104 lines
3.9 KiB
Plaintext
104 lines
3.9 KiB
Plaintext
// Filename: lorientation_src.I
|
|
// Created by: frang, charles (23Jun00)
|
|
//
|
|
////////////////////////////////////////////////////////////////////
|
|
//
|
|
// PANDA 3D SOFTWARE
|
|
// Copyright (c) Carnegie Mellon University. All rights reserved.
|
|
//
|
|
// All use of this software is subject to the terms of the revised BSD
|
|
// license. You should have received a copy of this license along
|
|
// with this source code in a file named "LICENSE."
|
|
//
|
|
////////////////////////////////////////////////////////////////////
|
|
|
|
////////////////////////////////////////////////////////////////////
|
|
// Function: LOrientation::Default Constructor
|
|
// Access: public
|
|
// Description:
|
|
////////////////////////////////////////////////////////////////////
|
|
INLINE_LINMATH FLOATNAME(LOrientation)::
|
|
FLOATNAME(LOrientation)() {
|
|
}
|
|
|
|
////////////////////////////////////////////////////////////////////
|
|
// Function: LOrientation::Copy Constructor
|
|
// Access: public
|
|
// Description:
|
|
////////////////////////////////////////////////////////////////////
|
|
INLINE_LINMATH FLOATNAME(LOrientation)::
|
|
FLOATNAME(LOrientation)(const FLOATNAME(LQuaternion)& c) :
|
|
FLOATNAME(LQuaternion)(c) {
|
|
}
|
|
|
|
////////////////////////////////////////////////////////////////////
|
|
// Function: LOrientation::Constructor
|
|
// Access: public
|
|
// Description:
|
|
////////////////////////////////////////////////////////////////////
|
|
INLINE_LINMATH FLOATNAME(LOrientation)::
|
|
FLOATNAME(LOrientation)(FLOATTYPE r, FLOATTYPE i, FLOATTYPE j, FLOATTYPE k) :
|
|
FLOATNAME(LQuaternion)(r, i, j, k) {
|
|
}
|
|
|
|
////////////////////////////////////////////////////////////////////
|
|
// Function: LOrientation::Constructor
|
|
// Access: public
|
|
// Description: vector + twist
|
|
////////////////////////////////////////////////////////////////////
|
|
INLINE_LINMATH FLOATNAME(LOrientation)::
|
|
FLOATNAME(LOrientation)(const FLOATNAME(LVector3) &point_at, float twist) {
|
|
float radians = deg_2_rad(twist);
|
|
float theta_over_2 = radians * FLOATCONST(0.5);
|
|
float sin_to2 = sinf(theta_over_2);
|
|
|
|
set_r(cosf(theta_over_2));
|
|
set_i(point_at[0] * sin_to2);
|
|
set_j(point_at[1] * sin_to2);
|
|
set_k(point_at[2] * sin_to2);
|
|
}
|
|
|
|
////////////////////////////////////////////////////////////////////
|
|
// Function: LOrientation::Constructor
|
|
// Access: public
|
|
// Description: matrix3
|
|
////////////////////////////////////////////////////////////////////
|
|
INLINE_LINMATH FLOATNAME(LOrientation)::
|
|
FLOATNAME(LOrientation)(const FLOATNAME(LMatrix3) &m) {
|
|
set_from_matrix(m);
|
|
}
|
|
|
|
////////////////////////////////////////////////////////////////////
|
|
// Function: LOrientation::Constructor
|
|
// Access: public
|
|
// Description: matrix4
|
|
////////////////////////////////////////////////////////////////////
|
|
INLINE_LINMATH FLOATNAME(LOrientation)::
|
|
FLOATNAME(LOrientation)(const FLOATNAME(LMatrix4) &m) {
|
|
set_from_matrix(m);
|
|
}
|
|
|
|
////////////////////////////////////////////////////////////////////
|
|
// Function: LOrientation::operator *
|
|
// Access: public
|
|
// Description: Orientation * rotation = Orientation
|
|
// Applies a rotation to an orientation.
|
|
////////////////////////////////////////////////////////////////////
|
|
INLINE_LINMATH FLOATNAME(LOrientation) FLOATNAME(LOrientation)::
|
|
operator * (const FLOATNAME(LRotation) &other) const {
|
|
return multiply((FLOATNAME(LOrientation) &)other);
|
|
}
|
|
|
|
////////////////////////////////////////////////////////////////////
|
|
// Function: LOrientation::operator *
|
|
// Access: public
|
|
// Description: Orientation * Orientation
|
|
// This is a meaningless operation, and will always
|
|
// simply return the rhs.
|
|
////////////////////////////////////////////////////////////////////
|
|
INLINE_LINMATH FLOATNAME(LOrientation) FLOATNAME(LOrientation)::
|
|
operator * (const FLOATNAME(LQuaternion) &other) const {
|
|
nassert_raise("LOrientation * LQuaternion is undefined; use LOrientation * LRotation or LQuaternion * LQuaternion");
|
|
return multiply((FLOATNAME(LOrientation) &)other);
|
|
}
|