Changeset 4477 in orxonox.OLD for orxonox/trunk/src/lib/math/vector.cc

Timestamp:

Jun 2, 2005, 4:35:22 AM (19 years ago)

Author:

bensch

Message:

orxonox/trunk: vector is completely documented again

File:

• orxonox/trunk/src/lib/math/vector.cc (modified) (5 diffs)

orxonox/trunk/src/lib/math/vector.cc

@@ -24 +24 @@
 using namespace std;
 
+/////////////
+/* VECTORS */
+/////////////
 /**
    \brief returns the this-vector normalized to length 1.0
@@ -43 +46 @@
 
 /**
+   \brief Vector is looking in the positive direction on all axes after this
+*/
+Vector Vector::abs() 
+{
+  Vector v(fabs(x), fabs(y), fabs(z));
+  return v;
+}
+
+
+
+/**
    \brief Outputs the values of the Vector
 */
@@ -53 +67 @@
 }
 
-/**
-        \brief creates a multiplicational identity Quaternion
-*/
-//Quaternion::Quaternion ()
-
-
-/**
-        \brief turns a rotation along an axis into a Quaternion
-        \param angle: the amount of radians to rotate
-        \param axis: the axis to rotate around
-*/
-//Quaternion::Quaternion (float angle, const Vector& axis)
-
-
+/////////////////
+/* QUATERNIONS */
+/////////////////
 /**
    \brief calculates a lookAt rotation
@@ -109 +112 @@
 
 /**
-        \brief calculates a rotation from euler angles
-        \param roll: the roll in radians
-        \param pitch: the pitch in radians
-        \param yaw: the yaw in radians
-        
-        I DO HONESTLY NOT EXACTLY KNOW WHICH ANGLE REPRESENTS WHICH ROTATION. And I do not know 
-        in what order they are applied, I just copy-pasted the code.
+   \brief calculates a rotation from euler angles
+   \param roll: the roll in radians
+   \param pitch: the pitch in radians
+   \param yaw: the yaw in radians
 */
 Quaternion::Quaternion (float roll, float pitch, float yaw)
 {
-        float cr, cp, cy, sr, sp, sy, cpcy, spsy;
-        
-        // calculate trig identities
-        cr = cos(roll/2);
-        cp = cos(pitch/2);
-        cy = cos(yaw/2);
-        
-        sr = sin(roll/2);
-        sp = sin(pitch/2);
-        sy = sin(yaw/2);
-        
-        cpcy = cp * cy;
-        spsy = sp * sy;
-        
-        w = cr * cpcy + sr * spsy;
-        v.x = sr * cpcy - cr * spsy;
-        v.y = cr * sp * cy + sr * cp * sy;
-        v.z = cr * cp * sy - sr * sp * cy;
-}
-
-/**
-        \brief rotates one Quaternion by another
-        \param q: another Quaternion to rotate this by
-        \return a quaternion that represents the first one rotated by the second one (WARUNING: this operation is not commutative! e.g. (A*B) != (B*A))
+  float cr, cp, cy, sr, sp, sy, cpcy, spsy;
+  
+  // calculate trig identities
+  cr = cos(roll/2);
+  cp = cos(pitch/2);
+  cy = cos(yaw/2);
+  
+  sr = sin(roll/2);
+  sp = sin(pitch/2);
+  sy = sin(yaw/2);
+  
+  cpcy = cp * cy;
+  spsy = sp * sy;
+  
+  w = cr * cpcy + sr * spsy;
+  v.x = sr * cpcy - cr * spsy;
+  v.y = cr * sp * cy + sr * cp * sy;
+  v.z = cr * cp * sy - sr * sp * cy;
+}
+
+/**
+   \brief rotates one Quaternion by another
+   \param q: another Quaternion to rotate this by
+   \return a quaternion that represents the first one rotated by the second one (WARUNING: this operation is not commutative! e.g. (A*B) != (B*A))
 */
 Quaternion Quaternion::operator*(const Quaternion& q) const
@@ -165 +165 @@
   return r;
 }
-
-/**
-   \brief add two Quaternions
-   \param q: another Quaternion
-   \return the sum of both Quaternions
-*/
-/*
-Quaternion Quaternion::operator+(const Quaternion& q) const
-{
-  Quaternion r(*this);
-  r.w = r.w + q.w;
-  r.v = r.v + q.v;
-  return r;
-}
-*/
-
-/**
-   \brief subtract two Quaternions
-   \param q: another Quaternion
-   \return the difference of both Quaternions
-*/
-/*
-Quaternion Quaternion::operator- (const Quaternion& q) const
-{
-  Quaternion r(*this);
-  r.w = r.w - q.w;
-  r.v = r.v - q.v;
-  return r;
-}
-*/
 
 /**