FGFS-4.1/OpenSceneGraph
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Added DOFTransform, MatrixTransform and PositionAttitudeTransform to NodeVisitor.

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Added osg::Matrix/Quat::makeRotate(angle1,axis1,angle2,axis2,angle3,axis3) and
osg::Matrix::rotate(angle1,axis1,angle2,axis2,angle3,axis3) method.

Made osg::Matrix/Quat::makeRotate(heading,pitch,roll) and
osg::Matrix::rotate(heading,pitch,roll) all deprecated API.

Fixed the Quat*Quat & Quat*=Quat multiplication methods so that they multiplied
in the correct order - they were reversed originally due to the Quat code being
based on code example which used the v' = M v ordering, rather than the OSG's
v' = v M ordering.
This commit is contained in:
Robert Osfield
2002-08-18 14:42:43 +00:00
parent a9732aa046
commit 22d54f05e4
6 changed files with 121 additions and 39 deletions
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40
include/osg/Matrix
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@@ -95,14 +95,10 @@ class SG_EXPORT Matrix : public Object
void makeRotate( float angle, const Vec3& axis );
void makeRotate( float angle, float x, float y, float z );
void makeRotate( const Quat& );
void makeRotate( float angle1, const Vec3& axis1,
float angle2, const Vec3& axis2,
float angle3, const Vec3& axis3);
/** make a rotation Matrix from euler angles.
* assume Z up, Y north, X east and euler convention
* as per Open Flight & Performer.
* Applies a positive rotation about Y axis for roll,
* then applies a positive roation about X for pitch,
* and finally a negative rotation about the Z axis.*/
void makeRotate( float heading, float pitch, float roll); //Euler angles
/** Set to a orthographic projection. See glOrtho for further details.*/
@@ -140,10 +136,11 @@ class SG_EXPORT Matrix : public Object
inline static Matrix translate( const Vec3& dv);
inline static Matrix translate( float x, float y, float z);
inline static Matrix rotate( const Vec3& from, const Vec3& to);
inline static Matrix rotate( float angle, float x, float y, float z);
inline static Matrix rotate( float angle, float x, float y, float z);
inline static Matrix rotate( float angle, const Vec3& axis);
/** construct rotation matrix from euler angles, for conventions see makeRotate().*/
inline static Matrix rotate( float heading, float pitch, float roll);
inline static Matrix rotate( float angle1, const Vec3& axis1,
float angle2, const Vec3& axis2,
float angle3, const Vec3& axis3);
inline static Matrix rotate( const Quat& quat);
inline static Matrix inverse( const Matrix& matrix);
@@ -170,6 +167,19 @@ class SG_EXPORT Matrix : public Object
inline static Matrix lookAt(const Vec3& eye,const Vec3& center,const Vec3& up);
#ifdef USE_DEPRECATED_API
/** make a rotation Matrix from euler angles.
* assume Z up, Y north, X east and euler convention
* as per Open Flight & Performer.
* Applies a positive rotation about Y axis for roll,
* then applies a positive roation about X for pitch,
* and finally a negative rotation about the Z axis.*/
void makeRotate( float heading, float pitch, float roll); //Euler angles
inline static Matrix rotate( float heading, float pitch, float roll);
#endif
inline Vec3 preMult( const Vec3& v ) const;
inline Vec3 postMult( const Vec3& v ) const;
inline Vec3 operator* ( const Vec3& v ) const;
@@ -289,12 +299,22 @@ inline Matrix Matrix::rotate(float angle, const Vec3& axis )
m.makeRotate(angle,axis);
return m;
}
#ifdef USE_DEPRECATED_API
inline Matrix Matrix::rotate(float heading, float pitch, float roll)
{
Matrix m;
m.makeRotate(heading,pitch,roll);
return m;
}
#endif
inline Matrix Matrix::rotate( float angle1, const Vec3& axis1,
float angle2, const Vec3& axis2,
float angle3, const Vec3& axis3)
{
Matrix m;
m.makeRotate(angle1,axis1,angle2,axis2,angle3,axis3);
return m;
}
inline Matrix Matrix::rotate(const Vec3& from, const Vec3& to )
{
Matrix m;