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Clarify euler angle procedures better

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This commit is contained in:
gingerBill
2020-09-10 15:33:50 +01:00
parent 824491f410
commit 993fc577b2
1 changed files with 41 additions and 38 deletions
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core/math/linalg/specific_euler_angles.odin
+41 -38
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@@ -3,51 +3,54 @@ package linalg
import "core:math" import "core:math"
Euler_Angle_Order :: enum { Euler_Angle_Order :: enum {
// Tait-Bryan
XYZ, XYZ,
XZY,
YXZ, YXZ,
XZX, YZX,
ZXY,
ZYX,
// Proper Euler
XYX, XYX,
XZX,
YXY, YXY,
YZY, YZY,
ZYZ,
ZXZ, ZXZ,
XZY, ZYZ,
YZX,
ZYX,
ZXY,
} }
euler_angles_from_matrix4 :: proc(m: Matrix4, order: Euler_Angle_Order) -> (t1, t2, t3: Float) { euler_angles_from_matrix4 :: proc(m: Matrix4, order: Euler_Angle_Order) -> (t1, t2, t3: Float) {
switch order { switch order {
case .XYZ: t1, t2, t3 = euler_angles_xyz_from_matrix4(m); case .XYZ: t1, t2, t3 = euler_angles_xyz_from_matrix4(m);
case .XZY: t1, t2, t3 = euler_angles_xzy_from_matrix4(m);
case .YXZ: t1, t2, t3 = euler_angles_yxz_from_matrix4(m); case .YXZ: t1, t2, t3 = euler_angles_yxz_from_matrix4(m);
case .XZX: t1, t2, t3 = euler_angles_xzx_from_matrix4(m); case .YZX: t1, t2, t3 = euler_angles_yzx_from_matrix4(m);
case .ZXY: t1, t2, t3 = euler_angles_zxy_from_matrix4(m);
case .ZYX: t1, t2, t3 = euler_angles_zyx_from_matrix4(m);
case .XYX: t1, t2, t3 = euler_angles_xyx_from_matrix4(m); case .XYX: t1, t2, t3 = euler_angles_xyx_from_matrix4(m);
case .XZX: t1, t2, t3 = euler_angles_xzx_from_matrix4(m);
case .YXY: t1, t2, t3 = euler_angles_yxy_from_matrix4(m); case .YXY: t1, t2, t3 = euler_angles_yxy_from_matrix4(m);
case .YZY: t1, t2, t3 = euler_angles_yzy_from_matrix4(m); case .YZY: t1, t2, t3 = euler_angles_yzy_from_matrix4(m);
case .ZYZ: t1, t2, t3 = euler_angles_zyz_from_matrix4(m);
case .ZXZ: t1, t2, t3 = euler_angles_zxz_from_matrix4(m); case .ZXZ: t1, t2, t3 = euler_angles_zxz_from_matrix4(m);
case .XZY: t1, t2, t3 = euler_angles_xzy_from_matrix4(m); case .ZYZ: t1, t2, t3 = euler_angles_zyz_from_matrix4(m);
case .YZX: t1, t2, t3 = euler_angles_yzx_from_matrix4(m);
case .ZYX: t1, t2, t3 = euler_angles_zyx_from_matrix4(m);
case .ZXY: t1, t2, t3 = euler_angles_zxy_from_matrix4(m);
} }
return; return;
} }
euler_angles_from_quaternion :: proc(m: Quaternion, order: Euler_Angle_Order) -> (t1, t2, t3: Float) { euler_angles_from_quaternion :: proc(m: Quaternion, order: Euler_Angle_Order) -> (t1, t2, t3: Float) {
switch order { switch order {
case .XYZ: t1, t2, t3 = euler_angles_xyz_from_quaternion(m); case .XYZ: t1, t2, t3 = euler_angles_xyz_from_quaternion(m);
case .XZY: t1, t2, t3 = euler_angles_xzy_from_quaternion(m);
case .YXZ: t1, t2, t3 = euler_angles_yxz_from_quaternion(m); case .YXZ: t1, t2, t3 = euler_angles_yxz_from_quaternion(m);
case .XZX: t1, t2, t3 = euler_angles_xzx_from_quaternion(m); case .YZX: t1, t2, t3 = euler_angles_yzx_from_quaternion(m);
case .ZXY: t1, t2, t3 = euler_angles_zxy_from_quaternion(m);
case .ZYX: t1, t2, t3 = euler_angles_zyx_from_quaternion(m);
case .XYX: t1, t2, t3 = euler_angles_xyx_from_quaternion(m); case .XYX: t1, t2, t3 = euler_angles_xyx_from_quaternion(m);
case .XZX: t1, t2, t3 = euler_angles_xzx_from_quaternion(m);
case .YXY: t1, t2, t3 = euler_angles_yxy_from_quaternion(m); case .YXY: t1, t2, t3 = euler_angles_yxy_from_quaternion(m);
