PLMath::EulerAngles Class Reference

Static Euler angles conversion tool class. More...

#include <EulerAngles.h>

List of all members.

Public Types
enum	EOrder {   XYZs = 0, XYXs = 2, XZYs = 4, XZXs = 6,   YZXs = 8, YZYs = 10, YXZs = 12, YXYs = 14,   ZXYs = 16, ZXZs = 18, ZYXs = 20, ZYZs = 22,   ZYXr = 1, XYXr = 3, YZXr = 5, XZXr = 7,   XZYr = 9, YZYr = 11, ZXYr = 13, YXYr = 15,   YXZr = 17, ZXZr = 19, XYZr = 21, ZYZr = 23 }
	Euler angles order. More...
Static Public Member Functions
static PLMATH_API void	ToQuaternion (float fAngleX, float fAngleY, float fAngleZ, Quaternion &qRotation, EOrder nOrder=XYZs)
	Sets a rotation quaternion by using three given Euler angles.
static PLMATH_API void	FromQuaternion (const Quaternion &qRotation, float &fAngleX, float &fAngleY, float &fAngleZ, EOrder nOrder=XYZs)
	Returns the Euler angles from a rotation quaternion.
static PLMATH_API void	ToMatrix (float fAngleX, float fAngleY, float fAngleZ, Matrix3x3 &mRot, EOrder nOrder=XYZs)
	Sets a rotation matrix by using three given Euler angles.
static PLMATH_API void	ToMatrix (float fAngleX, float fAngleY, float fAngleZ, Matrix3x4 &mRot, EOrder nOrder=XYZs)
static PLMATH_API void	ToMatrix (float fAngleX, float fAngleY, float fAngleZ, Matrix4x4 &mRot, EOrder nOrder=XYZs)
static PLMATH_API void	FromMatrix (const Matrix3x3 &mRot, float &fAngleX, float &fAngleY, float &fAngleZ, EOrder nOrder=XYZs)
	Returns the Euler angles from a rotation matrix.
static PLMATH_API void	FromMatrix (const Matrix3x4 &mRot, float &fAngleX, float &fAngleY, float &fAngleZ, EOrder nOrder=XYZs)
static PLMATH_API void	FromMatrix (const Matrix4x4 &mRot, float &fAngleX, float &fAngleY, float &fAngleZ, EOrder nOrder=XYZs)

---

Detailed Description

Static Euler angles conversion tool class.

Remarks:

The implementation of this class is basing on the 'Euler Angle Conversion' gem from Ken Shoemake (1993) published in the 'Graphics Gems IV' book. The original code is available here: http://www.graphicsgems.org/gemsiv/euler_angle/

Note:

• Within PixelLight, only 'XYZs' Euler angles are used
• When dealing with Euler angles keep care of 'gimbal lock', at http://www.sjbaker.org/steve/omniv/eulers_are_evil.html you will find some good information about this topic

---

Member Enumeration Documentation

enum PLMath::EulerAngles::EOrder

Euler angles order.

Enumerator:

XYZs	XYZ static axis
XYXs	XYX static axis
XZYs	XZY static axis
XZXs	XZX static axis
YZXs	YZX static axis
YZYs	YZY static axis
YXZs	YXZ static axis
YXYs	YXY static axis
ZXYs	ZXY static axis
ZXZs	ZXZ static axis
ZYXs	ZYX static axis
ZYZs	ZYZ static axis
ZYXr	ZYX rotating axis
XYXr	XYX rotating axis
YZXr	YZX rotating axis
XZXr	XZX rotating axis
XZYr	XZY rotating axis
YZYr	YZY rotating axis
ZXYr	ZXY rotating axis
YXYr	YXY rotating axis
YXZr	YXZ rotating axis
ZXZr	ZXZ rotating axis
XYZr	XYZ rotating axis
ZYZr	ZYZ rotating axis

---

Member Function Documentation

static PLMATH_API void PLMath::EulerAngles::ToQuaternion	(	float	fAngleX,
		float	fAngleY,
		float	fAngleZ,
		Quaternion &	qRotation,
		EOrder	nOrder = XYZs
	)		[static]

Sets a rotation quaternion by using three given Euler angles.

