euler to quat functions

include/cglm/call/euler.h

@@ -49,6 +49,31 @@ CGLM_EXPORT
 void
 glmc_euler_by_order(vec3 angles, glm_euler_seq axis, mat4 dest);
 
+CGLM_EXPORT
+void
+glmc_euler_xyz_quat(vec3 angles, versor dest);
+
+CGLM_EXPORT
+void
+glmc_euler_xzy_quat(vec3 angles, versor dest);
+
+CGLM_EXPORT
+void
+glmc_euler_yxz_quat(vec3 angles, versor dest);
+
+CGLM_EXPORT
+void
+glmc_euler_yzx_quat(vec3 angles, versor dest);
+
+CGLM_EXPORT
+void
+glmc_euler_zxy_quat(vec3 angles, versor dest);
+
+CGLM_EXPORT
+void
+glmc_euler_zyx_quat(vec3 angles, versor dest);
+
+
 #ifdef __cplusplus
 }
 #endif

include/cglm/euler.h

@@ -30,13 +30,21 @@
    CGLM_INLINE void glm_euler_by_order(vec3         angles,
                                        glm_euler_seq ord,
                                        mat4         dest);
+   CGLM_INLINE void glm_euler_xyz_quat(vec3 angles, versor dest);
+   CGLM_INLINE void glm_euler_xzy_quat(vec3 angles, versor dest);
+   CGLM_INLINE void glm_euler_yxz_quat(vec3 angles, versor dest);
+   CGLM_INLINE void glm_euler_yzx_quat(vec3 angles, versor dest);
+   CGLM_INLINE void glm_euler_zxy_quat(vec3 angles, versor dest);
+   CGLM_INLINE void glm_euler_zyx_quat(vec3 angles, versor dest);
  */
 
 #ifndef cglm_euler_h
 #define cglm_euler_h
 
 #include "common.h"
 
+#include "handed/euler_to_quat_rh.h"
+
 /*!
  * if you have axis order like vec3 orderVec = [0, 1, 2] or [0, 2, 1]...
  * vector then you can convert it to this enum by doing this:
@@ -188,7 +196,6 @@ glm_euler_xzy(vec3 angles, mat4 dest) {
   dest[3][3] =  1.0f;
 }
 
-
 /*!
  * @brief build rotation matrix from euler angles
  *
@@ -448,4 +455,108 @@ glm_euler_by_order(vec3 angles, glm_euler_seq ord, mat4 dest) {
   dest[3][3] = 1.0f;
 }
 
+
+/*!
+ * @brief creates NEW quaternion using rotation angles and does
+ *        rotations in x y z order (roll pitch yaw)
+ * 
+ * @param[out]  q     quaternion
+ * @param[in]   angle angles x y z (radians)
+ */
+CGLM_INLINE
+void
+glm_euler_xyz_quat(vec3 angles, versor dest) {
+#ifdef CGLM_FORCE_LEFT_HANDED
+  glm_euler_xyz_quat_lh(angles, dest);
+#else
+  glm_euler_xyz_quat_rh(angles, dest);
+#endif
+}
+
+/*!
+ * @brief creates NEW quaternion using rotation angles and does
+ *        rotations in x z y order (roll yaw pitch)
+ * 
+ * @param[out]  q     quaternion
+ * @param[in]   angle angles x y z (radians)
+ */
+CGLM_INLINE
+void
+glm_euler_xzy_quat(vec3 angles, versor dest) {
+#ifdef CGLM_FORCE_LEFT_HANDED
+  glm_euler_xzy_quat_lh(angles, dest);
+#else
+  glm_euler_xzy_quat_rh(angles, dest);
+#endif
+}
+
+/*!
+ * @brief creates NEW quaternion using rotation angles and does
+ *        rotations in y x z order (pitch roll yaw)
+ * 
+ * @param[out]  q     quaternion
+ * @param[in]   angle angles x y z (radians)
+ */
+CGLM_INLINE
+void
+glm_euler_yxz_quat(vec3 angles, versor dest) {
+#ifdef CGLM_FORCE_LEFT_HANDED
+  glm_euler_yxz_quat_lh(angles, dest);
+#else
+  glm_euler_yxz_quat_rh(angles, dest);
+#endif
+}
+
+/*!
+ * @brief creates NEW quaternion using rotation angles and does
+ *        rotations in y z x order (pitch yaw roll)
+ * 
+ * @param[out]  q     quaternion
+ * @param[in]   angle angles x y z (radians)
+ */
+CGLM_INLINE
+void
+glm_euler_yzx_quat(vec3 angles, versor dest) {
+#ifdef CGLM_FORCE_LEFT_HANDED
+  glm_euler_yzx_quat_lh(angles, dest);
+#else
+  glm_euler_yzx_quat_rh(angles, dest);
+#endif
+}
+
+/*!
+ * @brief creates NEW quaternion using rotation angles and does
+ *        rotations in z x y order (yaw roll pitch)
+ * 
+ * @param[out]  q     quaternion
+ * @param[in]   angle angles x y z (radians)
+ */
+CGLM_INLINE
+void
+glm_euler_zxy_quat(vec3 angles, versor dest) {
+#ifdef CGLM_FORCE_LEFT_HANDED
+  glm_euler_zxy_quat_lh(angles, dest);
+#else
+  glm_euler_zxy_quat_rh(angles, dest);
+#endif
+}
+
+/*!
+ * @brief creates NEW quaternion using rotation angles and does
+ *        rotations in z y x order (yaw pitch roll)
+ * 
+ * @param[out]  q     quaternion
+ * @param[in]   angle angles x y z (radians)
+ */
+CGLM_INLINE
+void
+glm_euler_zyx_quat(vec3 angles, versor dest) {
+#ifdef CGLM_FORCE_LEFT_HANDED
+  glm_euler_zyx_quat_lh(angles, dest);
+#else
+  glm_euler_zyx_quat_rh(angles, dest);
+#endif
+}
+
+
 #endif /* cglm_euler_h */

