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1<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN">
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3<title>Open Dynamics Engine: rotation.h Source File</title>
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16<h1>rotation.h</h1><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*************************************************************************</span>
17<a name="l00002"></a>00002 <span class="comment"> * *</span>
18<a name="l00003"></a>00003 <span class="comment"> * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. *</span>
19<a name="l00004"></a>00004 <span class="comment"> * All rights reserved. Email: russ@q12.org Web: www.q12.org *</span>
20<a name="l00005"></a>00005 <span class="comment"> * *</span>
21<a name="l00006"></a>00006 <span class="comment"> * This library is free software; you can redistribute it and/or *</span>
22<a name="l00007"></a>00007 <span class="comment"> * modify it under the terms of EITHER: *</span>
23<a name="l00008"></a>00008 <span class="comment"> * (1) The GNU Lesser General Public License as published by the Free *</span>
24<a name="l00009"></a>00009 <span class="comment"> * Software Foundation; either version 2.1 of the License, or (at *</span>
25<a name="l00010"></a>00010 <span class="comment"> * your option) any later version. The text of the GNU Lesser *</span>
26<a name="l00011"></a>00011 <span class="comment"> * General Public License is included with this library in the *</span>
27<a name="l00012"></a>00012 <span class="comment"> * file LICENSE.TXT. *</span>
28<a name="l00013"></a>00013 <span class="comment"> * (2) The BSD-style license that is included with this library in *</span>
29<a name="l00014"></a>00014 <span class="comment"> * the file LICENSE-BSD.TXT. *</span>
30<a name="l00015"></a>00015 <span class="comment"> * *</span>
31<a name="l00016"></a>00016 <span class="comment"> * This library is distributed in the hope that it will be useful, *</span>
32<a name="l00017"></a>00017 <span class="comment"> * but WITHOUT ANY WARRANTY; without even the implied warranty of *</span>
33<a name="l00018"></a>00018 <span class="comment"> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *</span>
34<a name="l00019"></a>00019 <span class="comment"> * LICENSE.TXT and LICENSE-BSD.TXT for more details. *</span>
35<a name="l00020"></a>00020 <span class="comment"> * *</span>
36<a name="l00021"></a>00021 <span class="comment"> *************************************************************************/</span>
37<a name="l00022"></a>00022
38<a name="l00023"></a>00023 <span class="preprocessor">#ifndef _ODE_ROTATION_H_</span>
39<a name="l00024"></a>00024 <span class="preprocessor"></span><span class="preprocessor">#define _ODE_ROTATION_H_</span>
40<a name="l00025"></a>00025 <span class="preprocessor"></span>
41<a name="l00026"></a>00026 <span class="preprocessor">#include &lt;ode/common.h&gt;</span>
42<a name="l00027"></a>00027 <span class="preprocessor">#include &lt;ode/compatibility.h&gt;</span>
43<a name="l00028"></a>00028
44<a name="l00029"></a>00029 <span class="preprocessor">#ifdef __cplusplus</span>
45<a name="l00030"></a>00030 <span class="preprocessor"></span><span class="keyword">extern</span> <span class="stringliteral">"C"</span> {
46<a name="l00031"></a>00031 <span class="preprocessor">#endif</span>
47<a name="l00032"></a>00032 <span class="preprocessor"></span>
48<a name="l00033"></a>00033
49<a name="l00034"></a>00034 ODE_API <span class="keywordtype">void</span> dRSetIdentity (dMatrix3 R);
50<a name="l00035"></a>00035
51<a name="l00036"></a>00036 ODE_API <span class="keywordtype">void</span> dRFromAxisAndAngle (dMatrix3 R, dReal ax, dReal ay, dReal az,
