admin/omath
1
0
Fork 0
mirror of https://github.com/orange-cpp/omath.git synced 2026-02-14 07:23:26 +00:00
Code Issues Packages Projects Releases Wiki Activity

added rotation matrix

Browse Source
This commit is contained in:
Orange
2024-12-04 06:43:54 +03:00
parent db060e7f4d
commit 95c5073d86
2 changed files with 18 additions and 44 deletions
Download Patch File Download Diff File Expand all files Collapse all files

43
include/omath/engines/Source/Formulas.hpp
View File

@@ -10,56 +10,25 @@ namespace omath::source
[[nodiscard]]
inline Vector3 ForwardVector(const ViewAngles& angles)
{
const auto cosPitch = angles.pitch.Cos();
const auto sinPitch = angles.pitch.Sin();
const auto vec = RotationMat(angles) * Mat<3, 1>({{kAbsForward.x}, {kAbsForward.y}, {kAbsForward.z}});
const auto cosYaw = angles.yaw.Cos();
const auto sinYaw = angles.yaw.Sin();
return {cosPitch * cosYaw, cosPitch * sinYaw, -sinPitch};
return {vec.At(0, 0), vec.At(1, 0), vec.At(2, 0)};
}
[[nodiscard]]
inline Vector3 RightVector(const ViewAngles& angles)
{
const auto cosPitch = angles.pitch.Cos();
const auto sinPitch = angles.pitch.Sin();
const auto vec = RotationMat(angles) * Mat<3, 1>({{kAbsRight.x}, {kAbsRight.y}, {kAbsRight.z}});
const auto cosYaw = angles.yaw.Cos();
const auto sinYaw = angles.yaw.Sin();
const auto cosRoll = angles.roll.Cos();
const auto sinRoll = angles.roll.Sin();
return
{
-1 * sinRoll * sinPitch * cosYaw + -1 * cosRoll * -sinYaw,
-1 * sinRoll * sinPitch * sinYaw + -1 * cosRoll * cosYaw,
-1 * sinRoll * cosPitch
};
return {vec.At(0, 0), vec.At(1, 0), vec.At(2, 0)};
}
[[nodiscard]]
inline Vector3 UpVector(const ViewAngles& angles)
{
const auto cosPitch = angles.pitch.Cos();
const auto sinPitch = angles.pitch.Sin();
const auto vec = RotationMat(angles) * Mat<3, 1>({{kAbsUp.x}, {kAbsUp.y}, {kAbsUp.z}});
const auto cosYaw = angles.yaw.Cos();
const auto sinYaw = angles.yaw.Sin();
const auto cosRoll = angles.roll.Cos();
const auto sinRoll = angles.roll.Sin();
return
{
cosRoll * sinPitch * cosYaw + - sinRoll * -sinYaw,
cosRoll * sinPitch * sinYaw + - sinRoll * cosYaw,
cosRoll * cosPitch,
};
return {vec.At(0, 0), vec.At(1, 0), vec.At(2, 0)};
}
[[nodiscard]]