106 lines
3.5 KiB
C++
106 lines
3.5 KiB
C++
// This Source Code Form is subject to the terms of the Mozilla Public
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// License, v. 2.0.If a copy of the MPL was not distributed with this
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// file, You can obtain one at https ://mozilla.org/MPL/2.0/.
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#include "SwingTwist.h"
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template <typename T>
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SwingTwistOf<T>::SwingTwistOf() {
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this->swing = DirectionOf<T>(0, 0);
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this->twist = AngleOf<T>(0);
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}
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template <typename T>
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Passer::LinearAlgebra::SwingTwistOf<T>::SwingTwistOf(DirectionOf<T> swing,
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AngleOf<T> twist) {
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this->swing = swing;
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this->twist = twist;
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}
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template <typename T>
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SwingTwistOf<T>::SwingTwistOf(AngleOf<T> horizontal,
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AngleOf<T> vertical,
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AngleOf<T> twist) {
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// this->horizontal = horizontal;
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// this->vertical = vertical;
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this->swing = DirectionOf<T>(horizontal, vertical);
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this->twist = twist;
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}
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template <typename T>
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SwingTwistOf<T> SwingTwistOf<T>::Degrees(float horizontal,
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float vertical,
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float twist) {
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DirectionOf<T> swing = DirectionOf<T>(AngleOf<T>::Degrees(horizontal),
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AngleOf<T>::Degrees(vertical));
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AngleOf<T> twistAngle = AngleOf<T>::Degrees(twist);
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SwingTwistOf<T> orientation = SwingTwistOf(swing, twistAngle);
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return orientation;
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}
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template <typename T>
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Quaternion SwingTwistOf<T>::ToQuaternion() const {
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Quaternion q = Quaternion::Euler(this->swing.vertical.ToFloat(),
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this->swing.horizontal.ToFloat(),
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this->twist.ToFloat());
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return q;
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}
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template <typename T>
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SwingTwistOf<T> Passer::LinearAlgebra::SwingTwistOf<T>::FromQuaternion(
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Quaternion q) {
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Vector3 angles = Quaternion::ToAngles(q);
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SwingTwistOf<T> r =
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SwingTwistOf<T>(angles.Up(), angles.Right(), angles.Forward());
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return r;
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}
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template <typename T>
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const SwingTwistOf<T> SwingTwistOf<T>::identity = SwingTwistOf();
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template <typename T>
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SphericalOf<T> SwingTwistOf<T>::operator*(const SphericalOf<T>& vector) const {
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SphericalOf<T> v = SphericalOf<T>(vector.distance,
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vector.horizontal + this->swing.horizontal,
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vector.vertical + this->swing.vertical);
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return v;
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}
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template <typename T>
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SwingTwistOf<T> SwingTwistOf<T>::operator*(
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const SwingTwistOf<T>& rotation) const {
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SwingTwistOf<T> r =
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SwingTwistOf(this->swing.horizontal + rotation.swing.horizontal,
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this->swing.vertical + rotation.swing.vertical,
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this->twist + rotation.twist);
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return r;
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}
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template <typename T>
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SwingTwistOf<T> SwingTwistOf<T>::operator*=(const SwingTwistOf<T>& rotation) {
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this->swing.horizontal += rotation.swing.horizontal;
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this->swing.vertical += rotation.swing.vertical;
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this->twist += rotation.twist;
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return *this;
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}
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template <typename T>
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SwingTwistOf<T> Passer::LinearAlgebra::SwingTwistOf<T>::Inverse(
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SwingTwistOf<T> rotation) {
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SwingTwistOf<T> r = SwingTwistOf<T>(-rotation.swing, -rotation.twist);
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return r;
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}
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template <typename T>
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SwingTwistOf<T> Passer::LinearAlgebra::SwingTwistOf<T>::AngleAxis(
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float angle,
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const SphericalOf<T>& axis) {
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Vector3 axis_vector = axis.ToVector3();
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Quaternion q = Quaternion::AngleAxis(angle, axis_vector);
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SwingTwistOf<T> r = SwingTwistOf<T>::FromQuaternion(q);
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return r;
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}
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template class SwingTwistOf<float>;
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template class SwingTwistOf<signed short>; |