452 lines
11 KiB
C
452 lines
11 KiB
C
/*
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* Copyright (c), Recep Aslantas.
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*
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* MIT License (MIT), http://opensource.org/licenses/MIT
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* Full license can be found in the LICENSE file
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*/
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/*
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NOTE:
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angles must be passed as [X-Angle, Y-Angle, Z-angle] order
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For instance you don't pass angles as [Z-Angle, X-Angle, Y-angle] to
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glm_euler_zxy funciton, All RELATED functions accept angles same order
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which is [X, Y, Z].
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*/
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/*
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Types:
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enum glm_euler_seq
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Functions:
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CGLM_INLINE glm_euler_seq glm_euler_order(int newOrder[3]);
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CGLM_INLINE void glm_euler_angles(mat4 m, vec3 dest);
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CGLM_INLINE void glm_euler(vec3 angles, mat4 dest);
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CGLM_INLINE void glm_euler_xyz(vec3 angles, mat4 dest);
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CGLM_INLINE void glm_euler_zyx(vec3 angles, mat4 dest);
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CGLM_INLINE void glm_euler_zxy(vec3 angles, mat4 dest);
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CGLM_INLINE void glm_euler_xzy(vec3 angles, mat4 dest);
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CGLM_INLINE void glm_euler_yzx(vec3 angles, mat4 dest);
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CGLM_INLINE void glm_euler_yxz(vec3 angles, mat4 dest);
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CGLM_INLINE void glm_euler_by_order(vec3 angles,
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glm_euler_seq ord,
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mat4 dest);
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*/
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#ifndef cglm_euler_h
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#define cglm_euler_h
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#include "common.h"
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/*!
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* if you have axis order like vec3 orderVec = [0, 1, 2] or [0, 2, 1]...
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* vector then you can convert it to this enum by doing this:
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* @code
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* glm_euler_seq order;
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* order = orderVec[0] | orderVec[1] << 2 | orderVec[2] << 4;
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* @endcode
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* you may need to explicit cast if required
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*/
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typedef enum glm_euler_seq {
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GLM_EULER_XYZ = 0 << 0 | 1 << 2 | 2 << 4,
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GLM_EULER_XZY = 0 << 0 | 2 << 2 | 1 << 4,
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GLM_EULER_YZX = 1 << 0 | 2 << 2 | 0 << 4,
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GLM_EULER_YXZ = 1 << 0 | 0 << 2 | 2 << 4,
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GLM_EULER_ZXY = 2 << 0 | 0 << 2 | 1 << 4,
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GLM_EULER_ZYX = 2 << 0 | 1 << 2 | 0 << 4
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} glm_euler_seq;
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CGLM_INLINE
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glm_euler_seq
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glm_euler_order(int ord[3]) {
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return (glm_euler_seq)(ord[0] << 0 | ord[1] << 2 | ord[2] << 4);
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}
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/*!
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* @brief extract euler angles (in radians) using xyz order
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*
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* @param[in] m affine transform
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* @param[out] dest angles vector [x, y, z]
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*/
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CGLM_INLINE
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void
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glm_euler_angles(mat4 m, vec3 dest) {
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float m00, m01, m10, m11, m20, m21, m22;
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float thetaX, thetaY, thetaZ;
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m00 = m[0][0]; m10 = m[1][0]; m20 = m[2][0];
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m01 = m[0][1]; m11 = m[1][1]; m21 = m[2][1];
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m22 = m[2][2];
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if (m20 < 1.0f) {
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if (m20 > -1.0f) {
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thetaY = asinf(m20);
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thetaX = atan2f(-m21, m22);
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thetaZ = atan2f(-m10, m00);
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} else { /* m20 == -1 */
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/* Not a unique solution */
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thetaY = -GLM_PI_2f;
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thetaX = -atan2f(m01, m11);
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thetaZ = 0.0f;
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}
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} else { /* m20 == +1 */
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thetaY = GLM_PI_2f;
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thetaX = atan2f(m01, m11);
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thetaZ = 0.0f;
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}
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dest[0] = thetaX;
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dest[1] = thetaY;
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dest[2] = thetaZ;
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}
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/*!