52<a name="l00037"></a>00037 dReal angle);
53<a name="l00038"></a>00038
54<a name="l00039"></a>00039 ODE_API <span class="keywordtype">void</span> dRFromEulerAngles (dMatrix3 R, dReal phi, dReal theta, dReal psi);
55<a name="l00040"></a>00040
56<a name="l00041"></a>00041 ODE_API <span class="keywordtype">void</span> dRFrom2Axes (dMatrix3 R, dReal ax, dReal ay, dReal az,
57<a name="l00042"></a>00042 dReal bx, dReal by, dReal bz);
58<a name="l00043"></a>00043
59<a name="l00044"></a>00044 ODE_API <span class="keywordtype">void</span> dRFromZAxis (dMatrix3 R, dReal ax, dReal ay, dReal az);
60<a name="l00045"></a>00045
61<a name="l00046"></a>00046 ODE_API <span class="keywordtype">void</span> dQSetIdentity (dQuaternion q);
62<a name="l00047"></a>00047
63<a name="l00048"></a>00048 ODE_API <span class="keywordtype">void</span> dQFromAxisAndAngle (dQuaternion q, dReal ax, dReal ay, dReal az,
64<a name="l00049"></a>00049 dReal angle);
65<a name="l00050"></a>00050
66<a name="l00051"></a>00051 <span class="comment">/* Quaternion multiplication, analogous to the matrix multiplication routines. */</span>
67<a name="l00052"></a>00052 <span class="comment">/* qa = rotate by qc, then qb */</span>
68<a name="l00053"></a>00053 ODE_API <span class="keywordtype">void</span> dQMultiply0 (dQuaternion qa, <span class="keyword">const</span> dQuaternion qb, <span class="keyword">const</span> dQuaternion qc);
69<a name="l00054"></a>00054 <span class="comment">/* qa = rotate by qc, then by inverse of qb */</span>
70<a name="l00055"></a>00055 ODE_API <span class="keywordtype">void</span> dQMultiply1 (dQuaternion qa, <span class="keyword">const</span> dQuaternion qb, <span class="keyword">const</span> dQuaternion qc);
71<a name="l00056"></a>00056 <span class="comment">/* qa = rotate by inverse of qc, then by qb */</span>
72<a name="l00057"></a>00057 ODE_API <span class="keywordtype">void</span> dQMultiply2 (dQuaternion qa, <span class="keyword">const</span> dQuaternion qb, <span class="keyword">const</span> dQuaternion qc);
73<a name="l00058"></a>00058 <span class="comment">/* qa = rotate by inverse of qc, then by inverse of qb */</span>
74<a name="l00059"></a>00059 ODE_API <span class="keywordtype">void</span> dQMultiply3 (dQuaternion qa, <span class="keyword">const</span> dQuaternion qb, <span class="keyword">const</span> dQuaternion qc);
75<a name="l00060"></a>00060
76<a name="l00061"></a>00061 ODE_API <span class="keywordtype">void</span> dRfromQ (dMatrix3 R, <span class="keyword">const</span> dQuaternion q);
77<a name="l00062"></a>00062 ODE_API <span class="keywordtype">void</span> dQfromR (dQuaternion q, <span class="keyword">const</span> dMatrix3 R);
78<a name="l00063"></a>00063 ODE_API <span class="keywordtype">void</span> dDQfromW (dReal dq[4], <span class="keyword">const</span> dVector3 w, <span class="keyword">const</span> dQuaternion q);
79<a name="l00064"></a>00064
80<a name="l00065"></a>00065
81<a name="l00066"></a>00066 <span class="preprocessor">#ifdef __cplusplus</span>
82<a name="l00067"></a>00067 <span class="preprocessor"></span>}
83<a name="l00068"></a>00068 <span class="preprocessor">#endif</span>
84<a name="l00069"></a>00069 <span class="preprocessor"></span>
85<a name="l00070"></a>00070 <span class="preprocessor">#endif</span>
86</pre></div><hr size="1"><address style="text-align: right;"><small>Generated on Fri Oct 12 08:36:51 2007 for Open Dynamics Engine by&nbsp;
87<a href="http://www.doxygen.org/index.html">
88<img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.3 </small></address>
89</body>
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