85 lines
2.1 KiB
Text
85 lines
2.1 KiB
Text
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/**
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* PANDA 3D SOFTWARE
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* Copyright (c) Carnegie Mellon University. All rights reserved.
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*
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* All use of this software is subject to the terms of the revised BSD
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* license. You should have received a copy of this license along
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* with this source code in a file named "LICENSE."
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*
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* @file lorientation_src.I
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* @author frang, charles
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* @date 2000-06-23
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*/
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/**
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*
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*/
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INLINE_LINMATH FLOATNAME(LOrientation)::
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FLOATNAME(LOrientation)() {
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}
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/**
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*
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*/
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INLINE_LINMATH FLOATNAME(LOrientation)::
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FLOATNAME(LOrientation)(const FLOATNAME(LQuaternion)& c) :
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FLOATNAME(LQuaternion)(c) {
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}
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/**
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*
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*/
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INLINE_LINMATH FLOATNAME(LOrientation)::
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FLOATNAME(LOrientation)(FLOATTYPE r, FLOATTYPE i, FLOATTYPE j, FLOATTYPE k) :
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FLOATNAME(LQuaternion)(r, i, j, k) {
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}
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/**
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* vector + twist
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*/
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INLINE_LINMATH FLOATNAME(LOrientation)::
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FLOATNAME(LOrientation)(const FLOATNAME(LVector3) &point_at, FLOATTYPE twist) {
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FLOATTYPE radians = deg_2_rad(twist);
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FLOATTYPE theta_over_2 = radians * FLOATCONST(0.5);
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FLOATTYPE sin_to2 = csin(theta_over_2);
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set_r(ccos(theta_over_2));
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set_i(point_at[0] * sin_to2);
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set_j(point_at[1] * sin_to2);
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set_k(point_at[2] * sin_to2);
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}
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/**
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* matrix3
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*/
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INLINE_LINMATH FLOATNAME(LOrientation)::
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FLOATNAME(LOrientation)(const FLOATNAME(LMatrix3) &m) {
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set_from_matrix(m);
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}
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/**
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* matrix4
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*/
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INLINE_LINMATH FLOATNAME(LOrientation)::
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FLOATNAME(LOrientation)(const FLOATNAME(LMatrix4) &m) {
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set_from_matrix(m);
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}
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/**
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* Orientation * rotation = Orientation Applies a rotation to an orientation.
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*/
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INLINE_LINMATH FLOATNAME(LOrientation) FLOATNAME(LOrientation)::
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operator * (const FLOATNAME(LRotation) &other) const {
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return multiply((FLOATNAME(LOrientation) &)other);
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}
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/**
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* Orientation * Orientation This is a meaningless operation, and will always
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* simply return the rhs.
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*/
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INLINE_LINMATH FLOATNAME(LOrientation) FLOATNAME(LOrientation)::
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operator * (const FLOATNAME(LQuaternion) &other) const {
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nassert_raise("LOrientation * LQuaternion is undefined; use LOrientation * LRotation or LQuaternion * LQuaternion");
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return multiply((FLOATNAME(LOrientation) &)other);
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}
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