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* @brief build rotation matrix from euler angles
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*
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* @param[in] angles angles as vector [Xangle, Yangle, Zangle]
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* @param[out] dest rotation matrix
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*/
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CGLM_INLINE
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void
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glm_euler_xyz(vec3 angles, mat4 dest) {
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float cx, cy, cz,
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sx, sy, sz, czsx, cxcz, sysz;
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sx = sinf(angles[0]); cx = cosf(angles[0]);
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sy = sinf(angles[1]); cy = cosf(angles[1]);
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sz = sinf(angles[2]); cz = cosf(angles[2]);
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czsx = cz * sx;
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cxcz = cx * cz;
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sysz = sy * sz;
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dest[0][0] = cy * cz;
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dest[0][1] = czsx * sy + cx * sz;
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dest[0][2] = -cxcz * sy + sx * sz;
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dest[1][0] = -cy * sz;
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dest[1][1] = cxcz - sx * sysz;
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dest[1][2] = czsx + cx * sysz;
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dest[2][0] = sy;
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dest[2][1] = -cy * sx;
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dest[2][2] = cx * cy;
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dest[0][3] = 0.0f;
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dest[1][3] = 0.0f;
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dest[2][3] = 0.0f;
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dest[3][0] = 0.0f;
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dest[3][1] = 0.0f;
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dest[3][2] = 0.0f;
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dest[3][3] = 1.0f;
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}
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/*!
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* @brief build rotation matrix from euler angles
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*
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* @param[in] angles angles as vector [Xangle, Yangle, Zangle]
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* @param[out] dest rotation matrix
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*/
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CGLM_INLINE
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void
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glm_euler(vec3 angles, mat4 dest) {
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glm_euler_xyz(angles, dest);
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}
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/*!
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* @brief build rotation matrix from euler angles
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*
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* @param[in] angles angles as vector [Xangle, Yangle, Zangle]
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* @param[out] dest rotation matrix
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*/
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CGLM_INLINE
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void
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glm_euler_xzy(vec3 angles, mat4 dest) {
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float cx, cy, cz,
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sx, sy, sz, sxsy, cysx, cxsy, cxcy;
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sx = sinf(angles[0]); cx = cosf(angles[0]);
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sy = sinf(angles[1]); cy = cosf(angles[1]);
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sz = sinf(angles[2]); cz = cosf(angles[2]);
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sxsy = sx * sy;
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cysx = cy * sx;
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cxsy = cx * sy;
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cxcy = cx * cy;
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dest[0][0] = cy * cz;
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dest[0][1] = sxsy + cxcy * sz;
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dest[0][2] = -cxsy + cysx * sz;
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dest[1][0] = -sz;
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dest[1][1] = cx * cz;
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dest[1][2] = cz * sx;
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dest[2][0] = cz * sy;
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dest[2][1] = -cysx + cxsy * sz;
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dest[2][2] = cxcy + sxsy * sz;
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dest[0][3] = 0.0f;
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dest[1][3] = 0.0f;
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dest[2][3] = 0.0f;
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dest[3][0] = 0.0f;
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dest[3][1] = 0.0f;
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dest[3][2] = 0.0f;
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dest[3][3] = 1.0f;
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}
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/*!
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* @brief build rotation matrix from euler angles
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*
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* @param[in] angles angles as vector [Xangle, Yangle, Zangle]
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* @param[out] dest rotation matrix
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*/
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CGLM_INLINE
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void
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glm_euler_yxz(vec3 angles, mat4 dest) {
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float cx, cy, cz,
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sx, sy, sz, cycz, sysz, czsy, cysz;
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sx = sinf(angles[0]); cx = cosf(angles[0]);
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sy = sinf(angles[1]); cy = cosf(angles[1]);
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sz = sinf(angles[2]); cz = cosf(angles[2]);
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cycz = cy * cz;
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sysz = sy * sz;
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czsy = cz * sy;
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cysz = cy * sz;
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dest[0][0] = cycz + sx * sysz;
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dest[0][1] = cx * sz;
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dest[0][2] = -czsy + cysz * sx;
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dest[1][0] = -cysz + czsy * sx;
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dest[1][1] = cx * cz;
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dest[1][2] = cycz * sx + sysz;
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dest[2][0] = cx * sy;
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dest[2][1] = -sx;
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dest[2][2] = cx * cy;
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dest[0][3] = 0.0f;
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dest[1][3] = 0.0f;
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dest[2][3] = 0.0f;
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dest[3][0] = 0.0f;
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dest[3][1] = 0.0f;
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dest[3][2] = 0.0f;
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dest[3][3] = 1.0f;
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}
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/*!
