diff options
Diffstat (limited to 'src/system/Qt3DSEulerAngles.h')
| -rw-r--r-- | src/system/Qt3DSEulerAngles.h | 141 |
1 files changed, 141 insertions, 0 deletions
diff --git a/src/system/Qt3DSEulerAngles.h b/src/system/Qt3DSEulerAngles.h new file mode 100644 index 0000000..d0f53c5 --- /dev/null +++ b/src/system/Qt3DSEulerAngles.h @@ -0,0 +1,141 @@ +/**************************************************************************** +** +** Copyright (C) 1993-2009 NVIDIA Corporation. +** Copyright (C) 2017 The Qt Company Ltd. +** Contact: https://www.qt.io/licensing/ +** +** This file is part of Qt 3D Studio. +** +** $QT_BEGIN_LICENSE:GPL$ +** Commercial License Usage +** Licensees holding valid commercial Qt licenses may use this file in +** accordance with the commercial license agreement provided with the +** Software or, alternatively, in accordance with the terms contained in +** a written agreement between you and The Qt Company. For licensing terms +** and conditions see https://www.qt.io/terms-conditions. For further +** information use the contact form at https://www.qt.io/contact-us. +** +** GNU General Public License Usage +** Alternatively, this file may be used under the terms of the GNU +** General Public License version 3 or (at your option) any later version +** approved by the KDE Free Qt Foundation. The licenses are as published by +** the Free Software Foundation and appearing in the file LICENSE.GPL3 +** included in the packaging of this file. Please review the following +** information to ensure the GNU General Public License requirements will +** be met: https://www.gnu.org/licenses/gpl-3.0.html. +** +** $QT_END_LICENSE$ +** +****************************************************************************/ + +#pragma once + +#include <qmath.h> + +namespace Q3DStudio { +//============================================================================== +// Description +//============================================================================== +// QuatTypes.h - Basic type declarations +// by Ken Shoemake, shoemake@graphics.cis.upenn.edu +// in "Graphics Gems IV", Academic Press, 1994 +typedef struct +{ + float x, y, z, w; +} Quat; /* Quaternion */ +typedef float HMatrix[4][4]; /* Right-handed, for column vectors */ +enum QuatPart { X, Y, Z, W }; +typedef Quat EulerAngles; /* (x,y,z)=ang 1,2,3, w=order code */ + +#define EulFrmS 0 +#define EulFrmR 1 +#define EulFrm(ord) ((unsigned)(ord)&1) +#define EulRepNo 0 +#define EulRepYes 1 +#define EulRep(ord) (((unsigned)(ord) >> 1) & 1) +#define EulParEven 0 +#define EulParOdd 1 +#define EulPar(ord) (((unsigned)(ord) >> 2) & 1) +#define EulSafe "\000\001\002\000" +#define EulNext "\001\002\000\001" +#define EulAxI(ord) ((int)(EulSafe[(((unsigned)(ord) >> 3) & 3)])) +#define EulAxJ(ord) ((int)(EulNext[EulAxI(ord) + (EulPar(ord) == EulParOdd)])) +#define EulAxK(ord) ((int)(EulNext[EulAxI(ord) + (EulPar(ord) != EulParOdd)])) +#define EulAxH(ord) ((EulRep(ord) == EulRepNo) ? EulAxK(ord) : EulAxI(ord)) + +// EulGetOrd unpacks all useful information about order simultaneously. +#define EulGetOrd(ord, i, j, k, h, n, s, f) \ + { \ + unsigned o = ord; \ + f = o & 1; \ + o = o >> 1; \ + s = o & 1; \ + o = o >> 1; \ + n = o & 1; \ + o = o >> 1; \ + i = EulSafe[o & 3]; \ + j = EulNext[i + n]; \ + k = EulNext[i + 1 - n]; \ + h = s ? k : i; \ + } + +// EulOrd creates an order value between 0 and 23 from 4-tuple choices. +#define EulOrd(i, p, r, f) (((((((i) << 1) + (p)) << 1) + (r)) << 1) + (f)) + +// Static axes +// X = 0, Y = 1, Z = 2 ref QuatPart +#define EulOrdXYZs EulOrd(0, EulParEven, EulRepNo, EulFrmS) +#define EulOrdXYXs EulOrd(0, EulParEven, EulRepYes, EulFrmS) +#define EulOrdXZYs EulOrd(0, EulParOdd, EulRepNo, EulFrmS) +#define EulOrdXZXs EulOrd(0, EulParOdd, EulRepYes, EulFrmS) +#define EulOrdYZXs EulOrd(1, EulParEven, EulRepNo, EulFrmS) +#define EulOrdYZYs EulOrd(1, EulParEven, EulRepYes, EulFrmS) +#define EulOrdYXZs EulOrd(1, EulParOdd, EulRepNo, EulFrmS) +#define EulOrdYXYs EulOrd(1, EulParOdd, EulRepYes, EulFrmS) +#define EulOrdZXYs EulOrd(2, EulParEven, EulRepNo, EulFrmS) +#define EulOrdZXZs EulOrd(2, EulParEven, EulRepYes, EulFrmS) +#define EulOrdZYXs EulOrd(2, EulParOdd, EulRepNo, EulFrmS) +#define EulOrdZYZs EulOrd(2, EulParOdd, EulRepYes, EulFrmS) + +// Rotating axes +#define EulOrdZYXr EulOrd(0, EulParEven, EulRepNo, EulFrmR) +#define EulOrdXYXr EulOrd(0, EulParEven, EulRepYes, EulFrmR) +#define EulOrdYZXr EulOrd(0, EulParOdd, EulRepNo, EulFrmR) +#define EulOrdXZXr EulOrd(0, EulParOdd, EulRepYes, EulFrmR) +#define EulOrdXZYr EulOrd(1, EulParEven, EulRepNo, EulFrmR) +#define EulOrdYZYr EulOrd(1, EulParEven, EulRepYes, EulFrmR) +#define EulOrdZXYr EulOrd(1, EulParOdd, EulRepNo, EulFrmR) +#define EulOrdYXYr EulOrd(1, EulParOdd, EulRepYes, EulFrmR) +#define EulOrdYXZr EulOrd(2, EulParEven, EulRepNo, EulFrmR) +#define EulOrdZXZr EulOrd(2, EulParEven, EulRepYes, EulFrmR) +#define EulOrdXYZr EulOrd(2, EulParOdd, EulRepNo, EulFrmR) +#define EulOrdZYZr EulOrd(2, EulParOdd, EulRepYes, EulFrmR) + +#ifndef M_PI +#define M_PI 3.1415926535898 +#endif + +#define TODEG(x) x = (float)(x * 180 / M_PI); +#define TORAD(x) x = (float)(x / 180 * M_PI); + +class CEulerAngleConverter +{ +private: + char m_OrderInfoBuffer[1024]; + +public: + CEulerAngleConverter(); + virtual ~CEulerAngleConverter(); + +public: + EulerAngles Eul_(float ai, float aj, float ah, int order); + Quat Eul_ToQuat(EulerAngles ea); + void Eul_ToHMatrix(EulerAngles ea, HMatrix M); + EulerAngles Eul_FromHMatrix(HMatrix M, int order); + EulerAngles Eul_FromQuat(Quat q, int order); + + // Debug Stuff + const char *DumpOrderInfo(); +}; + +} // namespace Q3DStudio |