On Wed, Nov 12, 2008 at 10:33 PM, Keren Lasker <">> wrote:
Daniel - the angles are not Euler angles but just three angles around
X/Y/Z axis.
Would you like the option to rotate around another axis, ,something
like:
(1,1,0),45 - meaning rotating around the diagonal of the XY plane in
45 degrees?
On Nov 12, 2008, at 5:43 PM, Daniel Russel wrote:
> I don't like having two equivalent constructors from thevsame data or
> using a vector to hold angles.
>
> What I had meant with my suggestion is initialization from an axis and
> an amount of rotation about that axis as that is a somewhat less
> problematic basis than Euler angles (and one I use :-)
>
>
>
> On Nov 12, 2008, at 2:31 PM, Notification of IMP commits <">
>> wrote:
>
>> Author: ">
>> Date: 2008-11-12 14:31:59 -0800 (Wed, 12 Nov 2008)
>> New Revision: 854
>>
>> Modified:
>> trunk/modules/misc/include/Rotation3D.h
>> Log:
>> 1. Change protected to private
>> 2. Add constructors from Vector3D and an angle
>> 3. update documentation
>>
>> Modified: trunk/modules/misc/include/Rotation3D.h
>> ===================================================================
>> --- trunk/modules/misc/include/Rotation3D.h 2008-11-12 21:15:36
>> UTC (rev 853)
>> +++ trunk/modules/misc/include/Rotation3D.h 2008-11-12 22:31:59
>> UTC (rev 854)
>> @@ -19,26 +19,28 @@
>>
>> class IMPMISCEXPORT Rotation3D {
>> public:
>> - //! Initialize a rotation in x-y-z order from three angles
>> + Rotation3D(){
>> + }
>> + //! Initialize a rotation in x-y-z order from three Euler angles
>> /** \param[in] xr Rotation around the X axis
>> \param[in] yr Rotation around the Y axis
>> \param[in] zr Rotation around the Z axis
>> */
>> Rotation3D(Float xr, Float yr, Float zr) {
>> - Float cx = cos(xr); Float cy = cos(yr); Float cz = cos(zr);
>> - Float sx = sin(xr); Float sy = sin(yr); Float sz = sin(zr);
>> - Float m00 = cz*cy;
>> - Float m11 = -sy*sx*sz + cx*cz;
>> - Float m22 = cy*cx;
>> - quat_[0] = sqrt(1+m00+m11+m22)/2.0;
>> - quat_[1] = sqrt(1+m00-m11-m22)/2.0;
>> - quat_[2] = sqrt(1-m00+m11-m22)/2.0;
>> - quat_[3] = sqrt(1-m00-m11+m22)/2.0;
>> - if (cy*sx + sy*cx*sz + sx*cz < 0.0) quat_[1] = -quat_[1];
>> - if (sz*sx - sy*cx*cz - sy < 0.0) quat_[2] = -quat_[2];
>> - if (sz*cy + sy*sx*cz + sz*cx < 0.0) quat_[3] = -quat_[3];
>> + init_angles(xr,yr,zr);
>> }
>> -
>> + //! Initialize a rotation in x-y-z order from three identical
>> Euler angles
>> + /** \param[in] e_angle Rotation around first the X axis, Y axis
>> and Z axis
>> + */
>> + Rotation3D(Float e_angle){
>> + init_angles(e_angle, e_angle, e_angle);
>> + }
>> + //! Initialize a rotation in x-y-z order from three Euler angles
>> + /** \param[in] v A vector that holds three Euler angles (x-y-z
>> order)
>> + */
>> + Rotation3D(const Vector3D &v){
>> + init_angles(v[0],v[1],v[2]);
>> + }
>> Matrix3D get_matrix() const {
>> const Float a = quat_[0];
>> const Float b = quat_[1];
>> @@ -76,7 +78,22 @@
>> return atan2(matrix21(), matrix11());
>> }
>>
>> -protected:
>> +private:
>> + void init_angles(Float xr, Float yr, Float zr) {
>> + Float cx = cos(xr); Float cy = cos(yr); Float cz = cos(zr);
>> + Float sx = sin(xr); Float sy = sin(yr); Float sz = sin(zr);
>> + Float m00 = cz*cy;
>> + Float m11 = -sy*sx*sz + cx*cz;
>> + Float m22 = cy*cx;
>> + quat_[0] = sqrt(1+m00+m11+m22)/2.0;
>> + quat_[1] = sqrt(1+m00-m11-m22)/2.0;
>> + quat_[2] = sqrt(1-m00+m11-m22)/2.0;
>> + quat_[3] = sqrt(1-m00-m11+m22)/2.0;
>> + if (cy*sx + sy*cx*sz + sx*cz < 0.0) quat_[1] = -quat_[1];
>> + if (sz*sx - sy*cx*cz - sy < 0.0) quat_[2] = -quat_[2];
>> + if (sz*cy + sy*sx*cz + sz*cx < 0.0) quat_[3] = -quat_[3];
>> + }
>> +
>> Float matrix11() const {
>> return sqr(quat_[0]) + sqr(quat_[1]) - sqr(quat_[2]) -
>> sqr(quat_[3]);
>> }
>>
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