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addition to raylib to create matrix from 3 euler angles (#938)

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chriscamacho 2019-08-09 16:04:52 +01:00 committed by Ray
parent e6e48675cc
commit 6f2f09947f
2 changed files with 34 additions and 3 deletions
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6
examples/models/models_yaw_pitch_roll.c
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@ -92,6 +92,7 @@ int main(void)
while (pitchOffset < -180) pitchOffset += 360;
pitchOffset *= 10;
/* matrix transform done with multiplication to combine rotations
Matrix transform = MatrixIdentity();
transform = MatrixMultiply(transform, MatrixRotateZ(DEG2RAD*roll));
@ -99,8 +100,11 @@ int main(void)
transform = MatrixMultiply(transform, MatrixRotateY(DEG2RAD*yaw));
model.transform = transform;
//----------------------------------------------------------------------------------
*/
// matrix created from multiple axes at once
model.transform = MatrixRotateXYZ((Vector3){DEG2RAD*pitch,DEG2RAD*yaw,DEG2RAD*roll});
//----------------------------------------------------------------------------------
// Draw
//----------------------------------------------------------------------------------
BeginDrawing();

31
src/raymath.h
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@ -56,7 +56,7 @@
#if defined(RAYMATH_IMPLEMENTATION)
#if defined(_WIN32) && defined(BUILD_LIBTYPE_SHARED)
#define RMDEF __declspec(dllexport) extern inline // We are building raylib as a Win32 shared library (.dll).
#elif defined(_WIN32) && defined(USE_LIBTYPE_SHARED)
#elif defined(_WIN32) && defined(USE_LIBTYPE_SHARED)
#define RMDEF __declspec(dllimport) // We are using raylib as a Win32 shared library (.dll)
#else
#define RMDEF extern inline // Provide external definition
@ -113,7 +113,7 @@
float y;
float z;
} Vector3;
// Quaternion type
typedef struct Quaternion {
float x;
@ -794,6 +794,33 @@ RMDEF Matrix MatrixRotate(Vector3 axis, float angle)
return result;
}
// Returns xyz-rotation matrix (angles in radians)
RMDEF Matrix MatrixRotateXYZ(Vector3 ang)
{
Matrix result = MatrixIdentity();
float cosz = cosf(-ang.z);
float sinz = sinf(-ang.z);
float cosy = cosf(-ang.y);
float siny = sinf(-ang.y);
float cosx = cosf(-ang.x);
float sinx = sinf(-ang.x);
result.m0 = cosz * cosy;
result.m4 = (cosz * siny * sinx) - (sinz * cosx);
result.m8 = (cosz * siny * cosx) + (sinz * sinx);
result.m1 = sinz * cosy;
result.m5 = (sinz * siny * sinx) + (cosz * cosx);
result.m9 = (sinz * siny * cosx) - (cosz * sinx);
result.m2 = -siny;
result.m6 = cosy * sinx;
result.m10= cosy * cosx;
return result;
}
// Returns x-rotation matrix (angle in radians)
RMDEF Matrix MatrixRotateX(float angle)
{