 0000000..f143e25 --- /dev/null +++ b/src/libs/ray/ray_euler.c @@ -0,0 +1,90 @@ +#include +#include + +#include "ray_3f.h" +#include "ray_euler.h" + +/* produce orthonormal basis vectors from euler angles, rotated in the specified order */ +void ray_euler_basis(const 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); +} -- cgit v1.2.1