Open Dynamics Engine
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00001 /************************************************************************* 00002 * * 00003 * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * 00004 * All rights reserved. Email: russ@q12.org Web: www.q12.org * 00005 * * 00006 * This library is free software; you can redistribute it and/or * 00007 * modify it under the terms of EITHER: * 00008 * (1) The GNU Lesser General Public License as published by the Free * 00009 * Software Foundation; either version 2.1 of the License, or (at * 00010 * your option) any later version. The text of the GNU Lesser * 00011 * General Public License is included with this library in the * 00012 * file LICENSE.TXT. * 00013 * (2) The BSD-style license that is included with this library in * 00014 * the file LICENSE-BSD.TXT. * 00015 * * 00016 * This library is distributed in the hope that it will be useful, * 00017 * but WITHOUT ANY WARRANTY; without even the implied warranty of * 00018 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * 00019 * LICENSE.TXT and LICENSE-BSD.TXT for more details. * 00020 * * 00021 *************************************************************************/ 00022 00023 #ifndef _ODE_ROTATION_H_ 00024 #define _ODE_ROTATION_H_ 00025 00026 #include <ode/common.h> 00027 #include <ode/compatibility.h> 00028 00029 #ifdef __cplusplus 00030 extern "C" { 00031 #endif 00032 00033 00034 ODE_API void dRSetIdentity (dMatrix3 R); 00035 00036 ODE_API void dRFromAxisAndAngle (dMatrix3 R, dReal ax, dReal ay, dReal az, 00037 dReal angle); 00038 00039 ODE_API void dRFromEulerAngles (dMatrix3 R, dReal phi, dReal theta, dReal psi); 00040 00041 ODE_API void dRFrom2Axes (dMatrix3 R, dReal ax, dReal ay, dReal az, 00042 dReal bx, dReal by, dReal bz); 00043 00044 ODE_API void dRFromZAxis (dMatrix3 R, dReal ax, dReal ay, dReal az); 00045 00046 ODE_API void dQSetIdentity (dQuaternion q); 00047 00048 ODE_API void dQFromAxisAndAngle (dQuaternion q, dReal ax, dReal ay, dReal az, 00049 dReal angle); 00050 00051 /* Quaternion multiplication, analogous to the matrix multiplication routines. */ 00052 /* qa = rotate by qc, then qb */ 00053 ODE_API void dQMultiply0 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc); 00054 /* qa = rotate by qc, then by inverse of qb */ 00055 ODE_API void dQMultiply1 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc); 00056 /* qa = rotate by inverse of qc, then by qb */ 00057 ODE_API void dQMultiply2 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc); 00058 /* qa = rotate by inverse of qc, then by inverse of qb */ 00059 ODE_API void dQMultiply3 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc); 00060 00061 ODE_API void dRfromQ (dMatrix3 R, const dQuaternion q); 00062 ODE_API void dQfromR (dQuaternion q, const dMatrix3 R); 00063 ODE_API void dDQfromW (dReal dq[4], const dVector3 w, const dQuaternion q); 00064 00065 00066 #ifdef __cplusplus 00067 } 00068 #endif 00069 00070 #endif