0,0 → 1,115 |
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
/* |
* vector3.cpp |
* Copyright (C) Andrew Tridgell 2012 |
* |
* This file is free software: you can redistribute it and/or modify it |
* under the terms of the GNU General Public License as published by the |
* Free Software Foundation, either version 3 of the License, or |
* (at your option) any later version. |
* |
* This file 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 GNU General Public License for more details. |
* |
* You should have received a copy of the GNU General Public License along |
* with this program. If not, see <http://www.gnu.org/licenses/>. |
*/ |
|
#include "AP_Math.h" |
|
#define HALF_SQRT_2 0.70710678118654757 |
|
// rotate a vector by a standard rotation, attempting |
// to use the minimum number of floating point operations |
template <typename T> |
void Vector3<T>::rotate(enum Rotation rotation) |
{ |
T tmp; |
switch (rotation) { |
case ROTATION_NONE: |
case ROTATION_MAX: |
return; |
case ROTATION_YAW_45: { |
tmp = HALF_SQRT_2*(x - y); |
y = HALF_SQRT_2*(x + y); |
x = tmp; |
return; |
} |
case ROTATION_YAW_90: { |
tmp = x; x = -y; y = tmp; |
return; |
} |
case ROTATION_YAW_135: { |
tmp = -HALF_SQRT_2*(x + y); |
y = HALF_SQRT_2*(x - y); |
x = tmp; |
return; |
} |
case ROTATION_YAW_180: |
x = -x; y = -y; |
return; |
case ROTATION_YAW_225: { |
tmp = HALF_SQRT_2*(y - x); |
y = -HALF_SQRT_2*(x + y); |
x = tmp; |
return; |
} |
case ROTATION_YAW_270: { |
tmp = x; x = y; y = -tmp; |
return; |
} |
case ROTATION_YAW_315: { |
tmp = HALF_SQRT_2*(x + y); |
y = HALF_SQRT_2*(y - x); |
x = tmp; |
return; |
} |
case ROTATION_ROLL_180: { |
y = -y; z = -z; |
return; |
} |
case ROTATION_ROLL_180_YAW_45: { |
tmp = HALF_SQRT_2*(x + y); |
y = HALF_SQRT_2*(x - y); |
x = tmp; z = -z; |
return; |
} |
case ROTATION_ROLL_180_YAW_90: { |
tmp = x; x = y; y = tmp; z = -z; |
return; |
} |
case ROTATION_ROLL_180_YAW_135: { |
tmp = HALF_SQRT_2*(y - x); |
y = HALF_SQRT_2*(y + x); |
x = tmp; z = -z; |
return; |
} |
case ROTATION_PITCH_180: { |
x = -x; z = -z; |
return; |
} |
case ROTATION_ROLL_180_YAW_225: { |
tmp = -HALF_SQRT_2*(x + y); |
y = HALF_SQRT_2*(y - x); |
x = tmp; z = -z; |
return; |
} |
case ROTATION_ROLL_180_YAW_270: { |
tmp = x; x = -y; y = -tmp; z = -z; |
return; |
} |
case ROTATION_ROLL_180_YAW_315: { |
tmp = HALF_SQRT_2*(x - y); |
y = -HALF_SQRT_2*(x + y); |
x = tmp; z = -z; |
return; |
} |
} |
} |
|
// only define for signed numbers |
template void Vector3<float>::rotate(enum Rotation); |
template void Vector3<int16_t>::rotate(enum Rotation); |
template void Vector3<int32_t>::rotate(enum Rotation); |