diff --git a/glm/ext.hpp b/glm/ext.hpp index e337d9af..885897ec 100644 --- a/glm/ext.hpp +++ b/glm/ext.hpp @@ -48,6 +48,7 @@ #include "./gtx/intersect.hpp" #include "./gtx/log_base.hpp" #include "./gtx/matrix_cross_product.hpp" +#include "./gtx/matrix_interpolation.hpp" #include "./gtx/matrix_major_storage.hpp" #include "./gtx/matrix_operation.hpp" #include "./gtx/matrix_query.hpp" diff --git a/glm/gtx/matrix_interpolation.hpp b/glm/gtx/matrix_interpolation.hpp new file mode 100644 index 00000000..7d9d6135 --- /dev/null +++ b/glm/gtx/matrix_interpolation.hpp @@ -0,0 +1,73 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////// +// OpenGL Mathematics Copyright (c) 2005 - 2011 G-Truc Creation (www.g-truc.net) +/////////////////////////////////////////////////////////////////////////////////////////////////// +// Created : 2011-03-05 +// Updated : 2011-03-05 +// Licence : This source is under MIT License +// File : glm/gtx/matrix_interpolation.hpp +/////////////////////////////////////////////////////////////////////////////////////////////////// +// Dependency: +// - GLM core +// - GLM_GTX_matric_interpolation +/////////////////////////////////////////////////////////////////////////////////////////////////// +// This extension has been written by Ghenadii Ursachi (the.asteroth@gmail.com) +/////////////////////////////////////////////////////////////////////////////////////////////////// + +#ifndef glm_gtx_matrix_interpolation +#define glm_gtx_matrix_interpolation + +// Dependency: +//#include "../glm.hpp" + +#if(defined(GLM_MESSAGES) && !defined(glm_ext)) +# pragma message("GLM: GLM_GTX_matrix_interpolation extension included") +#endif + +namespace glm +{ + namespace test{ + void main_gtx_transform(); + }//namespace test + + namespace gtx{ + //! GLM_GTX_matrix_interpolation extension: Add transformation matrices + namespace matrix_interpolation + { + /// \addtogroup gtx_matrix_interpolation + ///@{ + + //! Get the axis and angle of the rotation from a matrix. + //! From GLM_GTX_matrix_interpolation extension. + template + void axisAngle( + detail::tmat4x4 const & mat, + detail::tvec3 & axis, + T & angle); + + //! Build a matrix from axis and angle. + //! From GLM_GTX_matrix_interpolation extension. + template + detail::tmat4x4 axisAngleMatrix( + detail::tvec3 const & axis, + T const angle); + + //! Build a interpolation of 4 * 4 matrixes. + //! From GLM_GTX_matrix_interpolation extension. + //! Warning! works only with rotation and/or translation matrixes, scale will generate unexpected results. + template + detail::tmat4x4 interpolate( + detail::tmat4x4 const & m1, + detail::tmat4x4 const & m2, + T const delta); + + ///@} + + }//namespace matrix_interpolation + }//namespace gtx +}//namespace glm + +#include "matrix_interpolation.inl" + +namespace glm{using namespace gtx::matrix_interpolation;} + +#endif//glm_gtx_transform diff --git a/glm/gtx/matrix_interpolation.inl b/glm/gtx/matrix_interpolation.inl new file mode 100644 index 00000000..0571afe4 --- /dev/null +++ b/glm/gtx/matrix_interpolation.inl @@ -0,0 +1,118 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////// +// OpenGL Mathematics Copyright (c) 2005 - 2011 G-Truc Creation (www.g-truc.net) +/////////////////////////////////////////////////////////////////////////////////////////////////// +// Created : 2011-03-05 +// Updated : 2011-03-05 +// Licence : This source is under MIT License +// File : glm/gtx/matrix_interpolation.inl +/////////////////////////////////////////////////////////////////////////////////////////////////// + +namespace glm{ +namespace gtx{ +namespace matrix_interpolation +{ + + template + inline void axisAngle( + detail::tmat4x4 const & mat, + detail::tvec3 & axis, + T & angle) + { + T epsilon = (T)0.01; + T epsilon2 = (T)0.1; + + if ((fabs(mat[1][0] - mat[0][1]) < epsilon) && (fabs(mat[2][0] - mat[0][2]) < epsilon) && (fabs(mat[2][1] - mat[1][2]) < epsilon)) { + if ((fabs(mat[1][0] + mat[0][1]) < epsilon2) && (fabs(mat[2][0] + mat[0][2]) < epsilon2) && (fabs(mat[2][1] + mat[1][2]) < epsilon2) && (fabs(mat[0][0] + mat[1][1] + mat[2][2] - (T)3.0) < epsilon2)) { + angle = (T)0.0; + axis.x = (T)1.0; + axis.y = (T)0.0; + axis.z = (T)0.0; + return; + } + angle = M_1_PI; + T xx = (mat[0][0] + (T)1.0) / (T)2.0; + T yy = (mat[1][1] + (T)1.0) / (T)2.0; + T zz = (mat[2][2] + (T)1.0) / (T)2.0; + T xy = (mat[1][0] + mat[0][1]) / (T)4.0; + T xz = (mat[2][0] + mat[0][2]) / (T)4.0; + T yz = (mat[2][1] + mat[1][2]) / (T)4.0; + if ((xx > yy) && (xx > zz)) { + if (xx < epsilon) { + axis.x = (T)0.0; + axis.y = (T)0.7071; + axis.z = (T)0.7071; + } else { + axis.x = sqrt(xx); + axis.y = xy / axis.x; + axis.z = xz / axis.x; + } + } else if (yy > zz) { + if (yy < epsilon) { + axis.x = (T)0.7071; + axis.y = (T)0.0; + axis.z = (T)0.7071; + } else { + axis.y = sqrt(yy); + axis.x = xy / axis.y; + axis.z = yz / axis.y; + } + } else { + if (zz < epsilon) { + axis.x = (T)0.7071; + axis.y = (T)0.7071; + axis.z = (T)0.0; + } else { + axis.z = sqrt(zz); + axis.x = xz / axis.z; + axis.y = yz / axis.z; + } + } + return; + } + T s = sqrt((mat[2][1] - mat[1][2]) * (mat[2][1] - mat[1][2]) + (mat[2][0] - mat[0][2]) * (mat[2][0] - mat[0][2]) + (mat[1][0] - mat[0][1]) * (mat[1][0] - mat[0][1])); + if (fabs(s) < 0.001) + s = (T)1.0; + angle = acos((mat[0][0] + mat[1][1] + mat[2][2] - (T)1.0) / (T)2.0); + axis.x = (mat[1][2] - mat[2][1]) / s; + axis.y = (mat[2][0] - mat[0][2]) / s; + axis.z = (mat[0][1] - mat[1][0]) / s; + } + + template + inline detail::tmat4x4 axisAngleMatrix( + detail::tvec3 const & axis, + T const angle) + { + T c = cos(angle); + T s = sin(angle); + T t = 1.0 - c; + detail::tvec3 n = normalize(axis); + + return detail::tmat4x4( + t * n.x * n.x + c, t * n.x * n.y + n.z * s, t * n.x * n.z - n.y * s, 0.0, + t * n.x * n.y - n.z * s, t * n.y * n.y + c, t * n.y * n.z + n.x * s, 0.0, + t * n.x * n.z + n.y * s, t * n.y * n.z - n.x * s, t * n.z * n.z + c, 0.0, + 0.0, 0.0, 0.0, 1.0 + ); + } + + template + inline detail::tmat4x4 interpolate( + detail::tmat4x4 const & m1, + detail::tmat4x4 const & m2, + T const delta) + { + detail::tmat4x4 dltRotation = m2 * transpose(m1); + detail::tvec3 dltAxis; + T dltAngle; + axisAngle(dltRotation, dltAxis, dltAngle); + detail::tmat4x4 out = axisAngleMatrix(dltAxis, dltAngle * delta) * rotationMatrix(m1); + out[3][0] = m1[3][0] + delta * (m2[3][0] - m1[3][0]); + out[3][1] = m1[3][1] + delta * (m2[3][1] - m1[3][1]); + out[3][2] = m1[3][2] + delta * (m2[3][2] - m1[3][2]); + return out; + } + +}//namespace transform +}//namespace gtx +}//namespace glm