FGFS-4.1/OpenSceneGraph
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Converted M_PI* usage across to osg::PI

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This commit is contained in:
Robert Osfield 2008-10-14 16:44:14 +00:00
parent ec797b3a81
commit 36a93d9cf3
1 changed files with 22 additions and 22 deletions
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44
examples/osgrobot/osgrobot.cpp
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@ -151,40 +151,40 @@ public:
switch (ea.getKey())
{
case 'q':
rotate(M_PIl/180, joint1);
rotate(osg::PI/180, joint1);
return true;
case 'a':
rotate(-M_PIl/180, joint1);
rotate(-osg::PI/180, joint1);
return true;
case 'w':
rotate(M_PIl/180, joint2);
rotate(osg::PI/180, joint2);
return true;
case 's':
rotate(-M_PIl/180, joint2);
rotate(-osg::PI/180, joint2);
return true;
case 'e':
rotate(M_PIl/180, joint3);
rotate(osg::PI/180, joint3);
return true;
case 'd':
rotate(-M_PIl/180, joint3);
rotate(-osg::PI/180, joint3);
return true;
case 'r':
rotate(M_PIl/180, joint4);
rotate(osg::PI/180, joint4);
return true;
case 'f':
rotate(-M_PIl/180, joint4);
rotate(-osg::PI/180, joint4);
return true;
case 't':
rotate(M_PIl/180, joint5);
rotate(osg::PI/180, joint5);
return true;
case 'g':
rotate(-M_PIl/180, joint5);
rotate(-osg::PI/180, joint5);
return true;
case 'y':
rotate(M_PIl/180, joint6);
rotate(osg::PI/180, joint6);
return true;
case 'h':
rotate(-M_PIl/180, joint6);
rotate(-osg::PI/180, joint6);
return true;
}
}
@ -250,7 +250,7 @@ osg::MatrixTransform* buildJoint2(osg::MatrixTransform* previousJoint)
double radius = 4.45633;
osg::MatrixTransform* xTransform = new osg::MatrixTransform();
previousJoint->addChild(xTransform);
osg::Matrix xRot = osg::Matrix::rotate(M_PI_2, 1.0, 0.0, 0.0);
osg::Matrix xRot = osg::Matrix::rotate(osg::PI_2, 1.0, 0.0, 0.0);
xTransform->setMatrix(xRot);
osg::Geode* joint = new osg::Geode();
joint->addDrawable(new osg::ShapeDrawable(new osg::Capsule(osg::Vec3(0.0f,0.0f,height/2),radius,height),hints));
@ -258,7 +258,7 @@ osg::MatrixTransform* buildJoint2(osg::MatrixTransform* previousJoint)
osg::MatrixTransform* zTransform = new osg::MatrixTransform();
osg::Matrix zTrans = osg::Matrix::translate( 0.0, 0.0, height);
osg::Matrix zRot = osg::Matrix::rotate(M_PI_2+jointAngle2, 0.0,0.0,1.0);
osg::Matrix zRot = osg::Matrix::rotate(osg::PI_2+jointAngle2, 0.0,0.0,1.0);
zTransform->setMatrix(zTrans*zRot);
xTransform->addChild(zTransform);
return zTransform;
@ -274,7 +274,7 @@ osg::MatrixTransform* buildTube2(osg::MatrixTransform* previousJoint)
double radius = 4.45633;
osg::MatrixTransform* xTransform = new osg::MatrixTransform();
previousJoint->addChild(xTransform);
osg::Matrix xRot = osg::Matrix::rotate(M_PI_2, 1.0,0.0,0.0);
osg::Matrix xRot = osg::Matrix::rotate(osg::PI_2, 1.0,0.0,0.0);