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* @brief build rotation matrix from euler angles
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*
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* @param[in] angles angles as vector [Xangle, Yangle, Zangle]
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* @param[out] dest rotation matrix
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*/
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CGLM_INLINE
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void
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glm_euler_yzx(vec3 angles, mat4 dest) {
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float cx, cy, cz,
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sx, sy, sz, sxsy, cxcy, cysx, cxsy;
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sx = sinf(angles[0]); cx = cosf(angles[0]);
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sy = sinf(angles[1]); cy = cosf(angles[1]);
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sz = sinf(angles[2]); cz = cosf(angles[2]);
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sxsy = sx * sy;
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cxcy = cx * cy;
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cysx = cy * sx;
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cxsy = cx * sy;
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dest[0][0] = cy * cz;
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dest[0][1] = sz;
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dest[0][2] = -cz * sy;
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dest[1][0] = sxsy - cxcy * sz;
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dest[1][1] = cx * cz;
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dest[1][2] = cysx + cxsy * sz;
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dest[2][0] = cxsy + cysx * sz;
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dest[2][1] = -cz * sx;
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dest[2][2] = cxcy - sxsy * sz;
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dest[0][3] = 0.0f;
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dest[1][3] = 0.0f;
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dest[2][3] = 0.0f;
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dest[3][0] = 0.0f;
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dest[3][1] = 0.0f;
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dest[3][2] = 0.0f;
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dest[3][3] = 1.0f;
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}
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/*!
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* @brief build rotation matrix from euler angles
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*
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* @param[in] angles angles as vector [Xangle, Yangle, Zangle]
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* @param[out] dest rotation matrix
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*/
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CGLM_INLINE
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void
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glm_euler_zxy(vec3 angles, mat4 dest) {
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float cx, cy, cz,
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sx, sy, sz, cycz, sxsy, cysz;
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sx = sinf(angles[0]); cx = cosf(angles[0]);
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sy = sinf(angles[1]); cy = cosf(angles[1]);
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sz = sinf(angles[2]); cz = cosf(angles[2]);
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cycz = cy * cz;
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sxsy = sx * sy;
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cysz = cy * sz;
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dest[0][0] = cycz - sxsy * sz;
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dest[0][1] = cz * sxsy + cysz;
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dest[0][2] = -cx * sy;
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dest[1][0] = -cx * sz;
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dest[1][1] = cx * cz;
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dest[1][2] = sx;
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dest[2][0] = cz * sy + cysz * sx;
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dest[2][1] = -cycz * sx + sy * sz;
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dest[2][2] = cx * cy;
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dest[0][3] = 0.0f;
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dest[1][3] = 0.0f;
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dest[2][3] = 0.0f;
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dest[3][0] = 0.0f;
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dest[3][1] = 0.0f;
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dest[3][2] = 0.0f;
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dest[3][3] = 1.0f;
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}
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/*!
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* @brief build rotation matrix from euler angles
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*
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* @param[in] angles angles as vector [Xangle, Yangle, Zangle]
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* @param[out] dest rotation matrix
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*/
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CGLM_INLINE
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void
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glm_euler_zyx(vec3 angles, mat4 dest) {
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float cx, cy, cz,
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sx, sy, sz, czsx, cxcz, sysz;
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sx = sinf(angles[0]); cx = cosf(angles[0]);
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sy = sinf(angles[1]); cy = cosf(angles[1]);
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sz = sinf(angles[2]); cz = cosf(angles[2]);
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czsx = cz * sx;
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cxcz = cx * cz;
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sysz = sy * sz;
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dest[0][0] = cy * cz;
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dest[0][1] = cy * sz;
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dest[0][2] = -sy;
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dest[1][0] = czsx * sy - cx * sz;
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dest[1][1] = cxcz + sx * sysz;
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dest[1][2] = cy * sx;
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dest[2][0] = cxcz * sy + sx * sz;
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dest[2][1] = -czsx + cx * sysz;
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dest[2][2] = cx * cy;
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dest[0][3] = 0.0f;
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dest[1][3] = 0.0f;
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dest[2][3] = 0.0f;
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dest[3][0] = 0.0f;
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dest[3][1] = 0.0f;
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dest[3][2] = 0.0f;
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dest[3][3] = 1.0f;
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}
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/*!
