1 | /************************************************************** ggt-head beg |
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2 | * |
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3 | * GGT: Generic Graphics Toolkit |
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4 | * |
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5 | * Original Authors: |
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6 | * Allen Bierbaum |
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7 | * |
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8 | * ----------------------------------------------------------------- |
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9 | * File: EulerAngle.h,v |
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10 | * Date modified: 2003/04/01 13:21:47 |
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11 | * Version: 1.11 |
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12 | * ----------------------------------------------------------------- |
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13 | * |
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14 | *********************************************************** ggt-head end */ |
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15 | /*************************************************************** ggt-cpr beg |
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16 | * |
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17 | * GGT: The Generic Graphics Toolkit |
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18 | * Copyright (C) 2001,2002 Allen Bierbaum |
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19 | * |
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20 | * This library is free software; you can redistribute it and/or |
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21 | * modify it under the terms of the GNU Lesser General Public |
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22 | * License as published by the Free Software Foundation; either |
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23 | * version 2.1 of the License, or (at your option) any later version. |
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24 | * |
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25 | * This library is distributed in the hope that it will be useful, |
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26 | * but WITHOUT ANY WARRANTY; without even the implied warranty of |
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27 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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28 | * Lesser General Public License for more details. |
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29 | * |
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30 | * You should have received a copy of the GNU Lesser General Public |
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31 | * License along with this library; if not, write to the Free Software |
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32 | * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
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33 | * |
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34 | ************************************************************ ggt-cpr end */ |
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35 | #ifndef _GMTL_EULERANGLE_H_ |
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36 | #define _GMTL_EULERANGLE_H_ |
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37 | |
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38 | #include <gmtl/Math.h> // for rotation order |
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39 | |
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40 | namespace gmtl |
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41 | { |
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42 | |
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43 | /** EulerAngle: Represents a group of euler angles. |
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44 | * Euler angle can be used to represent rotations in 3-space. |
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45 | * |
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46 | * To some people this rotation format can be more intuitive to specify than |
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47 | * Matrix, Quat, or AxisAngle formatted rotation. |
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48 | * |
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49 | * For efficiency and to minimize problems from gimbal-lock, you should use |
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50 | * one of the other rotation formats instead (Quat or Matrix are preferred). |
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51 | * |
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52 | * The internal data format is an array of 3 DATA_TYPE angle values, |
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53 | * plus a RotationOrder that specifies how to build a rotation transform |
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54 | * from the 3 angle value. |
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55 | * |
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56 | * IMPORTANT: |
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57 | * The 3 angles are in the order set ::getOrder(), not XYZ. |
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58 | * The values do not swap when order is changed after setting the angles. |
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59 | * |
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60 | * @pre all angles are in radians. |
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61 | * |
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62 | * @see EulerAnglef, EulerAngled |
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63 | * @see Matrix, Quat, AxisAngle |
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64 | * @ingroup Types |
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65 | */ |
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66 | template <typename DATA_TYPE, typename ROTATION_ORDER> |
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67 | class EulerAngle |
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68 | { |
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69 | public: |
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70 | /// Use this to declare single value types of the same type as this object. |
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71 | typedef DATA_TYPE DataType; |
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72 | |
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73 | enum Params { Size = 3, Order = ROTATION_ORDER::ID }; |
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74 | |
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75 | /** default constructor. initializes to identity rotation (no rotation). */ |
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76 | EulerAngle() |
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77 | { |
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78 | gmtlASSERT( ROTATION_ORDER::IS_ROTORDER == 1 && |
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79 | "you must specify a RotationOrder derived type for the rotationorder in euler angle." ); |
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80 | mData[0] = DATA_TYPE( 0 ); |
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81 | mData[1] = DATA_TYPE( 0 ); |
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82 | mData[2] = DATA_TYPE( 0 ); |
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83 | } |
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84 | |
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85 | /** copy constructor. */ |
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86 | EulerAngle( const EulerAngle& e ) |
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87 | { |
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88 | mData[0] = e.mData[0]; |
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89 | mData[1] = e.mData[1]; |
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90 | mData[2] = e.mData[2]; |
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91 | } |
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92 | |
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93 | /** data constructor. angles are in radians. */ |
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94 | EulerAngle( DATA_TYPE p0, DATA_TYPE p1, DATA_TYPE p2 ) |
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95 | { |
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96 | mData[0] = p0; |
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97 | mData[1] = p1; |
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98 | mData[2] = p2; |
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99 | } |
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100 | |
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101 | /** set data. angles are in radians. */ |
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102 | void set( const DATA_TYPE& p0, const DATA_TYPE& p1, |
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103 | const DATA_TYPE& p2 ) |
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104 | { |
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105 | mData[0] = p0; |
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106 | mData[1] = p1; |
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107 | mData[2] = p2; |
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108 | } |
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109 | |
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110 | //@{ |
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111 | /** Gets the ith component in this EulerAngle. |
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112 | * @param i the zero-based index of the component to access. |
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113 | * @pre 0 <= i < 3 |
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114 | * @return a reference to the ith component |
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115 | */ |
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116 | inline DATA_TYPE& operator[]( const unsigned i ) |
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117 | { |
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118 | gmtlASSERT( i < Size ); |
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119 | return mData[i]; |
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120 | } |
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121 | inline const DATA_TYPE& operator[]( const unsigned i ) const |
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122 | { |
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123 | gmtlASSERT( i < Size ); |
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124 | return mData[i]; |
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125 | } |
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126 | //@} |
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127 | |
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128 | //@{ |
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129 | /** Gets the internal array of the components. |
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130 | * @return a pointer to the component array with length SIZE |
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131 | */ |
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132 | DATA_TYPE* getData() { return mData; } |
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133 | |
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134 | /** Gets the internal array of the components (const version) |
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135 | * @return a pointer to the component array with length SIZE |
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136 | */ |
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137 | const DATA_TYPE* getData() const { return mData; } |
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138 | //@} |
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139 | |
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140 | private: |
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141 | DATA_TYPE mData[Size]; |
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142 | }; |
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143 | |
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144 | const EulerAngle<float, XYZ> EULERANGLE_IDENTITY_XYZF( 0.0f, 0.0f, 0.0f ); |
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145 | const EulerAngle<double, XYZ> EULERANGLE_IDENTITY_XYZD( 0.0, 0.0, 0.0 ); |
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146 | const EulerAngle<float, ZYX> EULERANGLE_IDENTITY_ZYXF( 0.0f, 0.0f, 0.0f ); |
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147 | const EulerAngle<double, ZYX> EULERANGLE_IDENTITY_ZYXD( 0.0, 0.0, 0.0 ); |
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148 | const EulerAngle<float, ZXY> EULERANGLE_IDENTITY_ZXYF( 0.0f, 0.0f, 0.0f ); |
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149 | const EulerAngle<double, ZXY> EULERANGLE_IDENTITY_ZXYD( 0.0, 0.0, 0.0 ); |
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150 | |
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151 | typedef EulerAngle<float, XYZ> EulerAngleXYZf; |
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152 | typedef EulerAngle<double, XYZ> EulerAngleXYZd; |
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153 | typedef EulerAngle<float, ZYX> EulerAngleZYXf; |
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154 | typedef EulerAngle<double, ZYX> EulerAngleZYXd; |
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155 | typedef EulerAngle<float, ZXY> EulerAngleZXYf; |
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156 | typedef EulerAngle<double, ZXY> EulerAngleZXYd; |
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157 | |
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158 | } // end of namespace gmtl |
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159 | |
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160 | #endif |
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