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Added Matrix*::getRotate()/setRotate(Quat), deprecating Matrix*::get(Quat&), Matrix*::set(Quat&)

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Robert Osfield
2006-07-31 17:31:21 +00:00
parent 28cf404a25
commit 564ee34f76
20 changed files with 99 additions and 80 deletions
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50
src/osg/Matrix_implementation.cpp
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@@ -62,7 +62,7 @@ void Matrix_implementation::set( value_type a00, value_type a01, value_type a02,
#define QZ q._v[2]
#define QW q._v[3]
void Matrix_implementation::set(const Quat& q_in)
void Matrix_implementation::setRotate(const Quat& q_in)
{
Quat q(q_in);
double length2 = q.length2();
@@ -103,29 +103,35 @@ void Matrix_implementation::set(const Quat& q_in)
_mat[0][0] = 1.0 - (yy + zz);
_mat[1][0] = xy - wz;
_mat[2][0] = xz + wy;
_mat[3][0] = 0.0;
_mat[0][1] = xy + wz;
_mat[1][1] = 1.0 - (xx + zz);
_mat[2][1] = yz - wx;
_mat[3][1] = 0.0;
_mat[0][2] = xz - wy;
_mat[1][2] = yz + wx;
_mat[2][2] = 1.0 - (xx + yy);
_mat[3][2] = 0.0;
#if 0
_mat[0][3] = 0.0;
_mat[1][3] = 0.0;
_mat[2][3] = 0.0;
_mat[3][0] = 0.0;
_mat[3][1] = 0.0;
_mat[3][2] = 0.0;
_mat[3][3] = 1.0;
#endif
}
#if 1
// David Spillings implementation Mk 2
void Matrix_implementation::get( Quat& q ) const
Quat Matrix_implementation::getRotate() const
{
Quat q;
// From http://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToQuaternion/index.htm
QW = 0.5 * sqrt( osg::maximum( 0.0, 1.0 + _mat[0][0] + _mat[1][1] + _mat[2][2] ) );
QX = 0.5 * sqrt( osg::maximum( 0.0, 1.0 + _mat[0][0] - _mat[1][1] - _mat[2][2] ) );
@@ -135,6 +141,8 @@ void Matrix_implementation::get( Quat& q ) const
QX = QX * osg::sign( _mat[1][2] - _mat[2][1]) ;
QY = QY * osg::sign( _mat[2][0] - _mat[0][2]) ;
QZ = QZ * osg::sign( _mat[0][1] - _mat[1][0]) ;
return q;
}
#else
@@ -332,62 +340,78 @@ void Matrix_implementation::makeTranslate( value_type x, value_type y, value_typ
void Matrix_implementation::makeRotate( const Vec3f& from, const Vec3f& to )
{
makeIdentity();
Quat quat;
quat.makeRotate(from,to);
set(quat);
setRotate(quat);
}
void Matrix_implementation::makeRotate( const Vec3d& from, const Vec3d& to )
{
makeIdentity();
Quat quat;
quat.makeRotate(from,to);
set(quat);
setRotate(quat);
}
void Matrix_implementation::makeRotate( value_type angle, const Vec3f& axis )
{
makeIdentity();
Quat quat;
quat.makeRotate( angle, axis);
set(quat);
setRotate(quat);
}
void Matrix_implementation::makeRotate( value_type angle, const Vec3d& axis )
{
makeIdentity();
Quat quat;
quat.makeRotate( angle, axis);
set(quat);
setRotate(quat);
}
void Matrix_implementation::makeRotate( value_type angle, value_type x, value_type y, value_type z )
{
makeIdentity();
Quat quat;
quat.makeRotate( angle, x, y, z);
set(quat);
setRotate(quat);
}
void Matrix_implementation::makeRotate( const Quat& quat )
{
set(quat);
makeIdentity();
setRotate(quat);
}
void Matrix_implementation::makeRotate( value_type angle1, const Vec3f& axis1,
value_type angle2, const Vec3f& axis2,
value_type angle3, const Vec3f& axis3)
{
makeIdentity();
Quat quat;
quat.makeRotate(angle1, axis1,
angle2, axis2,
angle3, axis3);
set(quat);
setRotate(quat);
}
void Matrix_implementation::makeRotate( value_type angle1, const Vec3d& axis1,
value_type angle2, const Vec3d& axis2,
value_type angle3, const Vec3d& axis3)
{
makeIdentity();
Quat quat;
quat.makeRotate(angle1, axis1,
angle2, axis2,
angle3, axis3);
set(quat);
setRotate(quat);
}
void Matrix_implementation::mult( const Matrix_implementation& lhs, const Matrix_implementation& rhs )