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panda/src/linmath/lrotation_src.I

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// Filename: lrotation_src.I
// Created by:  frang, charles (23Jun00)
//
////////////////////////////////////////////////////////////////////
//
// PANDA 3D SOFTWARE
// Copyright (c) 2001, Disney Enterprises, Inc.  All rights reserved
//
// All use of this software is subject to the terms of the Panda 3d
// Software license.  You should have received a copy of this license
// along with this source code; you will also find a current copy of
// the license at http://www.panda3d.org/license.txt .
//
// To contact the maintainers of this program write to
// panda3d@yahoogroups.com .
//
////////////////////////////////////////////////////////////////////

////////////////////////////////////////////////////////////////////
//     Function: LRotation::Default Constructor
//       Access: public
//  Description:
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LRotation)::
FLOATNAME(LRotation)() {
}

////////////////////////////////////////////////////////////////////
//     Function: LRotation::Copy Constructor
//       Access: public
//  Description:
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LRotation)::
FLOATNAME(LRotation)(const FLOATNAME(LQuaternion)& c) :
  FLOATNAME(LQuaternion)(c) {
}

////////////////////////////////////////////////////////////////////
//     Function: LRotation::Constructor
//       Access: public
//  Description:
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LRotation)::
FLOATNAME(LRotation)(FLOATTYPE r, FLOATTYPE i, FLOATTYPE j, FLOATTYPE k) :
  FLOATNAME(LQuaternion)(r, i, j, k) {
}

////////////////////////////////////////////////////////////////////
//     Function: LRotation::Constructor
//       Access: public
//  Description: lmatrix3
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LRotation)::
FLOATNAME(LRotation)(const FLOATNAME(LMatrix3) &m) {
  set_from_matrix(m);
}

////////////////////////////////////////////////////////////////////
//     Function: LRotation::Constructor
//       Access: public
//  Description: lmatrix4
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LRotation)::
FLOATNAME(LRotation)(const FLOATNAME(LMatrix4) &m) {
  set_from_matrix(m);
}

////////////////////////////////////////////////////////////////////
//     Function: LRotation::Constructor
//       Access: public
//  Description: axis + angle (in degrees)
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LRotation)::
FLOATNAME(LRotation)(const FLOATNAME(LVector3) &axis, FLOATTYPE angle) {
  FLOATTYPE radians = deg_2_rad(angle);
  FLOATTYPE theta_over_2 = radians * FLOATCONST(0.5);
  FLOATTYPE sin_to2 = csin(theta_over_2);

  set_r(ccos(theta_over_2));
  set_i(axis[0] * sin_to2);
  set_j(axis[1] * sin_to2);
  set_k(axis[2] * sin_to2);
}

////////////////////////////////////////////////////////////////////
//     Function: LRotation::Constructor
//       Access: public
//  Description: Sets the rotation from the given Euler angles.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LRotation)::
FLOATNAME(LRotation)(FLOATTYPE h, FLOATTYPE p, FLOATTYPE r) {
  set_hpr(FLOATNAME(LVecBase3)(h, p, r));
}

////////////////////////////////////////////////////////////////////
//     Function: LRotation::operator *
//       Access: public
//  Description: Rotation * Rotation = Rotation
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LRotation) FLOATNAME(LRotation)::
operator*(const FLOATNAME(LRotation)& other) const {
  return multiply(other);
}

////////////////////////////////////////////////////////////////////
//     Function: LRotation::operator *
//       Access: public
//  Description: Rotation * Orientation = Orientation
//               This is another meaningless operation, attempting
//               to apply an orientation to a rotation.  It simply
//               returns the rhs.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LQuaternion) FLOATNAME(LRotation)::
operator*(const FLOATNAME(LQuaternion)& other) const {
  return other;
}

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