| 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); |