1 /*************************************************************************

     2  *                                                                       *

     3  * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *

     4  * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *

     5  *                                                                       *

     6  * This library is free software; you can redistribute it and/or         *

     7  * modify it under the terms of EITHER:                                  *

     8  *   (1) The GNU Lesser General Public License as published by the Free  *

     9  *       Software Foundation; either version 2.1 of the License, or (at  *

    10  *       your option) any later version. The text of the GNU Lesser      *

    11  *       General Public License is included with this library in the     *

    12  *       file LICENSE.TXT.                                               *

    13  *   (2) The BSD-style license that is included with this library in     *

    14  *       the file LICENSE-BSD.TXT.                                       *

    15  *                                                                       *

    16  * This library is distributed in the hope that it will be useful,       *

    17  * but WITHOUT ANY WARRANTY; without even the implied warranty of        *

    18  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *

    19  * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *

    20  *                                                                       *

    21  *************************************************************************/

    22 

    23 #ifndef _ODE_ROTATION_H_

    24 #define _ODE_ROTATION_H_

    25 

    26 #include <ode/common.h>

    27 #include <ode/compatibility.h>

    28 

    29 #ifdef __cplusplus

    30 extern "C" {

    31 #endif

    32 

    33 

    34 ODE_API IMPORT_C void dRSetIdentity (dMatrix3 R);

    35 

    36 ODE_API IMPORT_C void dRFromAxisAndAngle (dMatrix3 R, dReal ax, dReal ay, dReal az,

    37 			 dReal angle);

    38 

    39 ODE_API IMPORT_C void dRFromEulerAngles (dMatrix3 R, dReal phi, dReal theta, dReal psi);

    40 

    41 ODE_API IMPORT_C void dRFrom2Axes (dMatrix3 R, dReal ax, dReal ay, dReal az,

    42 		  dReal bx, dReal by, dReal bz);

    43 

    44 ODE_API IMPORT_C void dRFromZAxis (dMatrix3 R, dReal ax, dReal ay, dReal az);

    45 

    46 ODE_API IMPORT_C void dQSetIdentity (dQuaternion q);

    47 

    48 ODE_API IMPORT_C void dQFromAxisAndAngle (dQuaternion q, dReal ax, dReal ay, dReal az,

    49 			 dReal angle);

    50 

    51 /* Quaternion multiplication, analogous to the matrix multiplication routines. */

    52 /* qa = rotate by qc, then qb */

    53 ODE_API IMPORT_C void dQMultiply0 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc);

    54 /* qa = rotate by qc, then by inverse of qb */

    55 ODE_API IMPORT_C void dQMultiply1 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc);

    56 /* qa = rotate by inverse of qc, then by qb */

    57 ODE_API IMPORT_C void dQMultiply2 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc);

    58 /* qa = rotate by inverse of qc, then by inverse of qb */

    59 ODE_API IMPORT_C void dQMultiply3 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc);

    60 

    61 ODE_API IMPORT_C void dRfromQ (dMatrix3 R, const dQuaternion q);

    62 ODE_API IMPORT_C void dQfromR (dQuaternion q, const dMatrix3 R);

    63 ODE_API IMPORT_C void dDQfromW (dReal dq[4], const dVector3 w, const dQuaternion q);

    64 

    65 

    66 #ifdef __cplusplus

    67 }

    68 #endif

    69 

    70 #endif