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/include/ode/rotation.h | 70 ++++++++++++++++++++++++++++++++ 1 file changed, 70 insertions(+) create mode 100644 libraries/ode-0.9/include/ode/rotation.h (limited to 'libraries/ode-0.9/include/ode/rotation.h') diff --git a/libraries/ode-0.9/include/ode/rotation.h b/libraries/ode-0.9/include/ode/rotation.h new file mode 100644 index 0000000..a72be27 --- /dev/null +++ b/libraries/ode-0.9/include/ode/rotation.h @@ -0,0 +1,70 @@ +/************************************************************************* + * * + * 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. * + * * + *************************************************************************/ + +#ifndef _ODE_ROTATION_H_ +#define _ODE_ROTATION_H_ + +#include +#include + +#ifdef __cplusplus +extern "C" { +#endif + + +ODE_API void dRSetIdentity (dMatrix3 R); + +ODE_API void dRFromAxisAndAngle (dMatrix3 R, dReal ax, dReal ay, dReal az, + dReal angle); + +ODE_API void dRFromEulerAngles (dMatrix3 R, dReal phi, dReal theta, dReal psi); + +ODE_API void dRFrom2Axes (dMatrix3 R, dReal ax, dReal ay, dReal az, + dReal bx, dReal by, dReal bz); + +ODE_API void dRFromZAxis (dMatrix3 R, dReal ax, dReal ay, dReal az); + +ODE_API void dQSetIdentity (dQuaternion q); + +ODE_API void dQFromAxisAndAngle (dQuaternion q, dReal ax, dReal ay, dReal az, + dReal angle); + +/* Quaternion multiplication, analogous to the matrix multiplication routines. */ +/* qa = rotate by qc, then qb */ +ODE_API void dQMultiply0 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc); +/* qa = rotate by qc, then by inverse of qb */ +ODE_API void dQMultiply1 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc); +/* qa = rotate by inverse of qc, then by qb */ +ODE_API void dQMultiply2 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc); +/* qa = rotate by inverse of qc, then by inverse of qb */ +ODE_API void dQMultiply3 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc); + +ODE_API void dRfromQ (dMatrix3 R, const dQuaternion q); +ODE_API void dQfromR (dQuaternion q, const dMatrix3 R); +ODE_API void dDQfromW (dReal dq[4], const dVector3 w, const dQuaternion q); + + +#ifdef __cplusplus +} +#endif + +#endif -- cgit v1.1