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annotate quotanion.cc @ 148:c920a164d68a gongo

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author Shinji KONO <kono@ie.u-ryukyu.ac.jp>
date Sat, 30 Jul 2011 14:40:13 +0900
parents d9e3137e70a0
children
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Atuto SHIROMA <e095729@ie.u-ryukyu.ac.jp>
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1 #include"libps2.h"
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2 #include<math.h>
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3 #include"mytype.h"
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4
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5 /*---------------------------
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Shinji KONO <kono@ie.u-ryukyu.ac.jp>
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6 クォータニオンを求める
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Shinji KONO <kono@ie.u-ryukyu.ac.jp>
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7 axis : 回転軸方向の単位ベクトル
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8 angle : 回転量
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9 ---------------------------*/
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10 void
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11 quotanion(FVECTOR q, FVECTOR axis, float angle)
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12 {
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13 float s=sin(angle/2);
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14 q[0] = axis[0]*s;
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15 q[1] = axis[1]*s;
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16 q[2] = axis[2]*s;
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17 q[3] = cos(angle/2);
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18 }
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19
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20 /*-----------------------
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Shinji KONO <kono@ie.u-ryukyu.ac.jp>
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21 クォータニオンqから
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Shinji KONO <kono@ie.u-ryukyu.ac.jp>
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22 変換行列rotを生成する
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23 -----------------------*/
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24 void
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25 quotanion_rotmatrix(FMATRIX rot, FVECTOR q)
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26 {
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27 rot[0][0] = q[3]*q[3] + q[0]*q[0] - q[1]*q[1] - q[2]*q[2];
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28 rot[0][1] = 2*(q[0]*q[1] - q[3]*q[2]);
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29 rot[0][2] = 2*(q[0]*q[2] + q[3]*q[1]);
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30 rot[0][3] = 0;
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31 rot[1][0] = 2*(q[0]*q[1] + q[3]*q[2]);
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32 rot[1][1] = q[3]*q[3] - q[0]*q[0] + q[1]*q[1] - q[2]*q[2];
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33 rot[1][2] = 2*(q[1]*q[2] - q[3]*q[0]);
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34 rot[1][3] = 0;
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35 rot[2][0] = 2*(q[0]*q[2] - q[3]*q[1]);
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36 rot[2][1] = 2*(q[1]*q[2] + q[3]*q[0]);
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37 rot[2][2] = q[3]*q[3] - q[0]*q[0] - q[1]*q[1] + q[2]*q[2];
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38 rot[2][3] = 0;
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39 rot[3][0] = 0;
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40 rot[3][1] = 0;
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41 rot[3][2] = 0;
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42 rot[3][3] = 1;
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43
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44 }
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45
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46 float
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47 degree2radian(float digree)
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48 {
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49 float radian = digree * M_PI/180.0;
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50 radian += (radian < -M_PI) ? 2*M_PI : 0;
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51 radian += (radian > M_PI) ? -2*M_PI : 0;
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52 return radian;
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53 }