CS计算机代考程序代写 ///////////////////////////////////////////////////////////////////////////////////

///////////////////////////////////////////////////////////////////////////////////
/// OpenGL Mathematics (glm.g-truc.net)
///
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///
/// @ref gtx_euler_angles
/// @file glm/gtx/euler_angles.inl
/// @date 2005-12-21 / 2011-06-07
/// @author Christophe Riccio
///////////////////////////////////////////////////////////////////////////////////////////////////

namespace glm
{
template
GLM_FUNC_QUALIFIER tmat4x4 eulerAngleX
(
T const & angleX
)
{
T cosX = glm::cos(angleX);
T sinX = glm::sin(angleX);

return tmat4x4(
T(1), T(0), T(0), T(0),
T(0), cosX, sinX, T(0),
T(0),-sinX, cosX, T(0),
T(0), T(0), T(0), T(1));
}

template
GLM_FUNC_QUALIFIER tmat4x4 eulerAngleY
(
T const & angleY
)
{
T cosY = glm::cos(angleY);
T sinY = glm::sin(angleY);

return tmat4x4(
cosY, T(0), -sinY, T(0),
T(0), T(1), T(0), T(0),
sinY, T(0), cosY, T(0),
T(0), T(0), T(0), T(1));
}

template
GLM_FUNC_QUALIFIER tmat4x4 eulerAngleZ
(
T const & angleZ
)
{
T cosZ = glm::cos(angleZ);
T sinZ = glm::sin(angleZ);

return tmat4x4(
cosZ, sinZ, T(0), T(0),
-sinZ, cosZ, T(0), T(0),
T(0), T(0), T(1), T(0),
T(0), T(0), T(0), T(1));
}

template
GLM_FUNC_QUALIFIER tmat4x4 eulerAngleXY
(
T const & angleX,
T const & angleY
)
{
T cosX = glm::cos(angleX);
T sinX = glm::sin(angleX);
T cosY = glm::cos(angleY);
T sinY = glm::sin(angleY);

return tmat4x4(
cosY, -sinX * -sinY, cosX * -sinY, T(0),
T(0), cosX, sinX, T(0),
sinY, -sinX * cosY, cosX * cosY, T(0),
T(0), T(0), T(0), T(1));
}

template
GLM_FUNC_QUALIFIER tmat4x4 eulerAngleYX
(
T const & angleY,
T const & angleX
)
{
T cosX = glm::cos(angleX);
T sinX = glm::sin(angleX);
T cosY = glm::cos(angleY);
T sinY = glm::sin(angleY);

return tmat4x4(
cosY, 0, -sinY, T(0),
sinY * sinX, cosX, cosY * sinX, T(0),
sinY * cosX, -sinX, cosY * cosX, T(0),
T(0), T(0), T(0), T(1));
}

template
GLM_FUNC_QUALIFIER tmat4x4 eulerAngleXZ
(
T const & angleX,
T const & angleZ
)
{
return eulerAngleX(angleX) * eulerAngleZ(angleZ);
}

template
GLM_FUNC_QUALIFIER tmat4x4 eulerAngleZX
(
T const & angleZ,
T const & angleX
)
{
return eulerAngleZ(angleZ) * eulerAngleX(angleX);
}

template
GLM_FUNC_QUALIFIER tmat4x4 eulerAngleYZ
(
T const & angleY,
T const & angleZ
)
{
return eulerAngleY(angleY) * eulerAngleZ(angleZ);
}

template
GLM_FUNC_QUALIFIER tmat4x4 eulerAngleZY
(
T const & angleZ,
T const & angleY
)
{
return eulerAngleZ(angleZ) * eulerAngleY(angleY);
}

template
GLM_FUNC_QUALIFIER tmat4x4 eulerAngleYXZ
(
T const & yaw,
T const & pitch,
T const & roll
)
{
T tmp_ch = glm::cos(yaw);
T tmp_sh = glm::sin(yaw);
T tmp_cp = glm::cos(pitch);
T tmp_sp = glm::sin(pitch);
T tmp_cb = glm::cos(roll);
T tmp_sb = glm::sin(roll);

tmat4x4 Result;
Result[0][0] = tmp_ch * tmp_cb + tmp_sh * tmp_sp * tmp_sb;
Result[0][1] = tmp_sb * tmp_cp;
Result[0][2] = -tmp_sh * tmp_cb + tmp_ch * tmp_sp * tmp_sb;
Result[0][3] = static_cast(0);
Result[1][0] = -tmp_ch * tmp_sb + tmp_sh * tmp_sp * tmp_cb;
Result[1][1] = tmp_cb * tmp_cp;
Result[1][2] = tmp_sb * tmp_sh + tmp_ch * tmp_sp * tmp_cb;
Result[1][3] = static_cast(0);
Result[2][0] = tmp_sh * tmp_cp;
Result[2][1] = -tmp_sp;
Result[2][2] = tmp_ch * tmp_cp;
Result[2][3] = static_cast(0);
Result[3][0] = static_cast(0);
Result[3][1] = static_cast(0);
Result[3][2] = static_cast(0);
Result[3][3] = static_cast(1);
return Result;
}

template
GLM_FUNC_QUALIFIER tmat4x4 yawPitchRoll
(
T const & yaw,
T const & pitch,
T const & roll
)
{
T tmp_ch = glm::cos(yaw);
T tmp_sh = glm::sin(yaw);
T tmp_cp = glm::cos(pitch);
T tmp_sp = glm::sin(pitch);
T tmp_cb = glm::cos(roll);
T tmp_sb = glm::sin(roll);

template
GLM_FUNC_QUALIFIER tmat2x2 orientate2
(
T const & angle
)
{
T c = glm::cos(angle);
T s = glm::sin(angle);

tmat2x2 Result;
Result[0][0] = c;
Result[0][1] = s;
Result[1][0] = -s;
Result[1][1] = c;
return Result;
}

template
GLM_FUNC_QUALIFIER tmat3x3 orientate3
(
T const & angle
)
{
T c = glm::cos(angle);
T s = glm::sin(angle);

tmat3x3 Result;
Result[0][0] = c;
Result[0][1] = s;
Result[0][2] = 0.0f;
Result[1][0] = -s;
Result[1][1] = c;
Result[1][2] = 0.0f;
Result[2][0] = 0.0f;
Result[2][1] = 0.0f;
Result[2][2] = 1.0f;
return Result;
}

template
GLM_FUNC_QUALIFIER tmat3x3 orientate3
(
tvec3 const & angles
)
{
return tmat3x3(yawPitchRoll(angles.z, angles.x, angles.y));
}

template
GLM_FUNC_QUALIFIER tmat4x4 orientate4
(
tvec3 const & angles
)
{
return yawPitchRoll(angles.z, angles.x, angles.y);
}
}//namespace glm

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