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euler to quat functions #369

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merged 19 commits into from
Dec 25, 2023
Merged

euler to quat functions #369

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05ea35f
made euler to quat xyz. Now I'm trying to test if it works or not
telephone001 Dec 7, 2023
d67ac97
got the euler to quat xyz working and got the tests to pass
telephone001 Dec 7, 2023
c5694c5
made all the functions. I have miscalculated some stuff and am curren…
telephone001 Dec 8, 2023
2f7dbad
finally done with tests and all euler to quaternion functions
telephone001 Dec 8, 2023
4ee6aea
made quat struct and also exported it
telephone001 Dec 8, 2023
45f2fff
Merge branch 'recp:master' into master
telephone001 Dec 8, 2023
ec37969
finished but trying to figure out why its not running in wasm
telephone001 Dec 8, 2023
666d692
fixed the bug with the tester. Its weird that the broken tester worke…
telephone001 Dec 9, 2023
036fd48
moved all my stuff to euler because it fits there better. Also, had t…
telephone001 Dec 9, 2023
fee2b7d
Merge branch 'recp:master' into master
telephone001 Dec 10, 2023
2eb9a67
fixed up the code to fit with the style, Also found out that I was ca…
telephone001 Dec 10, 2023
d613955
Merge remote-tracking branch 'refs/remotes/origin/master'
telephone001 Dec 10, 2023
e24675c
Merge branch 'recp:master' into master
telephone001 Dec 10, 2023
7e4383c
found out I was using glm_euler_xyz_quat in some testers that tests o…
telephone001 Dec 10, 2023
732a403
changed last parameter to be destination and also removed the euler->…
telephone001 Dec 13, 2023
42b5e83
re-added the euler->mat4->quat tests
telephone001 Dec 14, 2023
46aaf25
Merge branch 'master' into master
telephone001 Dec 14, 2023
39c0c1e
added handed folder and also made rh tests for the euler->quat functi…
telephone001 Dec 25, 2023
d820410
Merge remote-tracking branch 'refs/remotes/origin/master'
telephone001 Dec 25, 2023
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25 changes: 25 additions & 0 deletions include/cglm/call/euler.h
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Original file line number Diff line number Diff line change
Expand Up @@ -49,6 +49,31 @@ CGLM_EXPORT
void
glmc_euler_by_order(vec3 angles, glm_euler_seq axis, mat4 dest);

CGLM_EXPORT
void
glmc_euler_xyz_quat(versor q, vec3 angles);

CGLM_EXPORT
void
glmc_euler_xzy_quat(versor q, vec3 angles);

CGLM_EXPORT
void
glmc_euler_yxz_quat(versor q, vec3 angles);

CGLM_EXPORT
void
glmc_euler_yzx_quat(versor q, vec3 angles);

CGLM_EXPORT
void
glmc_euler_zxy_quat(versor q, vec3 angles);

CGLM_EXPORT
void
glmc_euler_zyx_quat(versor q, vec3 angles);


#ifdef __cplusplus
}
#endif
Expand Down
170 changes: 170 additions & 0 deletions include/cglm/euler.h
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Original file line number Diff line number Diff line change
Expand Up @@ -30,6 +30,12 @@
CGLM_INLINE void glm_euler_by_order(vec3 angles,
glm_euler_seq ord,
mat4 dest);
CGLM_INLINE void glm_euler_xyz_quat(versor q, vec3 angles);
CGLM_INLINE void glm_euler_xzy_quat(versor q, vec3 angles);
CGLM_INLINE void glm_euler_yxz_quat(versor q, vec3 angles);
CGLM_INLINE void glm_euler_yzx_quat(versor q, vec3 angles);
CGLM_INLINE void glm_euler_zxy_quat(versor q, vec3 angles);
CGLM_INLINE void glm_euler_zyx_quat(versor q, vec3 angles);
*/

#ifndef cglm_euler_h
Expand Down Expand Up @@ -448,4 +454,168 @@ glm_euler_by_order(vec3 angles, glm_euler_seq ord, mat4 dest) {
dest[3][3] = 1.0f;
}


/*!
* @brief creates NEW quaternion using rotation angles and does
* rotations in x y z order (roll pitch yaw)
*
* @param[out] q quaternion
* @param[in] angle angles x y z (radians)
*/
CGLM_INLINE
void
glm_euler_xyz_quat(versor q, vec3 angles) {
float xs = sinf(angles[0] / 2.0f);
float xc = cosf(angles[0] / 2.0f);

float ys = sinf(angles[1] / 2.0f);
float yc = cosf(angles[1] / 2.0f);

float zs = sinf(angles[2] / 2.0f);
float zc = cosf(angles[2] / 2.0f);
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I know new compiler and C versions can handle this but I prefer to do declarations beginning of a scope block:

  float xs, xc, ys, yc, zs, zc;

  xs = sinf(angles[0] * 0.5f);

also even compilers do optimizations it would be nice to multiply with 0.5 rather than dividing by 2.



