--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/classicui_plat/ode_api/inc/rotation.h Tue Feb 02 01:00:49 2010 +0200
@@ -0,0 +1,70 @@
+/*************************************************************************
+ * *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. *
+ * All rights reserved. Email: russ@q12.org Web: www.q12.org *
+ * *
+ * This library is free software; you can redistribute it and/or *
+ * modify it under the terms of EITHER: *
+ * (1) The GNU Lesser General Public License as published by the Free *
+ * Software Foundation; either version 2.1 of the License, or (at *
+ * your option) any later version. The text of the GNU Lesser *
+ * General Public License is included with this library in the *
+ * file LICENSE.TXT. *
+ * (2) The BSD-style license that is included with this library in *
+ * the file LICENSE-BSD.TXT. *
+ * *
+ * This library is distributed in the hope that it will be useful, *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details. *
+ * *
+ *************************************************************************/
+
+#ifndef _ODE_ROTATION_H_
+#define _ODE_ROTATION_H_
+
+#include <ode/common.h>
+#include <ode/compatibility.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+ODE_API IMPORT_C void dRSetIdentity (dMatrix3 R);
+
+ODE_API IMPORT_C void dRFromAxisAndAngle (dMatrix3 R, dReal ax, dReal ay, dReal az,
+ dReal angle);
+
+ODE_API IMPORT_C void dRFromEulerAngles (dMatrix3 R, dReal phi, dReal theta, dReal psi);
+
+ODE_API IMPORT_C void dRFrom2Axes (dMatrix3 R, dReal ax, dReal ay, dReal az,
+ dReal bx, dReal by, dReal bz);
+
+ODE_API IMPORT_C void dRFromZAxis (dMatrix3 R, dReal ax, dReal ay, dReal az);
+
+ODE_API IMPORT_C void dQSetIdentity (dQuaternion q);
+
+ODE_API IMPORT_C void dQFromAxisAndAngle (dQuaternion q, dReal ax, dReal ay, dReal az,
+ dReal angle);
+
+/* Quaternion multiplication, analogous to the matrix multiplication routines. */
+/* qa = rotate by qc, then qb */
+ODE_API IMPORT_C void dQMultiply0 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc);
+/* qa = rotate by qc, then by inverse of qb */
+ODE_API IMPORT_C void dQMultiply1 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc);
+/* qa = rotate by inverse of qc, then by qb */
+ODE_API IMPORT_C void dQMultiply2 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc);
+/* qa = rotate by inverse of qc, then by inverse of qb */
+ODE_API IMPORT_C void dQMultiply3 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc);
+
+ODE_API IMPORT_C void dRfromQ (dMatrix3 R, const dQuaternion q);
+ODE_API IMPORT_C void dQfromR (dQuaternion q, const dMatrix3 R);
+ODE_API IMPORT_C void dDQfromW (dReal dq[4], const dVector3 w, const dQuaternion q);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif