source: orxonox.OLD/branches/ODE/src/lib/math/rotation_OBSOLETE.cc @ 10662

/*
   orxonox - the future of 3D-vertical-scrollers

   Copyright (C) 2004 orx

   This program is free software; you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
   the Free Software Foundation; either version 2, or (at your option)
   any later version.

   ### File Specific:
   main-programmer: Christian Meyer
   co-programmer: ...
*/

#define DEBUG_SPECIAL_MODULE DEBUG_MODULE_MATH

#include "rotation_OBSOLETE.h"
#ifdef DEBUG
  #include "debug.h"
#else
  #include <stdio.h>
  #define PRINT(x) printf
#endif



/**
 *  create a rotation from a vector
 * @param v: a vector
*/
Rotation::Rotation (const Vector& v)
{
  Vector x = Vector( 1, 0, 0);
  Vector axis = x.cross( v);
  axis.normalize();
  float angle = angleRad( x, v);
  float ca = cos(angle);
  float sa = sin(angle);
  m[0] = 1.0f+(1.0f-ca)*(axis.x*axis.x-1.0f);
  m[1] = -axis.z*sa+(1.0f-ca)*axis.x*axis.y;
  m[2] = axis.y*sa+(1.0f-ca)*axis.x*axis.z;
  m[3] = axis.z*sa+(1.0f-ca)*axis.x*axis.y;
  m[4] = 1.0f+(1.0f-ca)*(axis.y*axis.y-1.0f);
  m[5] = -axis.x*sa+(1.0f-ca)*axis.y*axis.z;
  m[6] = -axis.y*sa+(1.0f-ca)*axis.x*axis.z;
  m[7] = axis.x*sa+(1.0f-ca)*axis.y*axis.z;
  m[8] = 1.0f+(1.0f-ca)*(axis.z*axis.z-1.0f);
}

/**
 *  creates a rotation from an axis and an angle (radians!)
 * @param axis: the rotational axis
 * @param angle: the angle in radians
*/
Rotation::Rotation (const Vector& axis, float angle)
{
  float ca, sa;
  ca = cos(angle);
  sa = sin(angle);
  m[0] = 1.0f+(1.0f-ca)*(axis.x*axis.x-1.0f);
  m[1] = -axis.z*sa+(1.0f-ca)*axis.x*axis.y;
  m[2] = axis.y*sa+(1.0f-ca)*axis.x*axis.z;
  m[3] = axis.z*sa+(1.0f-ca)*axis.x*axis.y;
  m[4] = 1.0f+(1.0f-ca)*(axis.y*axis.y-1.0f);
  m[5] = -axis.x*sa+(1.0f-ca)*axis.y*axis.z;
  m[6] = -axis.y*sa+(1.0f-ca)*axis.x*axis.z;
  m[7] = axis.x*sa+(1.0f-ca)*axis.y*axis.z;
  m[8] = 1.0f+(1.0f-ca)*(axis.z*axis.z-1.0f);
}

/**
 *  creates a rotation from euler angles (pitch/yaw/roll)
 * @param pitch: rotation around z (in radians)
 * @param yaw: rotation around y (in radians)
 * @param roll: rotation around x (in radians)
*/
Rotation::Rotation ( float pitch, float yaw, float roll)
{
  float cy, sy, cr, sr, cp, sp;
  cy = cos(yaw);
  sy = sin(yaw);
  cr = cos(roll);
  sr = sin(roll);
  cp = cos(pitch);
  sp = sin(pitch);
  m[0] = cy*cr;
  m[1] = -cy*sr;
  m[2] = sy;
  m[3] = cp*sr+sp*sy*cr;
  m[4] = cp*cr-sp*sr*sy;
  m[5] = -sp*cy;
  m[6] = sp*sr-cp*sy*cr;
  m[7] = sp*cr+cp*sy*sr;
  m[8] = cp*cy;
}

/**
 *  creates a nullrotation (an identity rotation)
*/
Rotation::Rotation ()
{
  m[0] = 1.0f;
  m[1] = 0.0f;
  m[2] = 0.0f;
  m[3] = 0.0f;
  m[4] = 1.0f;
  m[5] = 0.0f;
  m[6] = 0.0f;
  m[7] = 0.0f;
  m[8] = 1.0f;
}

/**
 *  fills the specified buffer with a 4x4 glmatrix
 * @param buffer: Pointer to an array of 16 floats

   Use this to get the rotation in a gl-compatible format
*/
void Rotation::glmatrix (float* buffer)
{
        buffer[0] = m[0];
        buffer[1] = m[3];
        buffer[2] = m[6];
        buffer[3] = m[0];
        buffer[4] = m[1];
        buffer[5] = m[4];
        buffer[6] = m[7];
        buffer[7] = m[0];
        buffer[8] = m[2];
        buffer[9] = m[5];
        buffer[10] = m[8];
        buffer[11] = m[0];
        buffer[12] = m[0];
        buffer[13] = m[0];
        buffer[14] = m[0];
        buffer[15] = m[1];
}

/**
 *  multiplies two rotational matrices
 * @param r: another Rotation
 * @return the matrix product of the Rotations

   Use this to rotate one rotation by another
*/
Rotation Rotation::operator* (const Rotation& r)
{
        Rotation p;

        p.m[0] = m[0]*r.m[0] + m[1]*r.m[3] + m[2]*r.m[6];
        p.m[1] = m[0]*r.m[1] + m[1]*r.m[4] + m[2]*r.m[7];
        p.m[2] = m[0]*r.m[2] + m[1]*r.m[5] + m[2]*r.m[8];

        p.m[3] = m[3]*r.m[0] + m[4]*r.m[3] + m[5]*r.m[6];
        p.m[4] = m[3]*r.m[1] + m[4]*r.m[4] + m[5]*r.m[7];
        p.m[5] = m[3]*r.m[2] + m[4]*r.m[5] + m[5]*r.m[8];

        p.m[6] = m[6]*r.m[0] + m[7]*r.m[3] + m[8]*r.m[6];
        p.m[7] = m[6]*r.m[1] + m[7]*r.m[4] + m[8]*r.m[7];
        p.m[8] = m[6]*r.m[2] + m[7]*r.m[5] + m[8]*r.m[8];

        return p;
}


/**
 *  rotates the vector by the given rotation
 * @param v: a vector
 * @param r: a rotation
 * @return the rotated vector
*/
Vector rotateVector( const Vector& v, const Rotation& r)
{
  Vector t;

  t.x = v.x * r.m[0] + v.y * r.m[1] + v.z * r.m[2];
  t.y = v.x * r.m[3] + v.y * r.m[4] + v.z * r.m[5];
  t.z = v.x * r.m[6] + v.y * r.m[7] + v.z * r.m[8];

  return t;
}