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implemented ToEulerAngles + minor changes and fixes.

This commit is contained in:
mtarini 2008-11-01 15:54:13 +00:00
parent 336de84d19
commit b3620bb320
1 changed files with 21 additions and 11 deletions
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32
vcg/math/quaternion.h
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@ -114,7 +114,7 @@ Microerror. ($LOG$ ->
namespace vcg { namespace vcg {
/** Classe quaternion. /** Class quaternion.
A quaternion is a point in the unit sphere in four dimension: all A quaternion is a point in the unit sphere in four dimension: all
rotations in three-dimensional space can be represented by a quaternion. rotations in three-dimensional space can be represented by a quaternion.
*/ */
@ -131,6 +131,7 @@ public:
Quaternion operator*(const Quaternion &q) const; Quaternion operator*(const Quaternion &q) const;
Quaternion &operator*=(const Quaternion &q); Quaternion &operator*=(const Quaternion &q);
void Invert(); void Invert();
Quaternion<S> Inverse() const;
void SetIdentity(); void SetIdentity();
@ -145,17 +146,17 @@ public:
void ToMatrix(Matrix44<S> &m) const; void ToMatrix(Matrix44<S> &m) const;
void ToMatrix(Matrix33<S> &m) const; void ToMatrix(Matrix33<S> &m) const;
void ToEulerAngles(S &alpha, S &beta, S &gamma); void ToEulerAngles(S &alpha, S &beta, S &gamma) const;
void FromEulerAngles(S alpha, S beta, S gamma); void FromEulerAngles(S alpha, S beta, S gamma);
Point3<S> Rotate(const Point3<S> vec) const; Point3<S> Rotate(const Point3<S> vec) const;
//duplicated ... because of gcc new confoming to ISO template derived classes //duplicated ... because of gcc new confoming to ISO template derived classes
//do no 'see' parent members (unless explicitly specified) //do no 'see' parent members (unless explicitly specified)
const S & V ( const int i ) const { assert(i>=0 && i<4); return Point4<S>::V(i); } const S & V ( const int i ) const { assert(i>=0 && i<4); return Point4<S>::V(i); }
S & V ( const int i ) { assert(i>=0 && i<4); return Point4<S>::V(i); } S & V ( const int i ) { assert(i>=0 && i<4); return Point4<S>::V(i); }
private: private:
//fills the 3x3 upper portion of the matrix m (must support m[i][j] interface)
}; };
/*template<classS, class M> void QuaternionToMatrix(Quaternion<S> &s, M &m); /*template<classS, class M> void QuaternionToMatrix(Quaternion<S> &s, M &m);
@ -220,6 +221,9 @@ template <class S> void Quaternion<S>::Invert() {
V(3)*=-1; V(3)*=-1;
} }
template <class S> Quaternion<S> Quaternion<S>::Inverse() const{
return Quaternion<S>( V(0), -V(1), -V(2), -V(3) );
}
template <class S> void Quaternion<S>::FromAxis(const S phi, const Point3<S> &a) { template <class S> void Quaternion<S>::FromAxis(const S phi, const Point3<S> &a) {
Point3<S> b = a; Point3<S> b = a;
@ -350,20 +354,26 @@ template <class S> void Quaternion<S>::FromMatrix(const Matrix33<S> &m) {
template<class S> template<class S>
void Quaternion<S>::ToEulerAngles(S &alpha, S &beta, S &gamma) void Quaternion<S>::ToEulerAngles(S &alpha, S &beta, S &gamma) const
{ {
//...TODO... #define P(a,b,c,d) (2*(V(a)*V(b)+V(c)*V(d)))
#define M(a,b,c,d) (2*(V(a)*V(b)-V(c)*V(d)))
alpha = math::Atan2( P(0,1,2,3) , 1-P(1,1,2,2) );
beta = math::Asin ( M(0,2,3,1) );
gamma = math::Atan2( P(0,3,1,2) , 1-P(2,2,3,3) );
#undef P
#undef M
} }
template<class S> template<class S>
void Quaternion<S>::FromEulerAngles(S alpha, S beta, S gamma) void Quaternion<S>::FromEulerAngles(S alpha, S beta, S gamma)
{ {
S cosalpha = cos(alpha / 2.0); S cosalpha = math::Cos(alpha / 2.0);
S cosbeta = cos(beta / 2.0); S cosbeta = math::Cos(beta / 2.0);
S cosgamma = cos(gamma / 2.0); S cosgamma = math::Cos(gamma / 2.0);
S sinalpha = sin(alpha / 2.0); S sinalpha = math::Sin(alpha / 2.0);
S sinbeta = sin(beta / 2.0); S sinbeta = math::Sin(beta / 2.0);
S singamma = sin(gamma / 2.0); S singamma = math::Sin(gamma / 2.0);
V(0) = cosalpha * cosbeta * cosgamma + sinalpha * sinbeta * singamma; V(0) = cosalpha * cosbeta * cosgamma + sinalpha * sinbeta * singamma;
V(1) = sinalpha * cosbeta * cosgamma - cosalpha * sinbeta * singamma; V(1) = sinalpha * cosbeta * cosgamma - cosalpha * sinbeta * singamma;