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Cleanup method for generating Tait Bryan Matricies from a rotation

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kj16609
2024-06-05 11:57:12 -04:00
parent d4595c5267
commit d21c54f978
2 changed files with 32 additions and 71 deletions
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98
src/engine/math/taitBryanMatrix.cpp
View File

@@ -16,86 +16,42 @@
namespace fgl::engine
{
template < int N >
inline std::tuple< float, float > extract( const glm::vec3 rotation, const RotationOrder order )
using CosSinPair = std::tuple< float, float >;
inline std::tuple< CosSinPair, CosSinPair, CosSinPair >
extract( const glm::vec3 rotation, const RotationOrder order )
{
switch ( order )
{
case XZY:
switch ( N )
{
case 1:
return { glm::cos( rotation.x ), glm::sin( rotation.x ) };
case 2:
return { glm::cos( rotation.z ), glm::sin( rotation.z ) };
case 3:
return { glm::cos( rotation.y ), glm::sin( rotation.y ) };
}
break;
return { { glm::cos( rotation.x ), glm::sin( rotation.x ) },
{ glm::cos( rotation.z ), glm::sin( rotation.z ) },
{ glm::cos( rotation.y ), glm::sin( rotation.y ) } };
case XYZ: // DEFAULT
switch ( N )
{
case 1:
return { glm::cos( rotation.x ), glm::sin( rotation.x ) };
case 2:
return { glm::cos( rotation.y ), glm::sin( rotation.y ) };
case 3:
return { glm::cos( rotation.z ), glm::sin( rotation.z ) };
}
break;
return { { glm::cos( rotation.x ), glm::sin( rotation.x ) },
{ glm::cos( rotation.y ), glm::sin( rotation.y ) },
{ glm::cos( rotation.z ), glm::sin( rotation.z ) } };
case YXZ:
switch ( N )
{
case 1:
return { glm::cos( rotation.y ), glm::sin( rotation.y ) };
case 2:
return { glm::cos( rotation.x ), glm::sin( rotation.x ) };
case 3:
return { glm::cos( rotation.z ), glm::sin( rotation.z ) };
}
break;
return { { glm::cos( rotation.y ), glm::sin( rotation.y ) },
{ glm::cos( rotation.x ), glm::sin( rotation.x ) },
{ glm::cos( rotation.z ), glm::sin( rotation.z ) } };
case YZX:
switch ( N )
{
case 1:
return { glm::cos( rotation.y ), glm::sin( rotation.y ) };
case 2:
return { glm::cos( rotation.z ), glm::sin( rotation.z ) };
case 3:
return { glm::cos( rotation.x ), glm::sin( rotation.x ) };
}
break;
return { { glm::cos( rotation.y ), glm::sin( rotation.y ) },
{ glm::cos( rotation.z ), glm::sin( rotation.z ) },
{ glm::cos( rotation.x ), glm::sin( rotation.x ) } };
case ZYX:
switch ( N )
{
case 1:
return { glm::cos( rotation.z ), glm::sin( rotation.z ) };
case 2:
return { glm::cos( rotation.y ), glm::sin( rotation.y ) };
case 3:
return { glm::cos( rotation.x ), glm::sin( rotation.x ) };
}
break;
return { { glm::cos( rotation.z ), glm::sin( rotation.z ) },
{ glm::cos( rotation.y ), glm::sin( rotation.y ) },
{ glm::cos( rotation.x ), glm::sin( rotation.x ) } };
case ZXY:
switch ( N )
{
case 1:
return { glm::cos( rotation.z ), glm::sin( rotation.z ) };
case 2:
return { glm::cos( rotation.x ), glm::sin( rotation.x ) };
case 3:
return { glm::cos( rotation.y ), glm::sin( rotation.y ) };
}
break;
return { { glm::cos( rotation.z ), glm::sin( rotation.z ) },
{ glm::cos( rotation.x ), glm::sin( rotation.x ) },
{ glm::cos( rotation.y ), glm::sin( rotation.y ) } };
case END_OF_ENUM:
throw std::runtime_error( "Unimplemented rotation order" );
}
std::unreachable();
}
glm::mat3 taitBryanMatrix( const float x, const float y, const float z, const RotationOrder order )
{
return taitBryanMatrix( glm::vec3( x, y, z ), order );
std::unreachable();
}
glm::mat3 taitBryanMatrix( const glm::vec3 rotation, const RotationOrder order )
@@ -104,9 +60,11 @@ namespace fgl::engine
//TODO: Debug with Entry, There has got to be a better fix then this.
const auto [ c1, s1 ] = extract< 1 >( rotation, order );
const auto [ c2, s2 ] = extract< 2 >( rotation, order );
const auto [ c3, s3 ] = extract< 3 >( rotation, order );
const auto [ p1, p2, p3 ] = extract( rotation, order );
const auto [ c1, s1 ] = p1;
const auto [ c2, s2 ] = p2;
const auto [ c3, s3 ] = p3;
switch ( order )
{

5
src/engine/math/taitBryanMatrix.hpp
View File

@@ -25,6 +25,9 @@ namespace fgl::engine
glm::mat3 taitBryanMatrix( const glm::vec3 rotation, const RotationOrder order = DEFAULT );
glm::mat3 taitBryanMatrix( const float x, const float y, const float z, const RotationOrder order = DEFAULT );
inline glm::mat3 taitBryanMatrix( const float x, const float y, const float z, const RotationOrder order = DEFAULT )
{
return taitBryanMatrix( glm::vec3( x, y, z ), order );
}
} // namespace fgl::engine