Parameters:

[in]	fAngleX	Rotation angle around the x axis (in radian) where fAngleX > 0 indicates a counterclockwise rotation in the yz-plane (if you look along -x)
[in]	fAngleY	Rotation angle around the y axis (in radian) where fAngleY > 0 indicates a counterclockwise rotation in the zx-plane (if you look along -y)
[in]	fAngleZ	Rotation angle around the z axis (in radian) where fAngleZ > 0 indicates a counterclockwise rotation in the xy-plane (if you look along -z)
[out]	qRotation	Resulting rotation quaternion
[in]	nOrder	Order of the Euler angles

static PLMATH_API void PLMath::EulerAngles::FromQuaternion	(	const Quaternion &	qRotation,
		float &	fAngleX,
		float &	fAngleY,
		float &	fAngleZ,
		EOrder	nOrder = XYZs
	)		[static]

Returns the Euler angles from a rotation quaternion.

Parameters:

[in]	qRotation	Rotation quaternion
[out]	fAngleX	Will receive the rotation angle around the x axis (in radian)
[out]	fAngleY	Will receive the rotation angle around the y axis (in radian)
[out]	fAngleZ	Will receive the rotation angle around the z axis (in radian)
[in]	nOrder	Order of the Euler angles

static PLMATH_API void PLMath::EulerAngles::ToMatrix	(	float	fAngleX,
		float	fAngleY,
		float	fAngleZ,
		Matrix3x3 &	mRot,
		EOrder	nOrder = XYZs
	)		[static]

Sets a rotation matrix by using three given Euler angles.

Parameters:

[in]	fAngleX	Rotation angle around the x axis (in radian) where fAngleX > 0 indicates a counterclockwise rotation in the yz-plane (if you look along -x)
[in]	fAngleY	Rotation angle around the y axis (in radian) where fAngleY > 0 indicates a counterclockwise rotation in the zx-plane (if you look along -y)
[in]	fAngleZ	Rotation angle around the z axis (in radian) where fAngleZ > 0 indicates a counterclockwise rotation in the xy-plane (if you look along -z)
[out]	mRot	Resulting rotation matrix
[in]	nOrder	Order of the Euler angles

static PLMATH_API void PLMath::EulerAngles::ToMatrix	(	float	fAngleX,
		float	fAngleY,
		float	fAngleZ,
		Matrix3x4 &	mRot,
		EOrder	nOrder = XYZs
	)		[static]

static PLMATH_API void PLMath::EulerAngles::ToMatrix	(	float	fAngleX,
		float	fAngleY,
		float	fAngleZ,
		Matrix4x4 &	mRot,
		EOrder	nOrder = XYZs
	)		[static]

static PLMATH_API void PLMath::EulerAngles::FromMatrix	(	const Matrix3x3 &	mRot,
		float &	fAngleX,
		float &	fAngleY,
		float &	fAngleZ,
		EOrder	nOrder = XYZs
	)		[static]

Returns the Euler angles from a rotation matrix.

Parameters:

[in]	mRot	Rotation matrix
[out]	fAngleX	Will receive the rotation angle around the x axis (in radian)
[out]	fAngleY	Will receive the rotation angle around the y axis (in radian)
[out]	fAngleZ	Will receive the rotation angle around the z axis (in radian)
[in]	nOrder	Order of the Euler angles

static PLMATH_API void PLMath::EulerAngles::FromMatrix	(	const Matrix3x4 &	mRot,
		float &	fAngleX,
		float &	fAngleY,
		float &	fAngleZ,
		EOrder	nOrder = XYZs
	)		[static]

static PLMATH_API void PLMath::EulerAngles::FromMatrix	(	const Matrix4x4 &	mRot,
		float &	fAngleX,
		float &	fAngleY,
		float &	fAngleZ,
		EOrder	nOrder = XYZs
	)		[static]

---

The documentation for this class was generated from the following file:

• EulerAngles.h