| 1 | /************************************************************************* |
|---|
| 2 | * * |
|---|
| 3 | * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * |
|---|
| 4 | * All rights reserved. Email: russ@q12.org Web: www.q12.org * |
|---|
| 5 | * * |
|---|
| 6 | * This library is free software; you can redistribute it and/or * |
|---|
| 7 | * modify it under the terms of EITHER: * |
|---|
| 8 | * (1) The GNU Lesser General Public License as published by the Free * |
|---|
| 9 | * Software Foundation; either version 2.1 of the License, or (at * |
|---|
| 10 | * your option) any later version. The text of the GNU Lesser * |
|---|
| 11 | * General Public License is included with this library in the * |
|---|
| 12 | * file LICENSE.TXT. * |
|---|
| 13 | * (2) The BSD-style license that is included with this library in * |
|---|
| 14 | * the file LICENSE-BSD.TXT. * |
|---|
| 15 | * * |
|---|
| 16 | * This library is distributed in the hope that it will be useful, * |
|---|
| 17 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
|---|
| 18 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * |
|---|
| 19 | * LICENSE.TXT and LICENSE-BSD.TXT for more details. * |
|---|
| 20 | * * |
|---|
| 21 | *************************************************************************/ |
|---|
| 22 | |
|---|
| 23 | #ifndef _ODE_ROTATION_H_ |
|---|
| 24 | #define _ODE_ROTATION_H_ |
|---|
| 25 | |
|---|
| 26 | #include <ode/common.h> |
|---|
| 27 | #include <ode/compatibility.h> |
|---|
| 28 | |
|---|
| 29 | #ifdef __cplusplus |
|---|
| 30 | extern "C" { |
|---|
| 31 | #endif |
|---|
| 32 | |
|---|
| 33 | |
|---|
| 34 | ODE_API void dRSetIdentity (dMatrix3 R); |
|---|
| 35 | |
|---|
| 36 | ODE_API void dRFromAxisAndAngle (dMatrix3 R, dReal ax, dReal ay, dReal az, |
|---|
| 37 | dReal angle); |
|---|
| 38 | |
|---|
| 39 | ODE_API void dRFromEulerAngles (dMatrix3 R, dReal phi, dReal theta, dReal psi); |
|---|
| 40 | |
|---|
| 41 | ODE_API void dRFrom2Axes (dMatrix3 R, dReal ax, dReal ay, dReal az, |
|---|
| 42 | dReal bx, dReal by, dReal bz); |
|---|
| 43 | |
|---|
| 44 | ODE_API void dRFromZAxis (dMatrix3 R, dReal ax, dReal ay, dReal az); |
|---|
| 45 | |
|---|
| 46 | ODE_API void dQSetIdentity (dQuaternion q); |
|---|
| 47 | |
|---|
| 48 | ODE_API void dQFromAxisAndAngle (dQuaternion q, dReal ax, dReal ay, dReal az, |
|---|
| 49 | dReal angle); |
|---|
| 50 | |
|---|
| 51 | /* Quaternion multiplication, analogous to the matrix multiplication routines. */ |
|---|
| 52 | /* qa = rotate by qc, then qb */ |
|---|
| 53 | ODE_API void dQMultiply0 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc); |
|---|
| 54 | /* qa = rotate by qc, then by inverse of qb */ |
|---|
| 55 | ODE_API void dQMultiply1 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc); |
|---|
| 56 | /* qa = rotate by inverse of qc, then by qb */ |
|---|
| 57 | ODE_API void dQMultiply2 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc); |
|---|
| 58 | /* qa = rotate by inverse of qc, then by inverse of qb */ |
|---|
| 59 | ODE_API void dQMultiply3 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc); |
|---|
| 60 | |
|---|
| 61 | ODE_API void dRfromQ (dMatrix3 R, const dQuaternion q); |
|---|
| 62 | ODE_API void dQfromR (dQuaternion q, const dMatrix3 R); |
|---|
| 63 | ODE_API void dDQfromW (dReal dq[4], const dVector3 w, const dQuaternion q); |
|---|
| 64 | |
|---|
| 65 | |
|---|
| 66 | #ifdef __cplusplus |
|---|
| 67 | } |
|---|
| 68 | #endif |
|---|
| 69 | |
|---|
| 70 | #endif |
|---|
