manolas
/
vcglib
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

add euler angle to quaternion conversion

This commit is contained in:
Massimiliano Corsini 2007-02-05 13:55:21 +00:00
parent 28eb5780f0
commit fbf770bd7b
1 changed files with 25 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

26
vcg/math/quaternion.h
View File

@ -24,6 +24,9 @@
History
$Log: not supported by cvs2svn $
Revision 1.15 2006/06/22 08:00:26 ganovelli
toMatrix with matrix33 added
Revision 1.14 2005/04/17 21:57:03 ganovelli
tolto il const a interpolate
@ -50,6 +53,9 @@ updated access to matrix44 elements through V() instead simple []
Revision 1.6 2004/03/25 14:57:49 ponchio
Microerror. ($LOG$ -> $Log: not supported by cvs2svn $
Microerror. ($LOG$ -> Revision 1.15 2006/06/22 08:00:26 ganovelli
Microerror. ($LOG$ -> toMatrix with matrix33 added
Microerror. ($LOG$ ->
Microerror. ($LOG$ -> Revision 1.14 2005/04/17 21:57:03 ganovelli
Microerror. ($LOG$ -> tolto il const a interpolate
Microerror. ($LOG$ ->
@ -110,7 +116,6 @@ public:
void SetIdentity();
void FromAxis(const S phi, const Point3<S> &a);
void ToAxis(S &phi, Point3<S> &a ) const;
@ -118,6 +123,8 @@ public:
void FromMatrix(Matrix44<S> &m);
void ToMatrix(Matrix44<S> &m) const;
void ToMatrix(Matrix33<S> &m) const;
void FromEulerAngles(S alpha, S beta, S gamma);
Point3<S> Rotate(const Point3<S> vec) const;
//duplicated ... because of gcc new confoming to ISO template derived classes
@ -310,6 +317,23 @@ template <class S> void Quaternion<S>::FromMatrix(Matrix44<S> &m) {
}
}
}
template<class S>
void FromEulerAngles(S alpha, S beta, S gamma)
{
S cosalpha = cos(alpha / 2.0);
S cosbeta = cos(beta / 2.0);
S cosgamma = cos(gamma / 2.0);
S sinalpha = sin(alpha / 2.0);
S sinbeta = sin(beta / 2.0);
S singamma = sin(gamma / 2.0);
V(0) = cosalpha * cosbeta * cosgamma + sinalpha * sinbeta * singamma;
V(1) = sinalpha * cosbeta * cosgamma - cosalpha * sinbeta * singamma;
V(2) = cosalpha * sinbeta * cosgamma + sinalpha * cosbeta * singamma;
V(3) = cosalpha * cosbeta * singamma - sinalpha * sinbeta * cosgamma;
}
template <class S> Quaternion<S> &Invert(Quaternion<S> &m) {
m.Invert();
return m;