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Diffstat (limited to 'include/gal/opengl/glm/gtx/matrix_interpolation.inl')
| -rw-r--r-- | include/gal/opengl/glm/gtx/matrix_interpolation.inl | 131 |
1 files changed, 131 insertions, 0 deletions
diff --git a/include/gal/opengl/glm/gtx/matrix_interpolation.inl b/include/gal/opengl/glm/gtx/matrix_interpolation.inl new file mode 100644 index 0000000..8ab1343 --- /dev/null +++ b/include/gal/opengl/glm/gtx/matrix_interpolation.inl @@ -0,0 +1,131 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////// +// OpenGL Mathematics Copyright (c) 2005 - 2013 G-Truc Creation (www.g-truc.net) +/////////////////////////////////////////////////////////////////////////////////////////////////// +// Created : 2011-03-05 +// Updated : 2011-03-05 +// Licence : This source is under MIT License +// File : glm/gtx/matrix_interpolation.inl +/////////////////////////////////////////////////////////////////////////////////////////////////// + +namespace glm +{ + template <typename T> + GLM_FUNC_QUALIFIER void axisAngle + ( + detail::tmat4x4<T> const & mat, + detail::tvec3<T> & axis, + T & angle + ) + { + T epsilon = (T)0.01; + T epsilon2 = (T)0.1; + + if ((fabs(mat[1][0] - mat[0][1]) < epsilon) && (fabs(mat[2][0] - mat[0][2]) < epsilon) && (fabs(mat[2][1] - mat[1][2]) < epsilon)) { + if ((fabs(mat[1][0] + mat[0][1]) < epsilon2) && (fabs(mat[2][0] + mat[0][2]) < epsilon2) && (fabs(mat[2][1] + mat[1][2]) < epsilon2) && (fabs(mat[0][0] + mat[1][1] + mat[2][2] - (T)3.0) < epsilon2)) { + angle = (T)0.0; + axis.x = (T)1.0; + axis.y = (T)0.0; + axis.z = (T)0.0; + return; + } + angle = T(3.1415926535897932384626433832795); + T xx = (mat[0][0] + (T)1.0) / (T)2.0; + T yy = (mat[1][1] + (T)1.0) / (T)2.0; + T zz = (mat[2][2] + (T)1.0) / (T)2.0; + T xy = (mat[1][0] + mat[0][1]) / (T)4.0; + T xz = (mat[2][0] + mat[0][2]) / (T)4.0; + T yz = (mat[2][1] + mat[1][2]) / (T)4.0; + if ((xx > yy) && (xx > zz)) { + if (xx < epsilon) { + axis.x = (T)0.0; + axis.y = (T)0.7071; + axis.z = (T)0.7071; + } else { + axis.x = sqrt(xx); + axis.y = xy / axis.x; + axis.z = xz / axis.x; + } + } else if (yy > zz) { + if (yy < epsilon) { + axis.x = (T)0.7071; + axis.y = (T)0.0; + axis.z = (T)0.7071; + } else { + axis.y = sqrt(yy); + axis.x = xy / axis.y; + axis.z = yz / axis.y; + } + } else { + if (zz < epsilon) { + axis.x = (T)0.7071; + axis.y = (T)0.7071; + axis.z = (T)0.0; + } else { + axis.z = sqrt(zz); + axis.x = xz / axis.z; + axis.y = yz / axis.z; + } + } + return; + } + T s = sqrt((mat[2][1] - mat[1][2]) * (mat[2][1] - mat[1][2]) + (mat[2][0] - mat[0][2]) * (mat[2][0] - mat[0][2]) + (mat[1][0] - mat[0][1]) * (mat[1][0] - mat[0][1])); + if (glm::abs(s) < T(0.001)) + s = (T)1.0; + angle = acos((mat[0][0] + mat[1][1] + mat[2][2] - (T)1.0) / (T)2.0); + axis.x = (mat[1][2] - mat[2][1]) / s; + axis.y = (mat[2][0] - mat[0][2]) / s; + axis.z = (mat[0][1] - mat[1][0]) / s; + } + + template <typename T> + GLM_FUNC_QUALIFIER detail::tmat4x4<T> axisAngleMatrix + ( + detail::tvec3<T> const & axis, + T const angle + ) + { + T c = cos(angle); + T s = sin(angle); + T t = T(1) - c; + detail::tvec3<T> n = normalize(axis); + + return detail::tmat4x4<T>( + t * n.x * n.x + c, t * n.x * n.y + n.z * s, t * n.x * n.z - n.y * s, T(0), + t * n.x * n.y - n.z * s, t * n.y * n.y + c, t * n.y * n.z + n.x * s, T(0), + t * n.x * n.z + n.y * s, t * n.y * n.z - n.x * s, t * n.z * n.z + c, T(0), + T(0), T(0), T(0), T(1) + ); + } + + template <typename T> + GLM_FUNC_QUALIFIER detail::tmat4x4<T> extractMatrixRotation( + detail::tmat4x4<T> const & mat) + { + return detail::tmat4x4<T>( + mat[0][0], mat[0][1], mat[0][2], 0.0, + mat[1][0], mat[1][1], mat[1][2], 0.0, + mat[2][0], mat[2][1], mat[2][2], 0.0, + 0.0, 0.0, 0.0, 1.0 + ); + } + + template <typename T> + GLM_FUNC_QUALIFIER detail::tmat4x4<T> interpolate + ( + detail::tmat4x4<T> const & m1, + detail::tmat4x4<T> const & m2, + T const delta + ) + { + detail::tmat4x4<T> m1rot = extractMatrixRotation(m1); + detail::tmat4x4<T> dltRotation = m2 * transpose(m1rot); + detail::tvec3<T> dltAxis; + T dltAngle; + axisAngle(dltRotation, dltAxis, dltAngle); + detail::tmat4x4<T> out = axisAngleMatrix(dltAxis, dltAngle * delta) * m1rot; + out[3][0] = m1[3][0] + delta * (m2[3][0] - m1[3][0]); + out[3][1] = m1[3][1] + delta * (m2[3][1] - m1[3][1]); + out[3][2] = m1[3][2] + delta * (m2[3][2] - m1[3][2]); + return out; + } +}//namespace glm |