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add from euler angles to rotation matrix conversion

This commit is contained in:
Massimiliano Corsini 2007-02-05 14:16:33 +00:00
parent fbf770bd7b
commit 4b5533971a
1 changed files with 34 additions and 4 deletions
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38
vcg/math/matrix44.h
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@ -24,6 +24,9 @@
History
$Log: not supported by cvs2svn $
Revision 1.29 2005/12/02 09:46:49 croccia
Corrected bug in == and != Matrix44 operators
Revision 1.28 2005/06/28 17:42:47 ganovelli
added Matrix44Diag
@ -225,6 +228,7 @@ public:
void ToMatrix(Matrix44Type & m) const {for(int i = 0; i < 16; i++) m.V()[i]=V()[i];}
template <class Matrix44Type>
void FromMatrix(const Matrix44Type & m){for(int i = 0; i < 16; i++) V()[i]=m.V()[i];}
void FromEulerAngles(T alpha, T beta, T gamma);
void SetZero();
void SetIdentity();
void SetDiagonal(const T k);
@ -432,6 +436,32 @@ template <class T> void Matrix44<T>::operator*=( const T k ) {
_a[i] *= k;
}
template <class T>
void Matrix44<T>::FromEulerAngles(T alpha, T beta, T gamma)
{
this->SetZero();
T cosalpha = cos(alpha);
T cosbeta = cos(beta);
T cosgamma = cos(gamma);
T sinalpha = sin(alpha);
T sinbeta = sin(beta);
T singamma = sin(gamma);
ElementAt(0,0) = cosbeta * cosgamma;
ElementAt(0,1) = -cosalpha * singamma + sinalpha * sinbeta * cosgamma;
ElementAt(0,2) = sinalpha * singamma + cosalpha * sinbeta * singamma;
ElementAt(1,0) = cosbeta * singamma;
ElementAt(1,1) = cosalpha * cosgamma + sinalpha * sinbeta * singamma;
ElementAt(1,2) = -sinalpha * cosgamma + cosalpha * sinbeta * singamma;
ElementAt(2,0) = -sinbeta;
ElementAt(2,1) = sinalpha * cosbeta;
ElementAt(2,2) = cosalpha * cosbeta;
ElementAt(3,3) = 1;
}
template <class T> void Matrix44<T>::SetZero() {
memset((T *)_a, 0, 16 * sizeof(T));
@ -466,11 +496,11 @@ template <class T> Matrix44<T> &Matrix44<T>::SetTranslate(const Point3<T> &t) {
SetTranslate(t[0], t[1], t[2]);
return *this;
}
template <class T> Matrix44<T> &Matrix44<T>::SetTranslate(const T sx, const T sy, const T sz) {
template <class T> Matrix44<T> &Matrix44<T>::SetTranslate(const T tx, const T ty, const T tz) {
SetIdentity();
ElementAt(0, 3) = sx;
ElementAt(1, 3) = sy;
ElementAt(2, 3) = sz;
ElementAt(0, 3) = tx;
ElementAt(1, 3) = ty;
ElementAt(2, 3) = tz;
return *this;
}
template <class T> Matrix44<T> &Matrix44<T>::SetRotate(T AngleRad, const Point3<T> & axis) {