1 | namespace glm |
2 | { |
3 | template<typename genType> |
4 | GLM_FUNC_QUALIFIER GLM_CONSTEXPR genType identity() |
5 | { |
6 | return detail::init_gentype<genType, detail::genTypeTrait<genType>::GENTYPE>::identity(); |
7 | } |
8 | |
9 | template<typename T, qualifier Q> |
10 | GLM_FUNC_QUALIFIER mat<4, 4, T, Q> translate(mat<4, 4, T, Q> const& m, vec<3, T, Q> const& v) |
11 | { |
12 | mat<4, 4, T, Q> Result(m); |
13 | Result[3] = m[0] * v[0] + m[1] * v[1] + m[2] * v[2] + m[3]; |
14 | return Result; |
15 | } |
16 | |
17 | template<typename T, qualifier Q> |
18 | GLM_FUNC_QUALIFIER mat<4, 4, T, Q> rotate(mat<4, 4, T, Q> const& m, T angle, vec<3, T, Q> const& v) |
19 | { |
20 | T const a = angle; |
21 | T const c = cos(a); |
22 | T const s = sin(a); |
23 | |
24 | vec<3, T, Q> axis(normalize(v)); |
25 | vec<3, T, Q> temp((T(1) - c) * axis); |
26 | |
27 | mat<4, 4, T, Q> Rotate; |
28 | Rotate[0][0] = c + temp[0] * axis[0]; |
29 | Rotate[0][1] = temp[0] * axis[1] + s * axis[2]; |
30 | Rotate[0][2] = temp[0] * axis[2] - s * axis[1]; |
31 | |
32 | Rotate[1][0] = temp[1] * axis[0] - s * axis[2]; |
33 | Rotate[1][1] = c + temp[1] * axis[1]; |
34 | Rotate[1][2] = temp[1] * axis[2] + s * axis[0]; |
35 | |
36 | Rotate[2][0] = temp[2] * axis[0] + s * axis[1]; |
37 | Rotate[2][1] = temp[2] * axis[1] - s * axis[0]; |
38 | Rotate[2][2] = c + temp[2] * axis[2]; |
39 | |
40 | mat<4, 4, T, Q> Result; |
41 | Result[0] = m[0] * Rotate[0][0] + m[1] * Rotate[0][1] + m[2] * Rotate[0][2]; |
42 | Result[1] = m[0] * Rotate[1][0] + m[1] * Rotate[1][1] + m[2] * Rotate[1][2]; |
43 | Result[2] = m[0] * Rotate[2][0] + m[1] * Rotate[2][1] + m[2] * Rotate[2][2]; |
44 | Result[3] = m[3]; |
45 | return Result; |
46 | } |
47 | |
48 | template<typename T, qualifier Q> |
49 | GLM_FUNC_QUALIFIER mat<4, 4, T, Q> rotate_slow(mat<4, 4, T, Q> const& m, T angle, vec<3, T, Q> const& v) |
50 | { |
51 | T const a = angle; |
52 | T const c = cos(a); |
53 | T const s = sin(a); |
54 | mat<4, 4, T, Q> Result; |
55 | |
56 | vec<3, T, Q> axis = normalize(v); |
57 | |
58 | Result[0][0] = c + (static_cast<T>(1) - c) * axis.x * axis.x; |
59 | Result[0][1] = (static_cast<T>(1) - c) * axis.x * axis.y + s * axis.z; |
60 | Result[0][2] = (static_cast<T>(1) - c) * axis.x * axis.z - s * axis.y; |
61 | Result[0][3] = static_cast<T>(0); |
62 | |
63 | Result[1][0] = (static_cast<T>(1) - c) * axis.y * axis.x - s * axis.z; |
64 | Result[1][1] = c + (static_cast<T>(1) - c) * axis.y * axis.y; |
65 | Result[1][2] = (static_cast<T>(1) - c) * axis.y * axis.z + s * axis.x; |
66 | Result[1][3] = static_cast<T>(0); |
67 | |
68 | Result[2][0] = (static_cast<T>(1) - c) * axis.z * axis.x + s * axis.y; |
69 | Result[2][1] = (static_cast<T>(1) - c) * axis.z * axis.y - s * axis.x; |
