angles.cpp

Go to the documentation of this file.

/* *************************************************************************************
        Writer:         Sebastien Bloc
        Copyright:      2003-2004
        eMail:          sebastien.bloc@free.fr
        URL:            http://mignonsoft.free.fr

        This program is free software; you can redistribute it and/or
        modify it under the terms of the GNU General Public License
        as published by the Free Software Foundation; either version 2
        of the License, or (at your option) any later version.

        This program is distributed in the hope that it will be useful,
        but WITHOUT ANY WARRANTY; without even the implied warranty of
        MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
        GNU General Public License for more details.
        http://www.gnu.org/copyleft/gpl.html
************************************************************************************* */

#include "angles.h"

void Angles::Zero()
{
        isUpdatedEuler=TRUE;
        isUpdatedQuaternion=TRUE;
        euler.Zero();
}

Angles::Angles()
{
        Zero();
}

void Angles::operator= (Angles &src)
{
        quaternion=src.quaternion;
        euler=src.euler;
        isUpdatedEuler=src.isUpdatedEuler;
        isUpdatedQuaternion=src.isUpdatedQuaternion;
}

Point3D<double> Angles::GetEuler()
{
        if (!isUpdatedEuler) 
        {
                euler = quaternion.to_euler();
                isUpdatedEuler=TRUE;
        }
        return euler;
}

Angles::Angles(Point3D<double> &relativeAngles)
{
        Zero();
        Set(relativeAngles);
}

Angles::Angles(double x,double y,double z) 
{
        Zero();
        Set(x,y,z);
}

void Angles::Rotate(Point3D<double> &relativeAngles)
{
        if (!isUpdatedQuaternion) 
        {
                quaternion.from_euler(euler);
                isUpdatedQuaternion=TRUE;
        }
        Quaternion qrotate;
        qrotate.from_euler(relativeAngles);
        quaternion*=qrotate;
}

void Angles::Rotate(double x,double y,double z)
{
        if (!isUpdatedQuaternion) 
        {
                quaternion.from_euler(euler);
                isUpdatedQuaternion=TRUE;
        }
        Quaternion qrotate;
        Point3D<double> rotate(x,y,z);
        qrotate.from_euler(rotate);
        quaternion*=qrotate;
        isUpdatedEuler=FALSE;
}

void Angles::Set(Point3D<double> &relativeAngles)
{
        euler=relativeAngles;
        isUpdatedQuaternion=FALSE;
}

void Angles::Set(double x,double y,double z)
{
        euler.Set(x,y,z);
        isUpdatedQuaternion=FALSE;
}

void Angles::Add(Point3D<double> &relativeAngles)
{
        if (relativeAngles.IsNotNull()) 
        {
                euler+=relativeAngles;
                isUpdatedQuaternion=FALSE;
        }
}

void Angles::Add(double x,double y,double z)
{
        if (x||y||z) 
        {
                euler.Add(x,y,z);
                isUpdatedQuaternion=FALSE;
        }
}

---