336 lines
11 KiB
C++
336 lines
11 KiB
C++
/// @ref gtx_euler_angles
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/// @file glm/gtx/euler_angles.hpp
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///
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/// @see core (dependence)
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///
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/// @defgroup gtx_euler_angles GLM_GTX_euler_angles
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/// @ingroup gtx
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///
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/// Include <glm/gtx/euler_angles.hpp> to use the features of this extension.
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///
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/// Build matrices from Euler angles.
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///
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/// Extraction of Euler angles from rotation matrix.
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/// Based on the original paper 2014 Mike Day - Extracting Euler Angles from a Rotation Matrix.
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#pragma once
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// Dependency:
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#include "../glm.hpp"
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#if GLM_MESSAGES == GLM_ENABLE && !defined(GLM_EXT_INCLUDED)
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# ifndef GLM_ENABLE_EXPERIMENTAL
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# pragma message("GLM: GLM_GTX_euler_angles is an experimental extension and may change in the future. Use #define GLM_ENABLE_EXPERIMENTAL before including it, if you really want to use it.")
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# else
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# pragma message("GLM: GLM_GTX_euler_angles extension included")
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# endif
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#endif
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namespace glm
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{
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/// @addtogroup gtx_euler_angles
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/// @{
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/// Creates a 3D 4 * 4 homogeneous rotation matrix from an euler angle X.
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/// @see gtx_euler_angles
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template<typename T>
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GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleX(
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T const& angleX);
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/// Creates a 3D 4 * 4 homogeneous rotation matrix from an euler angle Y.
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/// @see gtx_euler_angles
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template<typename T>
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GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleY(
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T const& angleY);
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/// Creates a 3D 4 * 4 homogeneous rotation matrix from an euler angle Z.
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/// @see gtx_euler_angles
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template<typename T>
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GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleZ(
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T const& angleZ);
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/// Creates a 3D 4 * 4 homogeneous derived matrix from the rotation matrix about X-axis.
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/// @see gtx_euler_angles
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template <typename T>
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GLM_FUNC_DECL mat<4, 4, T, defaultp> derivedEulerAngleX(
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T const & angleX, T const & angularVelocityX);
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/// Creates a 3D 4 * 4 homogeneous derived matrix from the rotation matrix about Y-axis.
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/// @see gtx_euler_angles
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template <typename T>
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GLM_FUNC_DECL mat<4, 4, T, defaultp> derivedEulerAngleY(
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T const & angleY, T const & angularVelocityY);
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/// Creates a 3D 4 * 4 homogeneous derived matrix from the rotation matrix about Z-axis.
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/// @see gtx_euler_angles
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template <typename T>
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GLM_FUNC_DECL mat<4, 4, T, defaultp> derivedEulerAngleZ(
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T const & angleZ, T const & angularVelocityZ);
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/// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (X * Y).
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/// @see gtx_euler_angles
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template<typename T>
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GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleXY(
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T const& angleX,
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T const& angleY);
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/// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (Y * X).
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/// @see gtx_euler_angles
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template<typename T>
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GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleYX(
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T const& angleY,
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T const& angleX);
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/// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (X * Z).
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/// @see gtx_euler_angles
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template<typename T>
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GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleXZ(
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T const& angleX,
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T const& angleZ);
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/// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (Z * X).
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/// @see gtx_euler_angles
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template<typename T>
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GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleZX(
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T const& angle,
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T const& angleX);
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/// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (Y * Z).
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/// @see gtx_euler_angles
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template<typename T>
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GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleYZ(
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T const& angleY,
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T const& angleZ);
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/// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (Z * Y).
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/// @see gtx_euler_angles
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template<typename T>
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GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleZY(
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T const& angleZ,
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T const& angleY);
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/// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (X * Y * Z).
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/// @see gtx_euler_angles
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template<typename T>
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GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleXYZ(
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T const& t1,
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T const& t2,
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T const& t3);
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/// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (Y * X * Z).
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/// @see gtx_euler_angles
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template<typename T>
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GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleYXZ(
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T const& yaw,
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T const& pitch,
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T const& roll);
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/// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (X * Z * X).
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/// @see gtx_euler_angles
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template <typename T>
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GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleXZX(
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T const & t1,
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T const & t2,
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T const & t3);
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/// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (X * Y * X).
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/// @see gtx_euler_angles
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template <typename T>
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GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleXYX(
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T const & t1,
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T const & t2,
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T const & t3);
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/// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (Y * X * Y).
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/// @see gtx_euler_angles
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template <typename T>
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GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleYXY(
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T const & t1,
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T const & t2,
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T const & t3);
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/// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (Y * Z * Y).
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/// @see gtx_euler_angles
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template <typename T>
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GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleYZY(
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T const & t1,
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T const & t2,
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T const & t3);
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/// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (Z * Y * Z).
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/// @see gtx_euler_angles
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template <typename T>
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GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleZYZ(
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T const & t1,
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T const & t2,
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T const & t3);
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/// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (Z * X * Z).
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/// @see gtx_euler_angles
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template <typename T>
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GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleZXZ(
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T const & t1,
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T const & t2,
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T const & t3);
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/// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (X * Z * Y).
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/// @see gtx_euler_angles
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template <typename T>
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GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleXZY(
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T const & t1,
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T const & t2,
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T const & t3);
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/// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (Y * Z * X).
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/// @see gtx_euler_angles
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template <typename T>
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GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleYZX(
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T const & t1,
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T const & t2,
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T const & t3);
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/// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (Z * Y * X).
