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Added makeRotate(heading,pitch,roll) to Quat in prep for new classes for

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animation paths.
This commit is contained in:
Robert Osfield
2002-02-26 20:01:04 +00:00
parent 260fd17573
commit 7c0eb0f380
3 changed files with 27 additions and 18 deletions
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21
src/osg/Matrix.cpp
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@@ -149,24 +149,11 @@ void Matrix::makeRotate( const Quat& q )
q.get(*this);
}
void Matrix::makeRotate( float yaw, float pitch, float roll)
void Matrix::makeRotate( float heading, float pitch, float roll)
{
// lifted straight from SOLID library v1.01 Quaternion.h
// available from http://www.win.tue.nl/~gino/solid/
// and also distributed under the LGPL
float cosYaw = cos(yaw / 2);
float sinYaw = sin(yaw / 2);
float cosPitch = cos(pitch / 2);
float sinPitch = sin(pitch / 2);
float cosRoll = cos(roll / 2);
float sinRoll = sin(roll / 2);
Quat q(sinRoll * cosPitch * cosYaw - cosRoll * sinPitch * sinYaw,
cosRoll * sinPitch * cosYaw + sinRoll * cosPitch * sinYaw,
cosRoll * cosPitch * sinYaw - sinRoll * sinPitch * cosYaw,
cosRoll * cosPitch * cosYaw + sinRoll * sinPitch * sinYaw);
q.get(*this);
Quat quat;
quat.makeRotate(heading,pitch,roll);
quat.get(*this);
}
void Matrix::mult( const Matrix& lhs, const Matrix& rhs )