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Added makeRotate(heading,pitch,roll) to Quat in prep for new classes for

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animation paths.
This commit is contained in:
Robert Osfield 2002-02-26 20:01:04 +00:00
parent 260fd17573
commit 7c0eb0f380
3 changed files with 27 additions and 18 deletions
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6
include/osg/Quat
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@ -210,7 +210,11 @@ class SG_EXPORT Quat
are co-incident or opposite in direction.*/
void makeRotate( const Vec3& vec1, const Vec3& vec2 );
/** Return the angle and vector components represented by the quaternion.*/
/** make a rotation Quat from euler angles.*/
void makeRotate( float heading, float pitch, float roll);
/** Return the angle and vector components represented by the quaternion.*/
void getRotate ( float& angle, float& x, float& y, float& z ) const;
/** Return the angle and vector represented by the quaternion.*/
void getRotate ( float& angle, Vec3& vec ) const;

21
src/osg/Matrix.cpp
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@ -149,24 +149,11 @@ void Matrix::makeRotate( const Quat& q )
q.get(*this);
}
void Matrix::makeRotate( float yaw, float pitch, float roll)
void Matrix::makeRotate( float heading, float pitch, float roll)
{
// lifted straight from SOLID library v1.01 Quaternion.h
// available from http://www.win.tue.nl/~gino/solid/
// and also distributed under the LGPL
float cosYaw = cos(yaw / 2);
float sinYaw = sin(yaw / 2);
float cosPitch = cos(pitch / 2);
float sinPitch = sin(pitch / 2);
float cosRoll = cos(roll / 2);
float sinRoll = sin(roll / 2);
Quat q(sinRoll * cosPitch * cosYaw - cosRoll * sinPitch * sinYaw,
cosRoll * sinPitch * cosYaw + sinRoll * cosPitch * sinYaw,
cosRoll * cosPitch * sinYaw - sinRoll * sinPitch * cosYaw,
cosRoll * cosPitch * cosYaw + sinRoll * sinPitch * sinYaw);
q.get(*this);
Quat quat;
quat.makeRotate(heading,pitch,roll);
quat.get(*this);
}
void Matrix::mult( const Matrix& lhs, const Matrix& rhs )

18
src/osg/Quat.cpp
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@ -36,6 +36,24 @@ void Quat::makeRotate( const float angle, const Vec3& vec )
makeRotate( angle, vec[0], vec[1], vec[2] );
}
void Quat::makeRotate( float heading, float pitch, float roll)
{
// lifted straight from SOLID library v1.01 Quaternion.h
// available from http://www.win.tue.nl/~gino/solid/
// and also distributed under the LGPL
float cosHeading = cos(heading / 2);
float sinHeading = sin(heading / 2);
float cosPitch = cos(pitch / 2);
float sinPitch = sin(pitch / 2);
float cosRoll = cos(roll / 2);
float sinRoll = sin(roll / 2);
set(sinRoll * cosPitch * cosHeading - cosRoll * sinPitch * sinHeading,
cosRoll * sinPitch * cosHeading + sinRoll * cosPitch * sinHeading,
cosRoll * cosPitch * sinHeading - sinRoll * sinPitch * cosHeading,
cosRoll * cosPitch * cosHeading + sinRoll * sinPitch * sinHeading);
}
// Make a rotation Quat which will rotate vec1 to vec2
// Generally take adot product to get the angle between these