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1 /*
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2 libvmath - a vector math library
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3 Copyright (C) 2004-2015 John Tsiombikas <nuclear@member.fsf.org>
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4
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5 This program is free software: you can redistribute it and/or modify
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6 it under the terms of the GNU Lesser General Public License as published
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7 by the Free Software Foundation, either version 3 of the License, or
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8 (at your option) any later version.
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9
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10 This program is distributed in the hope that it will be useful,
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11 but WITHOUT ANY WARRANTY; without even the implied warranty of
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12 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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13 GNU Lesser General Public License for more details.
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14
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15 You should have received a copy of the GNU Lesser General Public License
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16 along with this program. If not, see <http://www.gnu.org/licenses/>.
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17 */
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18 #include "basis.h"
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19 #include "vmath.h"
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20
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21 Basis::Basis()
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22 {
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23 i = Vector3(1, 0, 0);
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24 j = Vector3(0, 1, 0);
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25 k = Vector3(0, 0, 1);
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26 }
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27
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28 Basis::Basis(const Vector3 &i, const Vector3 &j, const Vector3 &k)
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29 {
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30 this->i = i;
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31 this->j = j;
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32 this->k = k;
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33 }
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34
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35 Basis::Basis(const Vector3 &dir, bool left_handed)
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36 {
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37 k = dir;
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38 j = Vector3(0, 1, 0);
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39 i = cross_product(j, k);
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40 j = cross_product(k, i);
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41 }
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42
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43 /** Rotate with euler angles */
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44 void Basis::rotate(scalar_t x, scalar_t y, scalar_t z) {
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45 Matrix4x4 RotMat;
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46 RotMat.set_rotation(Vector3(x, y, z));
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47 i.transform(RotMat);
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48 j.transform(RotMat);
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49 k.transform(RotMat);
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50 }
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51
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52 /** Rotate by axis-angle specification */
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53 void Basis::rotate(const Vector3 &axis, scalar_t angle) {
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54 Quaternion q;
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55 q.set_rotation(axis, angle);
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56 i.transform(q);
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57 j.transform(q);
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58 k.transform(q);
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59 }
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60
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61 /** Rotate with a 4x4 matrix */
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62 void Basis::rotate(const Matrix4x4 &mat) {
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63 i.transform(mat);
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64 j.transform(mat);
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65 k.transform(mat);
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66 }
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67
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68 /** Rotate with a quaternion */
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69 void Basis::rotate(const Quaternion &quat) {
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70 i.transform(quat);
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71 j.transform(quat);
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72 k.transform(quat);
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73 }
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74
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75 /** Extract a rotation matrix from the orthogonal basis */
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76 Matrix3x3 Basis::create_rotation_matrix() const {
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77 return Matrix3x3( i.x, j.x, k.x,
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78 i.y, j.y, k.y,
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79 i.z, j.z, k.z);
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80 }
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