Created
June 15, 2020 13:51
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オイラー角（ラジアン）を回転行列に変換
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| // オイラー角（ラジアン）を回転行列に変換 | |
| float4x4 eulerAnglesToRotationMatrix(float3 angles) | |
| { | |
| float ch = cos(angles.y); float sh = sin(angles.y); // heading | |
| float ca = cos(angles.z); float sa = sin(angles.z); // attitude | |
| float cb = cos(angles.x); float sb = sin(angles.x); // bank | |
| // Ry-Rx-Rz (Yaw Pitch Roll) | |
| return float4x4( | |
| ch * ca + sh * sb * sa, -ch * sa + sh * sb * ca, sh * cb, 0, | |
| cb * sa, cb * ca, -sb, 0, | |
| -sh * ca + ch * sb * sa, sh * sa + ch * sb * ca, ch * cb, 0, | |
| 0, 0, 0, 1 | |
| ); | |
| } |
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