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switched to 4x4

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Orange
2024-12-04 12:09:23 +03:00
parent 95c5073d86
commit e0dd432e69
2 changed files with 21 additions and 18 deletions
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31
include/omath/Mat.hpp
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@@ -349,44 +349,47 @@ namespace omath
template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR, class Angle>
[[nodiscard]]
Mat<3, 3, Type, St> RotationMatAxisX(const Angle& roll) noexcept
Mat<4, 4, Type, St> RotationMatAxisX(const Angle& angle) noexcept
{
return
{
{1, 0, 0},
{0, roll.Cos(), -roll.Sin()},
{0, roll.Sin(), roll.Cos()},
{1, 0, 0, 0},
{0, angle.Cos(), -angle.Sin(), 0},
{0, angle.Sin(), angle.Cos(), 0},
{0, 0, 0, 1}
};
}
template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR, class Angle>
[[nodiscard]]
Mat<3, 3, Type, St> RotationMatAxisY(const Angle& pitch) noexcept
Mat<4, 4, Type, St> RotationMatAxisY(const Angle& angle) noexcept
{
return
{
{pitch.Cos(), 0, pitch.Sin()},
{0 , 1, 0},
{-pitch.Sin(), 0, pitch.Cos()},
{angle.Cos(), 0, angle.Sin(), 0},
{0 , 1, 0, 0},
{-angle.Sin(), 0, angle.Cos(), 0},
{0 , 0, 0, 1}
};
}
template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR, class Angle>
[[nodiscard]]
Mat<3, 3, Type, St> RotationMatAxisZ(const Angle& Yaw) noexcept
Mat<4, 4, Type, St> RotationMatAxisZ(const Angle& angle) noexcept
{
return
{
{Yaw.Cos(), -Yaw.Sin(), 0},
{Yaw.Sin(), Yaw.Cos(), 0},
{0, 0, 1},
{angle.Cos(), -angle.Sin(), 0, 0},
{angle.Sin(), angle.Cos(), 0, 0},
{0, 0, 1, 0},
{0, 0, 0, 1},
};
}
template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR, class ViewAngles>
[[nodiscard]]
Mat<3, 3, Type, St> RotationMat(const ViewAngles& angles) noexcept
Mat<4, 4, Type, St> RotationMat(const ViewAngles& angles) noexcept
{
return RotationMatAxisY(angles.pitch) * RotationMatAxisZ(angles.yaw) * RotationMatAxisX(angles.roll);
return RotationMatAxisZ(angles.yaw) * RotationMatAxisY(angles.pitch) * RotationMatAxisX(angles.roll);
}
} // namespace omath