include/cglm/handed/euler_to_quat_rh.h

@@ -0,0 +1,165 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+/*
+ Functions:
+   CGLM_INLINE void glm_euler_xyz_quat_rh(vec3 angles, versor dest);
+   CGLM_INLINE void glm_euler_xzy_quat_rh(vec3 angles, versor dest);
+   CGLM_INLINE void glm_euler_yxz_quat_rh(vec3 angles, versor dest);
+   CGLM_INLINE void glm_euler_yzx_quat_rh(vec3 angles, versor dest);
+   CGLM_INLINE void glm_euler_zxy_quat_rh(vec3 angles, versor dest);
+   CGLM_INLINE void glm_euler_zyx_quat_rh(vec3 angles, versor dest);
+ */
+
+#ifndef cglm_euler_to_quat_rh_h
+#define cglm_euler_to_quat_rh_h
+
+#include "../common.h"
+
+/*!
+ * @brief creates NEW quaternion using rotation angles and does
+ *        rotations in x y z order in right hand (roll pitch yaw)
+ * 
+ * @param[out]  q     quaternion
+ * @param[in]   angle angles x y z (radians)
+ */
+CGLM_INLINE
+void
+glm_euler_xyz_quat_rh(vec3 angles, versor dest) {
+  float xc, yc, zc,
+        xs, ys, zs;
+
+  xs = sinf(angles[0] * 0.5f); xc = cosf(angles[0] * 0.5f);
+  ys = sinf(angles[1] * 0.5f); yc = cosf(angles[1] * 0.5f);
+  zs = sinf(angles[2] * 0.5f); zc = cosf(angles[2] * 0.5f);
+
+  dest[0] = xc * ys * zs + xs * yc * zc;
+  dest[1] = xc * ys * zc - xs * yc * zs;
+  dest[2] = xc * yc * zs + xs * ys * zc;
+  dest[3] = xc * yc * zc - xs * ys * zs;
+
+}
+
+/*!
+ * @brief creates NEW quaternion using rotation angles and does
+ *        rotations in x z y order in right hand (roll yaw pitch)
+ * 
+ * @param[out]  q     quaternion
+ * @param[in]   angle angles x y z (radians)
+ */
+CGLM_INLINE
+void
+glm_euler_xzy_quat_rh(vec3 angles, versor dest) {
+  float xc, yc, zc,
+        xs, ys, zs;
+
+  xs = sinf(angles[0] * 0.5f); xc = cosf(angles[0] * 0.5f);
+  ys = sinf(angles[1] * 0.5f); yc = cosf(angles[1] * 0.5f);
+  zs = sinf(angles[2] * 0.5f); zc = cosf(angles[2] * 0.5f);
+
+  dest[0] = -xc * zs * ys + xs * zc * yc;
+  dest[1] =  xc * zc * ys - xs * zs * yc;
+  dest[2] =  xc * zs * yc + xs * zc * ys;
+  dest[3] =  xc * zc * yc + xs * zs * ys;  
+
+}
+
+/*!
+ * @brief creates NEW quaternion using rotation angles and does
+ *        rotations in y x z order in right hand (pitch roll yaw)
+ * 
+ * @param[out]  q     quaternion
+ * @param[in]   angle angles x y z (radians)
+ */
+CGLM_INLINE
+void
+glm_euler_yxz_quat_rh(vec3 angles, versor dest) {
+  float xc, yc, zc,
+        xs, ys, zs;
+
+  xs = sinf(angles[0] * 0.5f); xc = cosf(angles[0] * 0.5f);
