Changeset 10695 in orxonox.OLD for trunk/src/lib/math/quaternion.cc

Timestamp:

Jun 14, 2007, 4:46:18 PM (17 years ago)

Author:

snellen

Message:

changes on soundengine and mover by fabian landau

File:

• trunk/src/lib/math/quaternion.cc (modified) (3 diffs)

trunk/src/lib/math/quaternion.cc

@@ -79 +79 @@
  * @param yaw: the yaw in radians
  */
-Quaternion::Quaternion (float roll, float pitch, float yaw)
-{
+Quaternion::Quaternion (float attitude, float heading, float bank)
+{
+/*
   float cr, cp, cy, sr, sp, sy, cpcy, spsy;
 
@@ -99 +100 @@
   v.y = cr * sp * cy + sr * cp * sy;
   v.z = cr * cp * sy - sr * sp * cy;
-}
+*/
+  float c1, c2, c3, s1, s2, s3;
+
+  c1 = cos(heading / 2);
+  c2 = cos(attitude / 2);
+  c3 = cos(bank / 2);
+
+  s1 = sin(heading / 2);
+  s2 = sin(attitude / 2);
+  s3 = sin(bank / 2);
+
+  w = c1 * c2 * c3 - s1 * s2 * s3;
+  v.x = s1 * s2 * c3 +c1 * c2 * s3;
+  v.y = s1 * c2 * c3 + c1 * s2 * s3;
+  v.z = c1 * s2 * c3 - s1 * c2 * s3;
+}
+
 
 /**
@@ -271 +288 @@
 }
 
+/**
+ * @returns Bank, Attitude, Heading
+ */
+Vector Quaternion::getRotation() const
+{
+  return Vector(getAttitude(), getHeading(), getBank());
+}