[657] | 1 | /*************************************************************************
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| 2 | * *
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| 3 | * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. *
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| 4 | * All rights reserved. Email: russ@q12.org Web: www.q12.org *
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| 5 | * *
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| 6 | * This library is free software; you can redistribute it and/or *
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| 7 | * modify it under the terms of EITHER: *
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| 8 | * (1) The GNU Lesser General Public License as published by the Free *
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| 9 | * Software Foundation; either version 2.1 of the License, or (at *
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| 10 | * your option) any later version. The text of the GNU Lesser *
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| 11 | * General Public License is included with this library in the *
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| 12 | * file LICENSE.TXT. *
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| 13 | * (2) The BSD-style license that is included with this library in *
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| 14 | * the file LICENSE-BSD.TXT. *
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| 15 | * *
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| 16 | * This library is distributed in the hope that it will be useful, *
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| 17 | * but WITHOUT ANY WARRANTY; without even the implied warranty of *
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| 18 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
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| 19 | * LICENSE.TXT and LICENSE-BSD.TXT for more details. *
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| 20 | * *
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| 21 | *************************************************************************/
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| 22 |
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| 23 | #ifndef _ODE_ROTATION_H_
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| 24 | #define _ODE_ROTATION_H_
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| 25 |
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| 26 | #include <ode/common.h>
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| 27 | #include <ode/compatibility.h>
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| 28 |
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| 29 | #ifdef __cplusplus
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| 30 | extern "C" {
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| 31 | #endif
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| 32 |
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| 33 |
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| 34 | void dRSetIdentity (dMatrix3 R);
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| 35 |
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| 36 | void dRFromAxisAndAngle (dMatrix3 R, dReal ax, dReal ay, dReal az,
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| 37 | dReal angle);
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| 38 |
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| 39 | void dRFromEulerAngles (dMatrix3 R, dReal phi, dReal theta, dReal psi);
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| 40 |
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| 41 | void dRFrom2Axes (dMatrix3 R, dReal ax, dReal ay, dReal az,
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| 42 | dReal bx, dReal by, dReal bz);
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| 43 |
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| 44 | void dRFromZAxis (dMatrix3 R, dReal ax, dReal ay, dReal az);
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| 45 |
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| 46 | void dQSetIdentity (dQuaternion q);
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| 47 |
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| 48 | void dQFromAxisAndAngle (dQuaternion q, dReal ax, dReal ay, dReal az,
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| 49 | dReal angle);
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| 50 |
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| 51 | /* Quaternion multiplication, analogous to the matrix multiplication routines. */
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| 52 | /* qa = rotate by qc, then qb */
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| 53 | void dQMultiply0 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc);
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| 54 | /* qa = rotate by qc, then by inverse of qb */
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| 55 | void dQMultiply1 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc);
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| 56 | /* qa = rotate by inverse of qc, then by qb */
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| 57 | void dQMultiply2 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc);
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| 58 | /* qa = rotate by inverse of qc, then by inverse of qb */
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| 59 | void dQMultiply3 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc);
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| 60 |
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| 61 | void dRfromQ (dMatrix3 R, const dQuaternion q);
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| 62 | void dQfromR (dQuaternion q, const dMatrix3 R);
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| 63 | void dDQfromW (dReal dq[4], const dVector3 w, const dQuaternion q);
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| 64 |
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| 65 |
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| 66 | #ifdef __cplusplus
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| 67 | }
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| 68 | #endif
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| 69 |
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| 70 | #endif
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