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/// @see gtx_euler_angles
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template <typename T>
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GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleZYX(
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T const & t1,
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T const & t2,
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T const & t3);
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/// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (Z * X * Y).
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/// @see gtx_euler_angles
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template <typename T>
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GLM_FUNC_DECL mat<4, 4, T, defaultp> eulerAngleZXY(
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T const & t1,
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T const & t2,
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T const & t3);
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/// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (Y * X * Z).
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/// @see gtx_euler_angles
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template<typename T>
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GLM_FUNC_DECL mat<4, 4, T, defaultp> yawPitchRoll(
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T const& yaw,
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T const& pitch,
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T const& roll);
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/// Creates a 2D 2 * 2 rotation matrix from an euler angle.
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/// @see gtx_euler_angles
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template<typename T>
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GLM_FUNC_DECL mat<2, 2, T, defaultp> orientate2(T const& angle);
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/// Creates a 2D 4 * 4 homogeneous rotation matrix from an euler angle.
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/// @see gtx_euler_angles
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template<typename T>
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GLM_FUNC_DECL mat<3, 3, T, defaultp> orientate3(T const& angle);
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/// Creates a 3D 3 * 3 rotation matrix from euler angles (Y * X * Z).
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/// @see gtx_euler_angles
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template<typename T, qualifier Q>
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GLM_FUNC_DECL mat<3, 3, T, Q> orientate3(vec<3, T, Q> const& angles);
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/// Creates a 3D 4 * 4 homogeneous rotation matrix from euler angles (Y * X * Z).
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/// @see gtx_euler_angles
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template<typename T, qualifier Q>
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GLM_FUNC_DECL mat<4, 4, T, Q> orientate4(vec<3, T, Q> const& angles);
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/// Extracts the (X * Y * Z) Euler angles from the rotation matrix M
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/// @see gtx_euler_angles
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template<typename T>
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GLM_FUNC_DECL void extractEulerAngleXYZ(mat<4, 4, T, defaultp> const& M,
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T & t1,
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T & t2,
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T & t3);
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/// Extracts the (Y * X * Z) Euler angles from the rotation matrix M
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/// @see gtx_euler_angles
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template <typename T>
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GLM_FUNC_DECL void extractEulerAngleYXZ(mat<4, 4, T, defaultp> const & M,
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T & t1,
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T & t2,
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T & t3);
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/// Extracts the (X * Z * X) Euler angles from the rotation matrix M
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/// @see gtx_euler_angles
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template <typename T>
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GLM_FUNC_DECL void extractEulerAngleXZX(mat<4, 4, T, defaultp> const & M,
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T & t1,
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T & t2,
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T & t3);
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/// Extracts the (X * Y * X) Euler angles from the rotation matrix M
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/// @see gtx_euler_angles
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template <typename T>
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GLM_FUNC_DECL void extractEulerAngleXYX(mat<4, 4, T, defaultp> const & M,
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T & t1,
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T & t2,
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T & t3);
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/// Extracts the (Y * X * Y) Euler angles from the rotation matrix M
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/// @see gtx_euler_angles
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template <typename T>
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GLM_FUNC_DECL void extractEulerAngleYXY(mat<4, 4, T, defaultp> const & M,
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T & t1,
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T & t2,
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T & t3);
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/// Extracts the (Y * Z * Y) Euler angles from the rotation matrix M
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/// @see gtx_euler_angles
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template <typename T>
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GLM_FUNC_DECL void extractEulerAngleYZY(mat<4, 4, T, defaultp> const & M,
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T & t1,
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T & t2,
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T & t3);
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/// Extracts the (Z * Y * Z) Euler angles from the rotation matrix M
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/// @see gtx_euler_angles
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template <typename T>
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GLM_FUNC_DECL void extractEulerAngleZYZ(mat<4, 4, T, defaultp> const & M,
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T & t1,
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T & t2,
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T & t3);
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/// Extracts the (Z * X * Z) Euler angles from the rotation matrix M
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/// @see gtx_euler_angles
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template <typename T>
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GLM_FUNC_DECL void extractEulerAngleZXZ(mat<4, 4, T, defaultp> const & M,
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T & t1,
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T & t2,
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T & t3);
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/// Extracts the (X * Z * Y) Euler angles from the rotation matrix M
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/// @see gtx_euler_angles
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template <typename T>
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GLM_FUNC_DECL void extractEulerAngleXZY(mat<4, 4, T, defaultp> const & M,
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T & t1,
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T & t2,
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T & t3);
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/// Extracts the (Y * Z * X) Euler angles from the rotation matrix M
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/// @see gtx_euler_angles
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template <typename T>
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GLM_FUNC_DECL void extractEulerAngleYZX(mat<4, 4, T, defaultp> const & M,
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T & t1,
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T & t2,
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T & t3);
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/// Extracts the (Z * Y * X) Euler angles from the rotation matrix M
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/// @see gtx_euler_angles
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template <typename T>
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GLM_FUNC_DECL void extractEulerAngleZYX(mat<4, 4, T, defaultp> const & M,
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T & t1,
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T & t2,
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T & t3);
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/// Extracts the (Z * X * Y) Euler angles from the rotation matrix M
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/// @see gtx_euler_angles
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template <typename T>
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GLM_FUNC_DECL void extractEulerAngleZXY(mat<4, 4, T, defaultp> const & M,
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T & t1,
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T & t2,
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T & t3);
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/// @}
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}//namespace glm
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#include "euler_angles.inl"
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