goat3d

annotate libs/vmath/basis.cc @ 45:8da36540e2e9

fixed memory leak in readxml and reversed error return
author John Tsiombikas <nuclear@member.fsf.org>
date Sun, 08 Dec 2013 02:27:32 +0200
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nuclear@27 1 #include "basis.h"
nuclear@27 2 #include "vmath.h"
nuclear@27 3
nuclear@27 4 Basis::Basis()
nuclear@27 5 {
nuclear@27 6 i = Vector3(1, 0, 0);
nuclear@27 7 j = Vector3(0, 1, 0);
nuclear@27 8 k = Vector3(0, 0, 1);
nuclear@27 9 }
nuclear@27 10
nuclear@27 11 Basis::Basis(const Vector3 &i, const Vector3 &j, const Vector3 &k)
nuclear@27 12 {
nuclear@27 13 this->i = i;
nuclear@27 14 this->j = j;
nuclear@27 15 this->k = k;
nuclear@27 16 }
nuclear@27 17
nuclear@27 18 Basis::Basis(const Vector3 &dir, bool left_handed)
nuclear@27 19 {
nuclear@27 20 k = dir;
nuclear@27 21 j = Vector3(0, 1, 0);
nuclear@27 22 i = cross_product(j, k);
nuclear@27 23 j = cross_product(k, i);
nuclear@27 24 }
nuclear@27 25
nuclear@27 26 /** Rotate with euler angles */
nuclear@27 27 void Basis::rotate(scalar_t x, scalar_t y, scalar_t z) {
nuclear@27 28 Matrix4x4 RotMat;
nuclear@27 29 RotMat.set_rotation(Vector3(x, y, z));
nuclear@27 30 i.transform(RotMat);
nuclear@27 31 j.transform(RotMat);
nuclear@27 32 k.transform(RotMat);
nuclear@27 33 }
nuclear@27 34
nuclear@27 35 /** Rotate by axis-angle specification */
nuclear@27 36 void Basis::rotate(const Vector3 &axis, scalar_t angle) {
nuclear@27 37 Quaternion q;
nuclear@27 38 q.set_rotation(axis, angle);
nuclear@27 39 i.transform(q);
nuclear@27 40 j.transform(q);
nuclear@27 41 k.transform(q);
nuclear@27 42 }
nuclear@27 43
nuclear@27 44 /** Rotate with a 4x4 matrix */
nuclear@27 45 void Basis::rotate(const Matrix4x4 &mat) {
nuclear@27 46 i.transform(mat);
nuclear@27 47 j.transform(mat);
nuclear@27 48 k.transform(mat);
nuclear@27 49 }
nuclear@27 50
nuclear@27 51 /** Rotate with a quaternion */
nuclear@27 52 void Basis::rotate(const Quaternion &quat) {
nuclear@27 53 i.transform(quat);
nuclear@27 54 j.transform(quat);
nuclear@27 55 k.transform(quat);
nuclear@27 56 }
nuclear@27 57
nuclear@27 58 /** Extract a rotation matrix from the orthogonal basis */
nuclear@27 59 Matrix3x3 Basis::create_rotation_matrix() const {
nuclear@27 60 return Matrix3x3( i.x, j.x, k.x,
nuclear@27 61 i.y, j.y, k.y,
nuclear@27 62 i.z, j.z, k.z);
nuclear@27 63 }