145 lines
5.3 KiB
Plaintext
145 lines
5.3 KiB
Plaintext
// Filename: lrotation_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: LRotation::Default Constructor
|
|
// Access: public
|
|
// Description:
|
|
////////////////////////////////////////////////////////////////////
|
|
INLINE_LINMATH FLOATNAME(LRotation)::
|
|
FLOATNAME(LRotation)() {
|
|
}
|
|
|
|
////////////////////////////////////////////////////////////////////
|
|
// Function: LRotation::Copy Constructor
|
|
// Access: public
|
|
// Description:
|
|
////////////////////////////////////////////////////////////////////
|
|
INLINE_LINMATH FLOATNAME(LRotation)::
|
|
FLOATNAME(LRotation)(const FLOATNAME(LQuaternion) &c) :
|
|
FLOATNAME(LQuaternion)(c) {
|
|
}
|
|
|
|
////////////////////////////////////////////////////////////////////
|
|
// Function: LRotation::Copy Constructor
|
|
// Access: public
|
|
// Description:
|
|
////////////////////////////////////////////////////////////////////
|
|
INLINE_LINMATH FLOATNAME(LRotation)::
|
|
FLOATNAME(LRotation)(const FLOATNAME(LVecBase4) ©) :
|
|
FLOATNAME(LQuaternion)(copy) {
|
|
}
|
|
|
|
////////////////////////////////////////////////////////////////////
|
|
// Function: LRotation::Constructor
|
|
// Access: public
|
|
// Description:
|
|
////////////////////////////////////////////////////////////////////
|
|
INLINE_LINMATH FLOATNAME(LRotation)::
|
|
FLOATNAME(LRotation)(FLOATTYPE r, FLOATTYPE i, FLOATTYPE j, FLOATTYPE k) :
|
|
FLOATNAME(LQuaternion)(r, i, j, k) {
|
|
}
|
|
|
|
////////////////////////////////////////////////////////////////////
|
|
// Function: LRotation::Constructor
|
|
// Access: public
|
|
// Description: lmatrix3
|
|
////////////////////////////////////////////////////////////////////
|
|
INLINE_LINMATH FLOATNAME(LRotation)::
|
|
FLOATNAME(LRotation)(const FLOATNAME(LMatrix3) &m) {
|
|
set_from_matrix(m);
|
|
}
|
|
|
|
////////////////////////////////////////////////////////////////////
|
|
// Function: LRotation::Constructor
|
|
// Access: public
|
|
// Description: lmatrix4
|
|
////////////////////////////////////////////////////////////////////
|
|
INLINE_LINMATH FLOATNAME(LRotation)::
|
|
FLOATNAME(LRotation)(const FLOATNAME(LMatrix4) &m) {
|
|
set_from_matrix(m);
|
|
}
|
|
|
|
////////////////////////////////////////////////////////////////////
|
|
// Function: LRotation::Constructor
|
|
// Access: public
|
|
// Description: axis + angle (in degrees)
|
|
////////////////////////////////////////////////////////////////////
|
|
INLINE_LINMATH FLOATNAME(LRotation)::
|
|
FLOATNAME(LRotation)(const FLOATNAME(LVector3) &axis, FLOATTYPE angle) {
|
|
FLOATTYPE radians = deg_2_rad(angle);
|
|
FLOATTYPE theta_over_2 = radians * FLOATCONST(0.5);
|
|
FLOATTYPE sin_to2 = csin(theta_over_2);
|
|
|
|
set_r(ccos(theta_over_2));
|
|
set_i(axis[0] * sin_to2);
|
|
set_j(axis[1] * sin_to2);
|
|
set_k(axis[2] * sin_to2);
|
|
}
|
|
|
|
////////////////////////////////////////////////////////////////////
|
|
// Function: LRotation::Constructor
|
|
// Access: public
|
|
// Description: Sets the rotation from the given Euler angles.
|
|
////////////////////////////////////////////////////////////////////
|
|
INLINE_LINMATH FLOATNAME(LRotation)::
|
|
FLOATNAME(LRotation)(FLOATTYPE h, FLOATTYPE p, FLOATTYPE r) {
|
|
set_hpr(FLOATNAME(LVecBase3)(h, p, r));
|
|
}
|
|
|
|
////////////////////////////////////////////////////////////////////
|
|
// Function: LRotation::rotation * scalar
|
|
// Access: Public
|
|
// Description:
|
|
////////////////////////////////////////////////////////////////////
|
|
INLINE_LINMATH FLOATNAME(LRotation) FLOATNAME(LRotation)::
|
|
operator * (FLOATTYPE scalar) const {
|
|
return FLOATNAME(LRotation)(FLOATNAME(LVecBase4)::operator * (scalar));
|
|
}
|
|
|
|
////////////////////////////////////////////////////////////////////
|
|
// Function: LRotation::rotation / scalar
|
|
// Access: Public
|
|
// Description:
|
|
////////////////////////////////////////////////////////////////////
|
|
INLINE_LINMATH FLOATNAME(LRotation) FLOATNAME(LRotation)::
|
|
operator / (FLOATTYPE scalar) const {
|
|
return FLOATNAME(LRotation)(FLOATNAME(LVecBase4)::operator / (scalar));
|
|
}
|
|
|
|
////////////////////////////////////////////////////////////////////
|
|
// Function: LRotation::operator *
|
|
// Access: public
|
|
// Description: Rotation * Rotation = Rotation
|
|
////////////////////////////////////////////////////////////////////
|
|
INLINE_LINMATH FLOATNAME(LRotation) FLOATNAME(LRotation)::
|
|
operator * (const FLOATNAME(LRotation) &other) const {
|
|
return multiply(other);
|
|
}
|
|
|
|
////////////////////////////////////////////////////////////////////
|
|
// Function: LRotation::operator *
|
|
// Access: public
|
|
// Description: Rotation * Orientation = Orientation
|
|
// This is another meaningless operation, attempting
|
|
// to apply an orientation to a rotation.
|
|
////////////////////////////////////////////////////////////////////
|
|
INLINE_LINMATH FLOATNAME(LQuaternion) FLOATNAME(LRotation)::
|
|
operator * (const FLOATNAME(LQuaternion) &other) const {
|
|
nassert_raise("LRotation * LQuaternion is undefined; use LRotation * LRotation or LQuaternion * LQuaternion");
|
|
return multiply(other);
|
|
}
|
|
|
|
|