 | PixelLight 0.9.10-R1 Copyright (C) 2002-2011 by The PixelLight Team Last modified Fri Dec 23 2011 15:50:52 |  | The content of this PixelLight
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PixelLightAPI
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00001 /*********************************************************\ 00002 * File: EulerAngles.h * 00003 * 00004 * Copyright (C) 2002-2011 The PixelLight Team (http://www.pixellight.org/) 00005 * 00006 * This file is part of PixelLight. 00007 * 00008 * PixelLight is free software: you can redistribute it and/or modify 00009 * it under the terms of the GNU Lesser General Public License as published by 00010 * the Free Software Foundation, either version 3 of the License, or 00011 * (at your option) any later version. 00012 * 00013 * PixelLight is distributed in the hope that it will be useful, 00014 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00015 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00016 * GNU Lesser General Public License for more details. 00017 * 00018 * You should have received a copy of the GNU Lesser General Public License 00019 * along with PixelLight. If not, see <http://www.gnu.org/licenses/>. 00020 \*********************************************************/ 00021 00022 00023 #ifndef __PLMATH_EULERANGLES_H__ 00024 #define __PLMATH_EULERANGLES_H__ 00025 #pragma once 00026 00027 00028 //[-------------------------------------------------------] 00029 //[ Includes ] 00030 //[-------------------------------------------------------] 00031 #include "PLMath/PLMath.h" 00032 00033 00034 //[-------------------------------------------------------] 00035 //[ Namespace ] 00036 //[-------------------------------------------------------] 00037 namespace PLMath { 00038 00039 00040 //[-------------------------------------------------------] 00041 //[ Forward declarations ] 00042 //[-------------------------------------------------------] 00043 class Matrix3x3; 00044 class Matrix3x4; 00045 class Matrix4x4; 00046 class Quaternion; 00047 00048 00049 //[-------------------------------------------------------] 00050 //[ Classes ] 00051 //[-------------------------------------------------------] 00052 /** 00053 * @brief 00054 * Static Euler angles conversion tool class 00055 * 00056 * @remarks 00057 * The implementation of this class is basing on the 'Euler Angle Conversion' gem from Ken Shoemake (1993) 00058 * published in the 'Graphics Gems IV' book. The original code is available here: 00059 * http://www.graphicsgems.org/gemsiv/euler_angle/ 00060 * 00061 * @note 00062 * - Within PixelLight, only 'XYZs' Euler angles are used 00063 * - When dealing with Euler angles keep care of 'gimbal lock', at http://www.sjbaker.org/steve/omniv/eulers_are_evil.html 00064 * you will find some good information about this topic 00065 */ 00066 class EulerAngles { 00067 00068 00069 //[-------------------------------------------------------] 00070 //[ Public definitions ] 00071 //[-------------------------------------------------------] 00072 public: 00073 /** 00074 * @brief 00075 * Euler angles order 00076 */ 00077 enum EOrder { 00078 // Static axes (takes axes from initial static frame) 00079 XYZs = 0, /**< XYZ static axis */ 00080 XYXs = 2, /**< XYX static axis */ 00081 XZYs = 4, /**< XZY static axis */ 00082 XZXs = 6, /**< XZX static axis */ 00083 YZXs = 8, /**< YZX static axis */ 00084 YZYs = 10, /**< YZY static axis */ 00085 YXZs = 12, /**< YXZ static axis */ 00086 YXYs = 14, /**< YXY static axis */ 00087 ZXYs = 16, /**< ZXY static axis */ 00088 ZXZs = 18, /**< ZXZ static axis */ 00089 ZYXs = 20, /**< ZYX static axis */ 00090 ZYZs = 22, /**< ZYZ static axis */ 00091 // Rotating axes 00092 ZYXr = 1, /**< ZYX rotating axis */ 00093 XYXr = 3, /**< XYX rotating axis */ 00094 YZXr = 5, /**< YZX rotating axis */ 00095 XZXr = 7, /**< XZX rotating axis */ 00096 XZYr = 9, /**< XZY rotating axis */ 00097 YZYr = 11, /**< YZY rotating axis */ 00098 ZXYr = 13, /**< ZXY rotating axis */ 00099 YXYr = 15, /**< YXY rotating axis */ 00100 YXZr = 17, /**< YXZ rotating axis */ 00101 ZXZr = 19, /**< ZXZ rotating axis */ 00102 XYZr = 21, /**< XYZ rotating axis */ 00103 ZYZr = 23 /**< ZYZ rotating axis */ 00104 }; 00105 00106 00107 //[-------------------------------------------------------] 00108 //[ Public static functions ] 00109 //[-------------------------------------------------------] 00110 public: 00111 /** 00112 * @brief 00113 * Sets a rotation quaternion by using three given Euler angles 00114 * 00115 * @param[in] fAngleX 00116 * Rotation angle around the x axis (in radian) 00117 * where fAngleX > 0 indicates a counterclockwise rotation in the yz-plane (if you look along -x) 00118 * @param[in] fAngleY 00119 * Rotation angle around the y axis (in radian) 00120 * where fAngleY > 0 indicates a counterclockwise rotation in the zx-plane (if you look along -y) 00121 * @param[in] fAngleZ 00122 * Rotation angle around the z axis (in radian) 00123 * where fAngleZ > 0 indicates a counterclockwise rotation in the xy-plane (if you look along -z) 00124 * @param[out] qRotation 00125 * Resulting rotation quaternion 00126 * @param[in] nOrder 00127 * Order of the Euler angles 00128 */ 00129 static PLMATH_API void ToQuaternion(float fAngleX, float fAngleY, float fAngleZ, Quaternion &qRotation, EOrder nOrder = XYZs); 00130 00131 /** 00132 * @brief 00133 * Returns the Euler angles from a rotation quaternion 00134 * 00135 * @param[in] qRotation 00136 * Rotation quaternion 00137 * @param[out] fAngleX 00138 * Will receive the rotation angle around the x axis (in radian) 00139 * @param[out] fAngleY 00140 * Will receive the rotation angle around the y axis (in radian) 00141 * @param[out] fAngleZ 00142 * Will receive the rotation angle around the z axis (in radian) 00143 * @param[in] nOrder 00144 * Order of the Euler angles 00145 */ 00146 static PLMATH_API void FromQuaternion(const Quaternion &qRotation, float &fAngleX, float &fAngleY, float &fAngleZ, EOrder nOrder = XYZs); 00147 00148 /** 00149 * @brief 00150 * Sets a rotation matrix by using three given Euler angles 00151 * 00152 * @param[in] fAngleX 00153 * Rotation angle around the x axis (in radian) 00154 * where fAngleX > 0 indicates a counterclockwise rotation in the yz-plane (if you look along -x) 00155 * @param[in] fAngleY 00156 * Rotation angle around the y axis (in radian) 00157 * where fAngleY > 0 indicates a counterclockwise rotation in the zx-plane (if you look along -y) 00158 * @param[in] fAngleZ 00159 * Rotation angle around the z axis (in radian) 00160 * where fAngleZ > 0 indicates a counterclockwise rotation in the xy-plane (if you look along -z) 00161 * @param[out] mRot 00162 * Resulting rotation matrix 00163 * @param[in] nOrder 00164 * Order of the Euler angles 00165 */ 00166 static PLMATH_API void ToMatrix(float fAngleX, float fAngleY, float fAngleZ, Matrix3x3 &mRot, EOrder nOrder = XYZs); 00167 static PLMATH_API void ToMatrix(float fAngleX, float fAngleY, float fAngleZ, Matrix3x4 &mRot, EOrder nOrder = XYZs); 00168 static PLMATH_API void ToMatrix(float fAngleX, float fAngleY, float fAngleZ, Matrix4x4 &mRot, EOrder nOrder = XYZs); 00169 00170 /** 00171 * @brief 00172 * Returns the Euler angles from a rotation matrix 00173 * 00174 * @param[in] mRot 00175 * Rotation matrix 00176 * @param[out] fAngleX 00177 * Will receive the rotation angle around the x axis (in radian) 00178 * @param[out] fAngleY 00179 * Will receive the rotation angle around the y axis (in radian) 00180 * @param[out] fAngleZ 00181 * Will receive the rotation angle around the z axis (in radian) 00182 * @param[in] nOrder 00183 * Order of the Euler angles 00184 */ 00185 static PLMATH_API void FromMatrix(const Matrix3x3 &mRot, float &fAngleX, float &fAngleY, float &fAngleZ, EOrder nOrder = XYZs); 00186 static PLMATH_API void FromMatrix(const Matrix3x4 &mRot, float &fAngleX, float &fAngleY, float &fAngleZ, EOrder nOrder = XYZs); 00187 static PLMATH_API void FromMatrix(const Matrix4x4 &mRot, float &fAngleX, float &fAngleY, float &fAngleZ, EOrder nOrder = XYZs); 00188 00189 00190 }; 00191 00192 00193 //[-------------------------------------------------------] 00194 //[ Namespace ] 00195 //[-------------------------------------------------------] 00196 } // PLMath 00197 00198 00199 #endif // __PLMATH_EULERANGLES_H__
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