+  ys = sinf(angles[1] * 0.5f); yc = cosf(angles[1] * 0.5f);
+  zs = sinf(angles[2] * 0.5f); zc = cosf(angles[2] * 0.5f);
+
+  dest[0] =  yc * xs * zc + ys * xc * zs;
+  dest[1] = -yc * xs * zs + ys * xc * zc;
+  dest[2] =  yc * xc * zs - ys * xs * zc;
+  dest[3] =  yc * xc * zc + ys * xs * zs;
+}
+
+/*!
+ * @brief creates NEW quaternion using rotation angles and does
+ *        rotations in y z x order in right hand (pitch yaw roll)
+ * 
+ * @param[out]  q     quaternion
+ * @param[in]   angle angles x y z (radians)
+ */
+CGLM_INLINE
+void
+glm_euler_yzx_quat_rh(vec3 angles, versor dest) {
+  float xc, yc, zc,
+        xs, ys, zs;
+
+  xs = sinf(angles[0] * 0.5f); xc = cosf(angles[0] * 0.5f);
+  ys = sinf(angles[1] * 0.5f); yc = cosf(angles[1] * 0.5f);
+  zs = sinf(angles[2] * 0.5f); zc = cosf(angles[2] * 0.5f);
+
+  dest[0] = yc * zc * xs + ys * zs * xc;
+  dest[1] = yc * zs * xs + ys * zc * xc;
+  dest[2] = yc * zs * xc - ys * zc * xs;
+  dest[3] = yc * zc * xc - ys * zs * xs;
+
+}
+
+/*!
+ * @brief creates NEW quaternion using rotation angles and does
+ *        rotations in z x y order in right hand (yaw roll pitch)
+ * 
+ * @param[out]  q     quaternion
+ * @param[in]   angle angles x y z (radians)
+ */
+CGLM_INLINE
+void
+glm_euler_zxy_quat_rh(vec3 angles, versor dest) {
+  float xc, yc, zc,
+        xs, ys, zs;
+
+  xs = sinf(angles[0] * 0.5f); xc = cosf(angles[0] * 0.5f);
+  ys = sinf(angles[1] * 0.5f); yc = cosf(angles[1] * 0.5f);
+  zs = sinf(angles[2] * 0.5f); zc = cosf(angles[2] * 0.5f);
+
+  dest[0] = zc * xs * yc - zs * xc * ys;
+  dest[1] = zc * xc * ys + zs * xs * yc;
+  dest[2] = zc * xs * ys + zs * xc * yc;
+  dest[3] = zc * xc * yc - zs * xs * ys;
+}
+
+/*!
+ * @brief creates NEW quaternion using rotation angles and does
+ *        rotations in z y x order in right hand (yaw pitch roll)
+ * 
+ * @param[out]  q     quaternion
+ * @param[in]   angle angles x y z (radians)
+ */
+CGLM_INLINE
+void
+glm_euler_zyx_quat_rh(vec3 angles, versor dest) {
+  float xc, yc, zc,
+        xs, ys, zs;
+
+  xs = sinf(angles[0] * 0.5f); xc = cosf(angles[0] * 0.5f);
+  ys = sinf(angles[1] * 0.5f); yc = cosf(angles[1] * 0.5f);
+  zs = sinf(angles[2] * 0.5f); zc = cosf(angles[2] * 0.5f);
+
+  dest[0] =  zc * yc * xs - zs * ys * xc;
+  dest[1] =  zc * ys * xc + zs * yc * xs;
+  dest[2] = -zc * ys * xs + zs * yc * xc;
+  dest[3] =  zc * yc * xc + zs * ys * xs;
+}
+
+
+#endif /*cglm_euler_to_quat_rh_h*/