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/*
math/axis.cc
This file is part of the Osirion project and is distributed under
the terms of the GNU General Public License version 2
*/
// project headers
#include "math/axis.h"
#include "math/mathlib.h"
namespace math
{
Axis::Axis()
{
clear();
}
Axis::Axis(const Axis & other)
{
assign(other);
}
void Axis::clear()
{
axis_vector[0] = Vector3f(1.0f, 0.0f, 0.0f);
axis_vector[1] = Vector3f(0.0f, 1.0f, 0.0f);
axis_vector[2] = Vector3f(0.0f, 0.0f, 1.0f);
}
void Axis::assign(const Axis & other)
{
for (size_t i = 0; i < 3; i++) {
axis_vector[i].assign(other.axis_vector[i]);
}
}
void Axis::assign(const btMatrix3x3 & other)
{
for (size_t i = 0; i < 3; i++) {
for (size_t j = 0; j < 3; j++) {
axis_vector[i][j] = other[j][i];
}
}
}
void Axis::assign(const float yaw, const float pitch, const float roll)
{
clear();
if (yaw)
change_direction(yaw);
if (pitch)
change_pitch(-pitch);
if (roll)
change_roll(-roll);
}
Axis & Axis::operator=(const Axis & other)
{
assign(other);
return *this;
}
// change heading, rotate around Z-axis (positive is left)
void Axis::change_direction(const float angle)
{
float cosa = cosf(angle * M_PI / 180.0f);
float sina = sinf(angle * M_PI / 180.0f);
Vector3f forward = axis_vector[0] * cosa + axis_vector[1] * sina;
Vector3f left = axis_vector[1] * cosa - axis_vector[0] * sina;
axis_vector[0].assign(forward);
axis_vector[1].assign(left);
}
// change pitch, rotate around negative Y-axis (positive is up)
void Axis::change_pitch(const float angle)
{
float cosa = cosf(angle * M_PI / 180.0f);
float sina = sinf(angle * M_PI / 180.0f);
Vector3f forward = axis_vector[0] * cosa + axis_vector[2] * sina;
Vector3f up = axis_vector[2] * cosa - axis_vector[0] * sina;
axis_vector[0].assign(forward);
axis_vector[2].assign(up);
}
// change roll, rotate around forward vector (positive is left)
void Axis::change_roll(const float angle)
{
float cosa = cosf(angle * M_PI / 180.0f);
float sina = sinf(angle * M_PI / 180.0f);
Vector3f forward = axis_vector[2] * cosa + axis_vector[1] * sina;
Vector3f up = axis_vector[1] * cosa - axis_vector[2] * sina;
axis_vector[2].assign(forward);
axis_vector[1].assign(up);
}
// perform a rotation about an arbitrary axis
/* notes:
http://mathworld.wolfram.com/RotationFormula.html
*/
void Axis::rotate(Vector3f const &normal, float rad)
{
float cosa = cosf(rad);
float sina = sinf(rad);
for (size_t i = 0; i < 3; i++) {
axis_vector[i] =
axis_vector[i] * cosa +
normal * dotproduct(normal, axis_vector[i]) * (1 - cosa) +
crossproduct(axis_vector[i], normal) * sina;
}
}
const Axis Axis::transpose() const
{
Axis t;
for (size_t i = 0; i < 3; i++)
for (size_t j = 0; j < 3; j++)
t.axis_vector[i][j] = axis_vector[j][i];
return t;
}
const Axis Axis::operator*(const Axis &other) const
{
Axis t;
for (size_t i = 0; i < 3; i++)
t.axis_vector[i] = (*this) * other.axis_vector[i];
return t;
}
// write an axis to a std::ostream
std::ostream &operator<<(std::ostream & os, Axis const & axis)
{
os << axis.forward() << " ";
os << axis.left() << " ";
os << axis.up();
return os;
}
// read an axis from a std::istream
std::istream &operator>>(std::istream & is, Axis & axis)
{
is >> axis[0];
is >> axis[1];
is >> axis[2];
return is;
}
// local-to-global coordinates
Vector3f operator*(Axis const &axis, Vector3f const &vector)
{
return (Vector3f(vector[0] * axis[0] + vector[1] * axis[1] + vector[2] * axis[2]));
}
}
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