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* @brief build rotation matrix from euler angles
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*
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* @param[in] angles angles as vector [Xangle, Yangle, Zangle]
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* @param[in] ord euler order
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* @param[out] dest rotation matrix
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*/
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CGLM_INLINE
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void
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glm_euler_by_order(vec3 angles, glm_euler_seq ord, mat4 dest) {
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float cx, cy, cz,
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sx, sy, sz;
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float cycz, cysz, cysx, cxcy,
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czsy, cxcz, czsx, cxsz,
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sysz;
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sx = sinf(angles[0]); cx = cosf(angles[0]);
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sy = sinf(angles[1]); cy = cosf(angles[1]);
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sz = sinf(angles[2]); cz = cosf(angles[2]);
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cycz = cy * cz; cysz = cy * sz;
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cysx = cy * sx; cxcy = cx * cy;
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czsy = cz * sy; cxcz = cx * cz;
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czsx = cz * sx; cxsz = cx * sz;
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sysz = sy * sz;
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switch (ord) {
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case GLM_EULER_XZY:
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dest[0][0] = cycz;
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dest[0][1] = sx * sy + cx * cysz;
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dest[0][2] = -cx * sy + cysx * sz;
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dest[1][0] = -sz;
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dest[1][1] = cxcz;
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dest[1][2] = czsx;
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dest[2][0] = czsy;
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dest[2][1] = -cysx + cx * sysz;
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dest[2][2] = cxcy + sx * sysz;
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break;
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case GLM_EULER_XYZ:
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dest[0][0] = cycz;
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dest[0][1] = czsx * sy + cxsz;
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dest[0][2] = -cx * czsy + sx * sz;
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dest[1][0] = -cysz;
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dest[1][1] = cxcz - sx * sysz;
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dest[1][2] = czsx + cx * sysz;
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dest[2][0] = sy;
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dest[2][1] = -cysx;
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dest[2][2] = cxcy;
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break;
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case GLM_EULER_YXZ:
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dest[0][0] = cycz + sx * sysz;
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dest[0][1] = cxsz;
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dest[0][2] = -czsy + cysx * sz;
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dest[1][0] = czsx * sy - cysz;
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dest[1][1] = cxcz;
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dest[1][2] = cycz * sx + sysz;
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dest[2][0] = cx * sy;
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dest[2][1] = -sx;
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dest[2][2] = cxcy;
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break;
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case GLM_EULER_YZX:
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dest[0][0] = cycz;
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dest[0][1] = sz;
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dest[0][2] = -czsy;
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dest[1][0] = sx * sy - cx * cysz;
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dest[1][1] = cxcz;
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dest[1][2] = cysx + cx * sysz;
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dest[2][0] = cx * sy + cysx * sz;
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dest[2][1] = -czsx;
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dest[2][2] = cxcy - sx * sysz;
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break;
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case GLM_EULER_ZXY:
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dest[0][0] = cycz - sx * sysz;
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dest[0][1] = czsx * sy + cysz;
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dest[0][2] = -cx * sy;
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dest[1][0] = -cxsz;
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dest[1][1] = cxcz;
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dest[1][2] = sx;
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dest[2][0] = czsy + cysx * sz;
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dest[2][1] = -cycz * sx + sysz;
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dest[2][2] = cxcy;
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break;
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case GLM_EULER_ZYX:
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dest[0][0] = cycz;
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dest[0][1] = cysz;
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dest[0][2] = -sy;
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dest[1][0] = czsx * sy - cxsz;
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dest[1][1] = cxcz + sx * sysz;
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dest[1][2] = cysx;
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dest[2][0] = cx * czsy + sx * sz;
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dest[2][1] = -czsx + cx * sysz;
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dest[2][2] = cxcy;
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break;
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}
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dest[0][3] = 0.0f;
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dest[1][3] = 0.0f;
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dest[2][3] = 0.0f;
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dest[3][0] = 0.0f;
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dest[3][1] = 0.0f;
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dest[3][2] = 0.0f;
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dest[3][3] = 1.0f;
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}
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#endif /* cglm_euler_h */
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