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Clean up Euler Angle code for math/linalg

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This commit is contained in:
gingerBill
2020-09-10 15:23:08 +01:00
parent c1149dbdee
commit 824491f410
2 changed files with 239 additions and 87 deletions
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core/math/linalg/specific.odin
+3 -46
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@@ -204,49 +204,6 @@ angle_axis_from_quaternion :: proc(q: Quaternion) -> (angle: Float, axis: Vector
return;
}
quaternion_from_euler_angles :: proc(pitch, yaw, roll: Float) -> Quaternion {
a, b, c := pitch, yaw, roll;
ca, sa := math.cos(a*0.5), math.sin(a*0.5);
cb, sb := math.cos(b*0.5), math.sin(b*0.5);
cc, sc := math.cos(c*0.5), math.sin(c*0.5);
q: Quaternion;
q.x = sa*cb*cc - ca*sb*sc;
q.y = ca*sb*cc + sa*cb*sc;
q.z = ca*cb*sc - sa*sb*cc;
q.w = ca*cb*cc + sa*sb*sc;
return q;
}
roll_from_quaternion :: proc(q: Quaternion) -> Float {
return math.atan2(2 * q.x*q.y + q.w*q.z, q.w*q.w + q.x*q.x - q.y*q.y - q.z*q.z);
}
pitch_from_quaternion :: proc(q: Quaternion) -> Float {
y := 2 * (q.y*q.z + q.w*q.w);
x := q.w*q.w - q.x*q.x - q.y*q.y + q.z*q.z;
if abs(x) <= FLOAT_EPSILON && abs(y) <= FLOAT_EPSILON {
return 2 * math.atan2(q.x, q.w);
}
return math.atan2(y, x);
}
yaw_from_quaternion :: proc(q: Quaternion) -> Float {
return math.asin(clamp(-2 * (q.x*q.z - q.w*q.y), -1, 1));
}
euler_angles_from_quaternion :: proc(q: Quaternion) -> (pitch, yaw, roll: Float) {
pitch = pitch_from_quaternion(q);
yaw = yaw_from_quaternion(q);
roll = roll_from_quaternion(q);
return;
}
quaternion_from_forward_and_up :: proc(forward, up: Vector3) -> Quaternion {
f := normalize(forward);
s := normalize(cross(f, up));
@@ -620,9 +577,7 @@ matrix3_look_at :: proc(eye, centre, up: Vector3) -> Matrix3 {
};
}
matrix4_from_quaternion :: proc(q: Quaternion) -> Matrix4 {
m := MATRIX4_IDENTITY;
matrix4_from_quaternion :: proc(q: Quaternion) -> (m: Matrix4) {
xx := q.x * q.x;
xy := q.x * q.y;
xz := q.x * q.z;
@@ -633,6 +588,8 @@ matrix4_from_quaternion :: proc(q: Quaternion) -> Matrix4 {
zz := q.z * q.z;
zw := q.z * q.w;
m = MATRIX4_IDENTITY;
m[0][0] = 1 - 2 * (yy + zz);
m[1][0] = 2 * (xy - zw);
m[2][0] = 2 * (xz + yw);