case .YZY: t1, t2, t3 = euler_angles_yzy_from_quaternion(m); case .YZY: t1, t2, t3 = euler_angles_yzy_from_quaternion(m);
case .ZYZ: t1, t2, t3 = euler_angles_zyz_from_quaternion(m);
case .ZXZ: t1, t2, t3 = euler_angles_zxz_from_quaternion(m); case .ZXZ: t1, t2, t3 = euler_angles_zxz_from_quaternion(m);
case .XZY: t1, t2, t3 = euler_angles_xzy_from_quaternion(m); case .ZYZ: t1, t2, t3 = euler_angles_zyz_from_quaternion(m);
case .YZX: t1, t2, t3 = euler_angles_yzx_from_quaternion(m);
case .ZYX: t1, t2, t3 = euler_angles_zyx_from_quaternion(m);
case .ZXY: t1, t2, t3 = euler_angles_zxy_from_quaternion(m);
} }
return; return;
} }
@@ -61,17 +64,17 @@ matrix4_from_euler_angles :: proc(t1, t2, t3: Float, order: Euler_Angle_Order) -
switch order { switch order {
case .XYZ: m1, m2, m3 = X(t1), Y(t2), Z(t3); case .XYZ: m1, m2, m3 = X(t1), Y(t2), Z(t3);
case .XZY: m1, m2, m3 = X(t1), Z(t2), Y(t3);
case .YXZ: m1, m2, m3 = Y(t1), X(t2), Z(t3); case .YXZ: m1, m2, m3 = Y(t1), X(t2), Z(t3);
case .XZX: m1, m2, m3 = X(t1), Z(t2), X(t3); case .YZX: m1, m2, m3 = Y(t1), Z(t2), X(t3);
case .ZXY: m1, m2, m3 = Z(t1), X(t2), Y(t3);
case .ZYX: m1, m2, m3 = Z(t1), Y(t2), X(t3);
case .XYX: m1, m2, m3 = X(t1), Y(t2), X(t3); case .XYX: m1, m2, m3 = X(t1), Y(t2), X(t3);
case .XZX: m1, m2, m3 = X(t1), Z(t2), X(t3);
case .YXY: m1, m2, m3 = Y(t1), X(t2), Y(t3); case .YXY: m1, m2, m3 = Y(t1), X(t2), Y(t3);
case .YZY: m1, m2, m3 = Y(t1), Z(t2), Y(t3); case .YZY: m1, m2, m3 = Y(t1), Z(t2), Y(t3);
case .ZYZ: m1, m2, m3 = Z(t1), Y(t2), Z(t3);
case .ZXZ: m1, m2, m3 = Z(t1), X(t2), Z(t3); case .ZXZ: m1, m2, m3 = Z(t1), X(t2), Z(t3);
case .XZY: m1, m2, m3 = X(t1), Z(t2), Y(t3); case .ZYZ: m1, m2, m3 = Z(t1), Y(t2), Z(t3);
case .YZX: m1, m2, m3 = Y(t1), Z(t2), X(t3);
case .ZYX: m1, m2, m3 = Z(t1), Y(t2), X(t3);
case .ZXY: m1, m2, m3 = Z(t1), X(t2), Y(t3);
} }
return mul(m1, mul(m2, m3)); return mul(m1, mul(m2, m3));
@@ -82,24 +85,24 @@ quaternion_from_euler_angles :: proc(t1, t2, t3: Float, order: Euler_Angle_Order
Y :: quaternion_from_euler_angle_y; Y :: quaternion_from_euler_angle_y;
Z :: quaternion_from_euler_angle_z; Z :: quaternion_from_euler_angle_z;
m1, m2, m3: Quaternion; q1, q2, q3: Quaternion;
switch order { switch order {
case .XYZ: m1, m2, m3 = X(t1), Y(t2), Z(t3); case .XYZ: q1, q2, q3 = X(t1), Y(t2), Z(t3);
case .YXZ: m1, m2, m3 = Y(t1), X(t2), Z(t3); case .XZY: q1, q2, q3 = X(t1), Z(t2), Y(t3);
case .XZX: m1, m2, m3 = X(t1), Z(t2), X(t3); case .YXZ: q1, q2, q3 = Y(t1), X(t2), Z(t3);
case .XYX: m1, m2, m3 = X(t1), Y(t2), X(t3); case .YZX: q1, q2, q3 = Y(t1), Z(t2), X(t3);
case .YXY: m1, m2, m3 = Y(t1), X(t2), Y(t3); case .ZXY: q1, q2, q3 = Z(t1), X(t2), Y(t3);
case .YZY: m1, m2, m3 = Y(t1), Z(t2), Y(t3); case .ZYX: q1, q2, q3 = Z(t1), Y(t2), X(t3);
case .ZYZ: m1, m2, m3 = Z(t1), Y(t2), Z(t3); case .XYX: q1, q2, q3 = X(t1), Y(t2), X(t3);
case .ZXZ: m1, m2, m3 = Z(t1), X(t2), Z(t3); case .XZX: q1, q2, q3 = X(t1), Z(t2), X(t3);
case .XZY: m1, m2, m3 = X(t1), Z(t2), Y(t3); case .YXY: q1, q2, q3 = Y(t1), X(t2), Y(t3);
case .YZX: m1, m2, m3 = Y(t1), Z(t2), X(t3); case .YZY: q1, q2, q3 = Y(t1), Z(t2), Y(t3);
case .ZYX: m1, m2, m3 = Z(t1), Y(t2), X(t3); case .ZXZ: q1, q2, q3 = Z(t1), X(t2), Z(t3);
case .ZXY: m1, m2, m3 = Z(t1), X(t2), Y(t3); case .ZYZ: q1, q2, q3 = Z(t1), Y(t2), Z(t3);
} }
return m1 * (m2 * m3); return q1 * (q2 * q3);
} }