117 lines
2.7 KiB
Text
117 lines
2.7 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 lrotation_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(LRotation)::
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FLOATNAME(LRotation)() {
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}
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/**
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*
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*/
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INLINE_LINMATH FLOATNAME(LRotation)::
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FLOATNAME(LRotation)(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(LRotation)::
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FLOATNAME(LRotation)(const FLOATNAME(LVecBase4) ©) :
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FLOATNAME(LQuaternion)(copy) {
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}
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/**
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*
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*/
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INLINE_LINMATH FLOATNAME(LRotation)::
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FLOATNAME(LRotation)(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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* lmatrix3
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*/
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INLINE_LINMATH FLOATNAME(LRotation)::
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FLOATNAME(LRotation)(const FLOATNAME(LMatrix3) &m) {
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set_from_matrix(m);
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}
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/**
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* lmatrix4
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*/
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INLINE_LINMATH FLOATNAME(LRotation)::
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FLOATNAME(LRotation)(const FLOATNAME(LMatrix4) &m) {
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set_from_matrix(m);
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}
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/**
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* axis + angle (in degrees)
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*/
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INLINE_LINMATH FLOATNAME(LRotation)::
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FLOATNAME(LRotation)(const FLOATNAME(LVector3) &axis, FLOATTYPE angle) {
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FLOATTYPE radians = deg_2_rad(angle);
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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(axis[0] * sin_to2);
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set_j(axis[1] * sin_to2);
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set_k(axis[2] * sin_to2);
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}
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/**
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* Sets the rotation from the given Euler angles.
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*/
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INLINE_LINMATH FLOATNAME(LRotation)::
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FLOATNAME(LRotation)(FLOATTYPE h, FLOATTYPE p, FLOATTYPE r) {
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set_hpr(FLOATNAME(LVecBase3)(h, p, r));
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}
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/**
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*
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*/
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INLINE_LINMATH FLOATNAME(LRotation) FLOATNAME(LRotation)::
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operator * (FLOATTYPE scalar) const {
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return FLOATNAME(LRotation)(FLOATNAME(LVecBase4)::operator * (scalar));
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}
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/**
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*
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*/
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INLINE_LINMATH FLOATNAME(LRotation) FLOATNAME(LRotation)::
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operator / (FLOATTYPE scalar) const {
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return FLOATNAME(LRotation)(FLOATNAME(LVecBase4)::operator / (scalar));
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}
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/**
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* Rotation * Rotation = Rotation
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*/
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INLINE_LINMATH FLOATNAME(LRotation) FLOATNAME(LRotation)::
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operator * (const FLOATNAME(LRotation) &other) const {
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return multiply(other);
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}
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/**
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* Rotation * Orientation = Orientation This is another meaningless operation,
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* attempting to apply an orientation to a rotation.
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*/
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INLINE_LINMATH FLOATNAME(LQuaternion) FLOATNAME(LRotation)::
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operator * (const FLOATNAME(LQuaternion) &other) const {
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nassert_raise("LRotation * LQuaternion is undefined; use LRotation * LRotation or LQuaternion * LQuaternion");
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return multiply(other);
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}
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