glm_quat_init(q,
zc * yc * xs - zs * ys * xc,
zc * ys * xc + zs * yc * xs,
-zc * ys * xs + zs * yc * xc,
zc * yc * xc + zs * ys * xs);
}

/*!
* @brief creates NEW quaternion using rotation angles and does
* rotations in x z y order (roll yaw pitch)
*
* @param[out] q quaternion
* @param[in] angle angles x y z (radians)
*/
CGLM_INLINE
void
glm_euler_xzy_quat(versor q, vec3 angles) {
float xs = sinf(angles[0] / 2.0f);
float xc = cosf(angles[0] / 2.0f);

float ys = sinf(angles[1] / 2.0f);
float yc = cosf(angles[1] / 2.0f);

float zs = sinf(angles[2] / 2.0f);
float zc = cosf(angles[2] / 2.0f);

glm_quat_init(q,
yc * zc * xs + ys * zs * xc,
yc * zs * xs + ys * zc * xc,
yc * zs * xc - ys * zc * xs,
yc * zc * xc - ys * zs * xs);

}

/*!
* @brief creates NEW quaternion using rotation angles and does
* rotations in y x z order (pitch roll yaw)
*
* @param[out] q quaternion
* @param[in] angle angles x y z (radians)
*/
CGLM_INLINE
void
glm_euler_yxz_quat(versor q, vec3 angles) {
float xs = sinf(angles[0] / 2.0f);
float xc = cosf(angles[0] / 2.0f);

float ys = sinf(angles[1] / 2.0f);
float yc = cosf(angles[1] / 2.0f);

float zs = sinf(angles[2] / 2.0f);
float zc = cosf(angles[2] / 2.0f);

glm_quat_init(q,
zc * xs * yc - zs * xc * ys,
zc * xc * ys + zs * xs * yc,
zc * xs * ys + zs * xc * yc,
zc * xc * yc - zs * xs * ys);
}

/*!
* @brief creates NEW quaternion using rotation angles and does
* rotations in y z x order (pitch yaw roll)
*
* @param[out] q quaternion
* @param[in] angle angles x y z (radians)
*/
CGLM_INLINE
void
glm_euler_yzx_quat(versor q, vec3 angles) {
float xs = sinf(angles[0] / 2.0f);
float xc = cosf(angles[0] / 2.0f);

float ys = sinf(angles[1] / 2.0f);
float yc = cosf(angles[1] / 2.0f);

float zs = sinf(angles[2] / 2.0f);
float zc = cosf(angles[2] / 2.0f);

glm_quat_init(q,
-xc * zs * ys + xs * zc * yc,
xc * zc * ys - xs * zs * yc,
xc * zs * yc + xs * zc * ys,
xc * zc * yc + xs * zs * ys);

}

/*!
* @brief creates NEW quaternion using rotation angles and does
* rotations in z x y order (yaw roll pitch)
*
* @param[out] q quaternion
* @param[in] angle angles x y z (radians)
*/
CGLM_INLINE
void
glm_euler_zxy_quat(versor q, vec3 angles) {
float xs = sinf(angles[0] / 2.0f);
float xc = cosf(angles[0] / 2.0f);

float ys = sinf(angles[1] / 2.0f);
float yc = cosf(angles[1] / 2.0f);

float zs = sinf(angles[2] / 2.0f);
float zc = cosf(angles[2] / 2.0f);

glm_quat_init(q,
yc * xs * zc + ys * xc * zs,
-yc * xs * zs + ys * xc * zc,
yc * xc * zs - ys * xs * zc,
yc * xc * zc + ys * xs * zs);


}

/*!
* @brief creates NEW quaternion using rotation angles and does
* rotations in z y x order (yaw pitch roll)
*
* @param[out] q quaternion
* @param[in] angle angles x y z (radians)
*/
CGLM_INLINE
void
glm_euler_zyx_quat(versor q, vec3 angles) {
float xs = sinf(angles[0] / 2.0f);
float xc = cosf(angles[0] / 2.0f);

float ys = sinf(angles[1] / 2.0f);
float yc = cosf(angles[1] / 2.0f);

float zs = sinf(angles[2] / 2.0f);
float zc = cosf(angles[2] / 2.0f);

glm_quat_init(q,
xc * ys * zs + xs * yc * zc,
xc * ys * zc - xs * yc * zs,
xc * yc * zs + xs * ys * zc,
xc * yc * zc - xs * ys * zs);

