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1/*************************************************************************
2 * *
3 * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. *
4 * All rights reserved. Email: russ@q12.org Web: www.q12.org *
5 * *
6 * This library is free software; you can redistribute it and/or *
7 * modify it under the terms of EITHER: *
8 * (1) The GNU Lesser General Public License as published by the Free *
9 * Software Foundation; either version 2.1 of the License, or (at *
10 * your option) any later version. The text of the GNU Lesser *
11 * General Public License is included with this library in the *
12 * file LICENSE.TXT. *
13 * (2) The BSD-style license that is included with this library in *
14 * the file LICENSE-BSD.TXT. *
15 * *
16 * This library is distributed in the hope that it will be useful, *
17 * but WITHOUT ANY WARRANTY; without even the implied warranty of *
18 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
19 * LICENSE.TXT and LICENSE-BSD.TXT for more details. *
20 * *
21 *************************************************************************/
22
23#ifndef _ODE_ROTATION_H_
24#define _ODE_ROTATION_H_
25
26#include <ode/common.h>
27#include <ode/compatibility.h>
28
29#ifdef __cplusplus
30extern "C" {
31#endif
32
33
34ODE_API void dRSetIdentity (dMatrix3 R);
35
36ODE_API void dRFromAxisAndAngle (dMatrix3 R, dReal ax, dReal ay, dReal az,
37 dReal angle);
38
39ODE_API void dRFromEulerAngles (dMatrix3 R, dReal phi, dReal theta, dReal psi);
40
41ODE_API void dRFrom2Axes (dMatrix3 R, dReal ax, dReal ay, dReal az,
42 dReal bx, dReal by, dReal bz);
43
44ODE_API void dRFromZAxis (dMatrix3 R, dReal ax, dReal ay, dReal az);
45
46ODE_API void dQSetIdentity (dQuaternion q);
47
48ODE_API void dQFromAxisAndAngle (dQuaternion q, dReal ax, dReal ay, dReal az,
49 dReal angle);
50
51/* Quaternion multiplication, analogous to the matrix multiplication routines. */
52/* qa = rotate by qc, then qb */
53ODE_API void dQMultiply0 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc);
54/* qa = rotate by qc, then by inverse of qb */
55ODE_API void dQMultiply1 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc);
56/* qa = rotate by inverse of qc, then by qb */
57ODE_API void dQMultiply2 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc);
58/* qa = rotate by inverse of qc, then by inverse of qb */
59ODE_API void dQMultiply3 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc);
60
61ODE_API void dRfromQ (dMatrix3 R, const dQuaternion q);
62ODE_API void dQfromR (dQuaternion q, const dMatrix3 R);
63ODE_API void dDQfromW (dReal dq[4], const dVector3 w, const dQuaternion q);
64
65
66#ifdef __cplusplus
67}
68#endif
69
70#endif