From f205de7847da7ae1c10212d82e7042d0100b4ce0 Mon Sep 17 00:00:00 2001 From: dan miller Date: Fri, 19 Oct 2007 05:24:38 +0000 Subject: from the start... checking in ode-0.9 --- libraries/ode-0.9/docs/rotation_8h-source.html | 90 ++++++++++++++++++++++++++ 1 file changed, 90 insertions(+) create mode 100644 libraries/ode-0.9/docs/rotation_8h-source.html (limited to 'libraries/ode-0.9/docs/rotation_8h-source.html') diff --git a/libraries/ode-0.9/docs/rotation_8h-source.html b/libraries/ode-0.9/docs/rotation_8h-source.html new file mode 100644 index 0000000..54ca248 --- /dev/null +++ b/libraries/ode-0.9/docs/rotation_8h-source.html @@ -0,0 +1,90 @@ + + +Open Dynamics Engine: rotation.h Source File + + + + +
+ +
+

rotation.h

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
+
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