}


#endif /* cglm_euler_h */
97 changes: 97 additions & 0 deletions include/cglm/struct/euler.h
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Original file line number Diff line number Diff line change
Expand Up @@ -26,6 +26,12 @@
CGLM_INLINE mat4s glms_euler_zxy(vec3s angles)
CGLM_INLINE mat4s glms_euler_zyx(vec3s angles)
CGLM_INLINE mat4s glms_euler_by_order(vec3s angles, glm_euler_seq ord)
CGLM_INLINE versors glms_euler_xyz_quat(versors q, vec3s angles)
CGLM_INLINE versors glms_euler_xzy_quat(versors q, vec3s angles)
CGLM_INLINE versors glms_euler_yxz_quat(versors q, vec3s angles)
CGLM_INLINE versors glms_euler_yzx_quat(versors q, vec3s angles)
CGLM_INLINE versors glms_euler_zxy_quat(versors q, vec3s angles)
CGLM_INLINE versors glms_euler_zyx_quat(versors q, vec3s angles)
*/

#ifndef cglms_euler_h
Expand Down Expand Up @@ -149,4 +155,95 @@ glms_euler_by_order(vec3s angles, glm_euler_seq ord) {
return dest;
}

/*!
* @brief creates NEW quaternion using rotation angles and does
* rotations in x y z order (roll pitch yaw)
*
* @param[out] q quaternion
* @param[in] angle angles x y z (radians)
*/
CGLM_INLINE
versors
glms_euler_xyz_quat(versors q, vec3s angles) {
versors dest;
glm_euler_xyz_quat(dest.raw, angles.raw);
return dest;
}

/*!
* @brief creates NEW quaternion using rotation angles and does
* rotations in x z y order (roll yaw pitch)
*
* @param[out] q quaternion
* @param[in] angle angles x y z (radians)
*/
CGLM_INLINE
versors
glms_euler_xzy_quat(versors q, vec3s angles) {
versors dest;
glm_euler_xzy_quat(dest.raw, angles.raw);
return dest;
}

/*!
* @brief creates NEW quaternion using rotation angles and does
* rotations in y x z order (pitch roll yaw)
*
* @param[out] q quaternion
* @param[in] angle angles x y z (radians)
*/
CGLM_INLINE
versors
glms_euler_yxz_quat(versors q, vec3s angles) {
versors dest;
glm_euler_yxz_quat(dest.raw, angles.raw);
return dest;
}

/*!
* @brief creates NEW quaternion using rotation angles and does
* rotations in y z x order (pitch yaw roll)
*
* @param[out] q quaternion
* @param[in] angle angles x y z (radians)
*/
CGLM_INLINE
versors
glms_euler_yzx_quat(versors q, vec3s angles) {
versors dest;
glm_euler_yzx_quat(dest.raw, angles.raw);
return dest;
}

/*!
* @brief creates NEW quaternion using rotation angles and does
* rotations in z x y order (yaw roll pitch)
*
* @param[out] q quaternion
* @param[in] angle angles x y z (radians)
*/
CGLM_INLINE
versors
glms_euler_zxy_quat(versors q, vec3s angles) {
versors dest;
glm_euler_zxy_quat(dest.raw, angles.raw);
return dest;
}

/*!
* @brief creates NEW quaternion using rotation angles and does
* rotations in z y x order (yaw pitch roll)
*
* @param[out] q quaternion
* @param[in] angle angles x y z (radians)
*/
CGLM_INLINE
versors
glms_euler_zyx_quat(versors q, vec3s angles) {
versors dest;
glm_euler_zyx_quat(dest.raw, angles.raw);
return dest;
}


#endif /* cglms_euler_h */
37 changes: 37 additions & 0 deletions src/euler.c
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Original file line number Diff line number Diff line change
Expand Up @@ -61,3 +61,40 @@ void
glmc_euler_by_order(vec3 angles, glm_euler_seq axis, mat4 dest) {
glm_euler_by_order(angles, axis, dest);
}

CGLM_EXPORT
void
glmc_euler_xyz_quat(versor q, vec3 angles) {
glm_euler_xyz_quat(q, angles);
}

CGLM_EXPORT
void
glmc_euler_xzy_quat(versor q, vec3 angles) {
glm_euler_xzy_quat(q, angles);
}

CGLM_EXPORT
void
glmc_euler_yxz_quat(versor q, vec3 angles) {
glm_euler_yxz_quat(q, angles);
}

CGLM_EXPORT
void
glmc_euler_yzx_quat(versor q, vec3 angles) {
glm_euler_yzx_quat(q, angles);
}

CGLM_EXPORT
void
glmc_euler_zxy_quat(versor q, vec3 angles) {
glm_euler_zxy_quat(q, angles);
}

CGLM_EXPORT
void
glmc_euler_zyx_quat(versor q, vec3 angles) {
glm_euler_zyx_quat(q, angles);
}

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