70 | Result[2][2] = c + (static_cast<T>(1) - c) * axis.z * axis.z; |
71 | Result[2][3] = static_cast<T>(0); |
72 | |
73 | Result[3] = vec<4, T, Q>(0, 0, 0, 1); |
74 | return m * Result; |
75 | } |
76 | |
77 | template<typename T, qualifier Q> |
78 | GLM_FUNC_QUALIFIER mat<4, 4, T, Q> scale(mat<4, 4, T, Q> const& m, vec<3, T, Q> const& v) |
79 | { |
80 | mat<4, 4, T, Q> Result; |
81 | Result[0] = m[0] * v[0]; |
82 | Result[1] = m[1] * v[1]; |
83 | Result[2] = m[2] * v[2]; |
84 | Result[3] = m[3]; |
85 | return Result; |
86 | } |
87 | |
88 | template<typename T, qualifier Q> |
89 | GLM_FUNC_QUALIFIER mat<4, 4, T, Q> scale_slow(mat<4, 4, T, Q> const& m, vec<3, T, Q> const& v) |
90 | { |
91 | mat<4, 4, T, Q> Result(T(1)); |
92 | Result[0][0] = v.x; |
93 | Result[1][1] = v.y; |
94 | Result[2][2] = v.z; |
95 | return m * Result; |
96 | } |
97 | |
98 | template<typename T, qualifier Q> |
99 | GLM_FUNC_QUALIFIER mat<4, 4, T, Q> lookAtRH(vec<3, T, Q> const& eye, vec<3, T, Q> const& center, vec<3, T, Q> const& up) |
100 | { |
101 | vec<3, T, Q> const f(normalize(center - eye)); |
102 | vec<3, T, Q> const s(normalize(cross(f, up))); |
103 | vec<3, T, Q> const u(cross(s, f)); |
104 | |
105 | mat<4, 4, T, Q> Result(1); |
106 | Result[0][0] = s.x; |
107 | Result[1][0] = s.y; |
108 | Result[2][0] = s.z; |
109 | Result[0][1] = u.x; |
110 | Result[1][1] = u.y; |
111 | Result[2][1] = u.z; |
112 | Result[0][2] =-f.x; |
113 | Result[1][2] =-f.y; |
114 | Result[2][2] =-f.z; |
115 | Result[3][0] =-dot(s, eye); |
116 | Result[3][1] =-dot(u, eye); |
117 | Result[3][2] = dot(f, eye); |
118 | return Result; |
119 | } |
120 | |
121 | template<typename T, qualifier Q> |
122 | GLM_FUNC_QUALIFIER mat<4, 4, T, Q> lookAtLH(vec<3, T, Q> const& eye, vec<3, T, Q> const& center, vec<3, T, Q> const& up) |
123 | { |
124 | vec<3, T, Q> const f(normalize(center - eye)); |
125 | vec<3, T, Q> const s(normalize(cross(up, f))); |
126 | vec<3, T, Q> const u(cross(f, s)); |
127 | |
128 | mat<4, 4, T, Q> Result(1); |
129 | Result[0][0] = s.x; |
130 | Result[1][0] = s.y; |
131 | Result[2][0] = s.z; |
132 | Result[0][1] = u.x; |
133 | Result[1][1] = u.y; |
134 | Result[2][1] = u.z; |
135 | Result[0][2] = f.x; |
136 | Result[1][2] = f.y; |
137 | Result[2][2] = f.z; |
138 | Result[3][0] = -dot(s, eye); |
139 | Result[3][1] = -dot(u, eye); |
140 | Result[3][2] = -dot(f, eye); |
141 | return Result; |
142 | } |
143 | |
144 | template<typename T, qualifier Q> |
145 | GLM_FUNC_QUALIFIER mat<4, 4, T, Q> lookAt(vec<3, T, Q> const& eye, vec<3, T, Q> const& center, vec<3, T, Q> const& up) |
146 | { |
147 | # if (GLM_CONFIG_CLIP_CONTROL & GLM_CLIP_CONTROL_LH_BIT) |
148 | return lookAtLH(eye, center, up); |
149 | # else |
150 | return lookAtRH(eye, center, up); |
151 | # endif |
152 | } |
153 | }//namespace glm |
154 | |