From fca74b0bf0a0833f5701e9c0de7b3bc15b2233dd Mon Sep 17 00:00:00 2001 From: dan miller Date: Fri, 19 Oct 2007 05:20:07 +0000 Subject: dont ask --- libraries/ode-0.9/ode/src/rotation.cpp | 316 --------------------------------- 1 file changed, 316 deletions(-) delete mode 100644 libraries/ode-0.9/ode/src/rotation.cpp (limited to 'libraries/ode-0.9/ode/src/rotation.cpp') diff --git a/libraries/ode-0.9/ode/src/rotation.cpp b/libraries/ode-0.9/ode/src/rotation.cpp deleted file mode 100644 index adb933b..0000000 --- a/libraries/ode-0.9/ode/src/rotation.cpp +++ /dev/null @@ -1,316 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library 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 files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -/* - -quaternions have the format: (s,vx,vy,vz) where (vx,vy,vz) is the -"rotation axis" and s is the "rotation angle". - -*/ - -#include -#include - - -#define _R(i,j) R[(i)*4+(j)] - -#define SET_3x3_IDENTITY \ - _R(0,0) = REAL(1.0); \ - _R(0,1) = REAL(0.0); \ - _R(0,2) = REAL(0.0); \ - _R(0,3) = REAL(0.0); \ - _R(1,0) = REAL(0.0); \ - _R(1,1) = REAL(1.0); \ - _R(1,2) = REAL(0.0); \ - _R(1,3) = REAL(0.0); \ - _R(2,0) = REAL(0.0); \ - _R(2,1) = REAL(0.0); \ - _R(2,2) = REAL(1.0); \ - _R(2,3) = REAL(0.0); - - -void dRSetIdentity (dMatrix3 R) -{ - dAASSERT (R); - SET_3x3_IDENTITY; -} - - -void dRFromAxisAndAngle (dMatrix3 R, dReal ax, dReal ay, dReal az, - dReal angle) -{ - dAASSERT (R); - dQuaternion q; - dQFromAxisAndAngle (q,ax,ay,az,angle); - dQtoR (q,R); -} - - -void dRFromEulerAngles (dMatrix3 R, dReal phi, dReal theta, dReal psi) -{ - dReal sphi,cphi,stheta,ctheta,spsi,cpsi; - dAASSERT (R); - sphi = dSin(phi); - cphi = dCos(phi); - stheta = dSin(theta); - ctheta = dCos(theta); - spsi = dSin(psi); - cpsi = dCos(psi); - _R(0,0) = cpsi*ctheta; - _R(0,1) = spsi*ctheta; - _R(0,2) =-stheta; - _R(0,3) = REAL(0.0); - _R(1,0) = cpsi*stheta*sphi - spsi*cphi; - _R(1,1) = spsi*stheta*sphi + cpsi*cphi; - _R(1,2) = ctheta*sphi; - _R(1,3) = REAL(0.0); - _R(2,0) = cpsi*stheta*cphi + spsi*sphi; - _R(2,1) = spsi*stheta*cphi - cpsi*sphi; - _R(2,2) = ctheta*cphi; - _R(2,3) = REAL(0.0); -} - - -void dRFrom2Axes (dMatrix3 R, dReal ax, dReal ay, dReal az, - dReal bx, dReal by, dReal bz) -{ - dReal l,k; - dAASSERT (R); - l = dSqrt (ax*ax + ay*ay + az*az); - if (l <= REAL(0.0)) { - dDEBUGMSG ("zero length vector"); - return; - } - l = dRecip(l); - ax *= l; - ay *= l; - az *= l; - k = ax*bx + ay*by + az*bz; - bx -= k*ax; - by -= k*ay; - bz -= k*az; - l = dSqrt (bx*bx + by*by + bz*bz); - if (l <= REAL(0.0)) { - dDEBUGMSG ("zero length vector"); - return; - } - l = dRecip(l); - bx *= l; - by *= l; - bz *= l; - _R(0,0) = ax; - _R(1,0) = ay; - _R(2,0) = az; - _R(0,1) = bx; - _R(1,1) = by; - _R(2,1) = bz; - _R(0,2) = - by*az + ay*bz; - _R(1,2) = - bz*ax + az*bx; - _R(2,2) = - bx*ay + ax*by; - _R(0,3) = REAL(0.0); - _R(1,3) = REAL(0.0); - _R(2,3) = REAL(0.0); -} - - -void dRFromZAxis (dMatrix3 R, dReal ax, dReal ay, dReal az) -{ - dVector3 n,p,q; - n[0] = ax; - n[1] = ay; - n[2] = az; - dNormalize3 (n); - dPlaneSpace (n,p,q); - _R(0,0) = p[0]; - _R(1,0) = p[1]; - _R(2,0) = p[2]; - _R(0,1) = q[0]; - _R(1,1) = q[1]; - _R(2,1) = q[2]; - _R(0,2) = n[0]; - _R(1,2) = n[1]; - _R(2,2) = n[2]; - _R(0,3) = REAL(0.0); - _R(1,3) = REAL(0.0); - _R(2,3) = REAL(0.0); -} - - -void dQSetIdentity (dQuaternion q) -{ - dAASSERT (q); - q[0] = 1; - q[1] = 0; - q[2] = 0; - q[3] = 0; -} - - -void dQFromAxisAndAngle (dQuaternion q, dReal ax, dReal ay, dReal az, - dReal angle) -{ - dAASSERT (q); - dReal l = ax*ax + ay*ay + az*az; - if (l > REAL(0.0)) { - angle *= REAL(0.5); - q[0] = dCos (angle); - l = dSin(angle) * dRecipSqrt(l); - q[1] = ax*l; - q[2] = ay*l; - q[3] = az*l; - } - else { - q[0] = 1; - q[1] = 0; - q[2] = 0; - q[3] = 0; - } -} - - -void dQMultiply0 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc) -{ - dAASSERT (qa && qb && qc); - qa[0] = qb[0]*qc[0] - qb[1]*qc[1] - qb[2]*qc[2] - qb[3]*qc[3]; - qa[1] = qb[0]*qc[1] + qb[1]*qc[0] + qb[2]*qc[3] - qb[3]*qc[2]; - qa[2] = qb[0]*qc[2] + qb[2]*qc[0] + qb[3]*qc[1] - qb[1]*qc[3]; - qa[3] = qb[0]*qc[3] + qb[3]*qc[0] + qb[1]*qc[2] - qb[2]*qc[1]; -} - - -void dQMultiply1 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc) -{ - dAASSERT (qa && qb && qc); - qa[0] = qb[0]*qc[0] + qb[1]*qc[1] + qb[2]*qc[2] + qb[3]*qc[3]; - qa[1] = qb[0]*qc[1] - qb[1]*qc[0] - qb[2]*qc[3] + qb[3]*qc[2]; - qa[2] = qb[0]*qc[2] - qb[2]*qc[0] - qb[3]*qc[1] + qb[1]*qc[3]; - qa[3] = qb[0]*qc[3] - qb[3]*qc[0] - qb[1]*qc[2] + qb[2]*qc[1]; -} - - -void dQMultiply2 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc) -{ - dAASSERT (qa && qb && qc); - qa[0] = qb[0]*qc[0] + qb[1]*qc[1] + qb[2]*qc[2] + qb[3]*qc[3]; - qa[1] = -qb[0]*qc[1] + qb[1]*qc[0] - qb[2]*qc[3] + qb[3]*qc[2]; - qa[2] = -qb[0]*qc[2] + qb[2]*qc[0] - qb[3]*qc[1] + qb[1]*qc[3]; - qa[3] = -qb[0]*qc[3] + qb[3]*qc[0] - qb[1]*qc[2] + qb[2]*qc[1]; -} - - -void dQMultiply3 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc) -{ - dAASSERT (qa && qb && qc); - qa[0] = qb[0]*qc[0] - qb[1]*qc[1] - qb[2]*qc[2] - qb[3]*qc[3]; - qa[1] = -qb[0]*qc[1] - qb[1]*qc[0] + qb[2]*qc[3] - qb[3]*qc[2]; - qa[2] = -qb[0]*qc[2] - qb[2]*qc[0] + qb[3]*qc[1] - qb[1]*qc[3]; - qa[3] = -qb[0]*qc[3] - qb[3]*qc[0] + qb[1]*qc[2] - qb[2]*qc[1]; -} - - -// dRfromQ(), dQfromR() and dDQfromW() are derived from equations in "An Introduction -// to Physically Based Modeling: Rigid Body Simulation - 1: Unconstrained -// Rigid Body Dynamics" by David Baraff, Robotics Institute, Carnegie Mellon -// University, 1997. - -void dRfromQ (dMatrix3 R, const dQuaternion q) -{ - dAASSERT (q && R); - // q = (s,vx,vy,vz) - dReal qq1 = 2*q[1]*q[1]; - dReal qq2 = 2*q[2]*q[2]; - dReal qq3 = 2*q[3]*q[3]; - _R(0,0) = 1 - qq2 - qq3; - _R(0,1) = 2*(q[1]*q[2] - q[0]*q[3]); - _R(0,2) = 2*(q[1]*q[3] + q[0]*q[2]); - _R(0,3) = REAL(0.0); - _R(1,0) = 2*(q[1]*q[2] + q[0]*q[3]); - _R(1,1) = 1 - qq1 - qq3; - _R(1,2) = 2*(q[2]*q[3] - q[0]*q[1]); - _R(1,3) = REAL(0.0); - _R(2,0) = 2*(q[1]*q[3] - q[0]*q[2]); - _R(2,1) = 2*(q[2]*q[3] + q[0]*q[1]); - _R(2,2) = 1 - qq1 - qq2; - _R(2,3) = REAL(0.0); -} - - -void dQfromR (dQuaternion q, const dMatrix3 R) -{ - dAASSERT (q && R); - dReal tr,s; - tr = _R(0,0) + _R(1,1) + _R(2,2); - if (tr >= 0) { - s = dSqrt (tr + 1); - q[0] = REAL(0.5) * s; - s = REAL(0.5) * dRecip(s); - q[1] = (_R(2,1) - _R(1,2)) * s; - q[2] = (_R(0,2) - _R(2,0)) * s; - q[3] = (_R(1,0) - _R(0,1)) * s; - } - else { - // find the largest diagonal element and jump to the appropriate case - if (_R(1,1) > _R(0,0)) { - if (_R(2,2) > _R(1,1)) goto case_2; - goto case_1; - } - if (_R(2,2) > _R(0,0)) goto case_2; - goto case_0; - - case_0: - s = dSqrt((_R(0,0) - (_R(1,1) + _R(2,2))) + 1); - q[1] = REAL(0.5) * s; - s = REAL(0.5) * dRecip(s); - q[2] = (_R(0,1) + _R(1,0)) * s; - q[3] = (_R(2,0) + _R(0,2)) * s; - q[0] = (_R(2,1) - _R(1,2)) * s; - return; - - case_1: - s = dSqrt((_R(1,1) - (_R(2,2) + _R(0,0))) + 1); - q[2] = REAL(0.5) * s; - s = REAL(0.5) * dRecip(s); - q[3] = (_R(1,2) + _R(2,1)) * s; - q[1] = (_R(0,1) + _R(1,0)) * s; - q[0] = (_R(0,2) - _R(2,0)) * s; - return; - - case_2: - s = dSqrt((_R(2,2) - (_R(0,0) + _R(1,1))) + 1); - q[3] = REAL(0.5) * s; - s = REAL(0.5) * dRecip(s); - q[1] = (_R(2,0) + _R(0,2)) * s; - q[2] = (_R(1,2) + _R(2,1)) * s; - q[0] = (_R(1,0) - _R(0,1)) * s; - return; - } -} - - -void dDQfromW (dReal dq[4], const dVector3 w, const dQuaternion q) -{ - dAASSERT (w && q && dq); - dq[0] = REAL(0.5)*(- w[0]*q[1] - w[1]*q[2] - w[2]*q[3]); - dq[1] = REAL(0.5)*( w[0]*q[0] + w[1]*q[3] - w[2]*q[2]); - dq[2] = REAL(0.5)*(- w[0]*q[3] + w[1]*q[0] + w[2]*q[1]); - dq[3] = REAL(0.5)*( w[0]*q[2] - w[1]*q[1] + w[2]*q[0]); -} -- cgit v1.1