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Diffstat (limited to 'libraries/ode-0.9/include/ode/rotation.h')
| -rw-r--r-- | libraries/ode-0.9/include/ode/rotation.h | 70 |
1 files changed, 0 insertions, 70 deletions
diff --git a/libraries/ode-0.9/include/ode/rotation.h b/libraries/ode-0.9/include/ode/rotation.h deleted file mode 100644 index a72be27..0000000 --- a/libraries/ode-0.9/include/ode/rotation.h +++ /dev/null | |||
| @@ -1,70 +0,0 @@ | |||
| 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 | ||
| 30 | extern "C" { | ||
| 31 | #endif | ||
| 32 | |||
| 33 | |||
| 34 | ODE_API void dRSetIdentity (dMatrix3 R); | ||
| 35 | |||
| 36 | ODE_API void dRFromAxisAndAngle (dMatrix3 R, dReal ax, dReal ay, dReal az, | ||
| 37 | dReal angle); | ||
| 38 | |||
| 39 | ODE_API void dRFromEulerAngles (dMatrix3 R, dReal phi, dReal theta, dReal psi); | ||
| 40 | |||
| 41 | ODE_API void dRFrom2Axes (dMatrix3 R, dReal ax, dReal ay, dReal az, | ||
| 42 | dReal bx, dReal by, dReal bz); | ||
| 43 | |||
| 44 | ODE_API void dRFromZAxis (dMatrix3 R, dReal ax, dReal ay, dReal az); | ||
| 45 | |||
| 46 | ODE_API void dQSetIdentity (dQuaternion q); | ||
| 47 | |||
| 48 | ODE_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 */ | ||
| 53 | ODE_API void dQMultiply0 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc); | ||
| 54 | /* qa = rotate by qc, then by inverse of qb */ | ||
| 55 | ODE_API void dQMultiply1 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc); | ||
| 56 | /* qa = rotate by inverse of qc, then by qb */ | ||
| 57 | ODE_API void dQMultiply2 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc); | ||
| 58 | /* qa = rotate by inverse of qc, then by inverse of qb */ | ||
| 59 | ODE_API void dQMultiply3 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc); | ||
| 60 | |||
| 61 | ODE_API void dRfromQ (dMatrix3 R, const dQuaternion q); | ||
| 62 | ODE_API void dQfromR (dQuaternion q, const dMatrix3 R); | ||
| 63 | ODE_API void dDQfromW (dReal dq[4], const dVector3 w, const dQuaternion q); | ||
| 64 | |||
| 65 | |||
| 66 | #ifdef __cplusplus | ||
| 67 | } | ||
| 68 | #endif | ||
| 69 | |||
| 70 | #endif | ||