xTransform->setMatrix(xRot);
osg::Geode* tube3 = new osg::Geode();
xTransform->addChild(tube3);
@ -294,7 +294,7 @@ osg::MatrixTransform* buildJoint3(osg::MatrixTransform* previousJoint)
osg::Geode* joint = new osg::Geode();
osg::MatrixTransform* xTransform = new osg::MatrixTransform();
previousJoint->addChild(xTransform);
osg::Matrix xRot = osg::Matrix::rotate(-M_PI_2, 1.0, 0.0, 0.0);
osg::Matrix xRot = osg::Matrix::rotate(-osg::PI_2, 1.0, 0.0, 0.0);
xTransform->setMatrix(xRot);
if (showAxis)
{
@ -331,11 +331,11 @@ osg::MatrixTransform* buildJoint4(osg::MatrixTransform* previousJoint)
}
previousJoint->addChild(xTransform);
xTransform->addChild(tube4);
osg::Matrix xRot= osg::Matrix::rotate(M_PI_2, 1,0,0);
osg::Matrix xRot= osg::Matrix::rotate(osg::PI_2, 1,0,0);
xTransform->setMatrix(xRot);
height = 7.5;
osg::Matrix zTrans = osg::Matrix::translate(0,0,17.5);
osg::Matrix zRot = osg::Matrix::rotate(jointAngle4-M_PI_2, 0,0,1);
osg::Matrix zRot = osg::Matrix::rotate(jointAngle4-osg::PI_2, 0,0,1);
osg::MatrixTransform* zTransform = new osg::MatrixTransform();
zTransform->setMatrix(zTrans*zRot);
@ -372,7 +372,7 @@ osg::MatrixTransform* buildJoint5(osg::MatrixTransform* previousJoint)
joint->addDrawable(shape);
osg::MatrixTransform* xTransform = new osg::MatrixTransform();
previousJoint->addChild(xTransform);
osg::Matrix xRot= osg::Matrix::rotate(-M_PI_2, 1.0,0,0);
osg::Matrix xRot= osg::Matrix::rotate(-osg::PI_2, 1.0,0,0);
xTransform->setMatrix(xRot);
xTransform->addChild(joint);
if (showAxis)
@ -395,7 +395,7 @@ osg::MatrixTransform* buildJoint6(osg::MatrixTransform* previousJoint)
osg::Geode* joint = new osg::Geode();
joint->addDrawable(new osg::ShapeDrawable(new osg::Cylinder(osg::Vec3(0.0f,0.0f,height/2),radius,height),hints));
osg::MatrixTransform* xTransform = new osg::MatrixTransform();
osg::Matrix xRot= osg::Matrix::rotate(M_PI_2, 1.0, 0.0, 0.0);
osg::Matrix xRot= osg::Matrix::rotate(osg::PI_2, 1.0, 0.0, 0.0);
xTransform->setMatrix(xRot);
xTransform->addChild(joint);
previousJoint->addChild(xTransform);
@ -452,7 +452,7 @@ void createAxis(osg::Transform* previousJoint)
osg::MatrixTransform* mt = new osg::MatrixTransform();
previousJoint->addChild(mt);
osg::Matrix xMatrix = osg::Matrix::rotate(-M_PI_2, 0.0, 1.0, 0.0);
osg::Matrix xMatrix = osg::Matrix::rotate(-osg::PI_2, 0.0, 1.0, 0.0);
mt->setMatrix(xMatrix);
@ -465,7 +465,7 @@ void createAxis(osg::Transform* previousJoint)
osg::MatrixTransform *yMt = new osg::MatrixTransform();
previousJoint->addChild(yMt);
osg::Matrix yMatrix = osg::Matrix::rotate(M_PI_2, 1.0, 0.0, 0.0);
osg::Matrix yMatrix = osg::Matrix::rotate(osg::PI_2, 1.0, 0.0, 0.0);
yMt->setMatrix(yMatrix);
osg::ShapeDrawable *yShape = new osg::ShapeDrawable(new osg::Cylinder(osg::Vec3(0.0f,0.0f,height/2),radius,height),hints);