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<title>Open Dynamics Engine: rotation.h Source File</title>
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<h1>rotation.h</h1><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*************************************************************************</span>
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<a name="l00002"></a>00002 <span class="comment"> * *</span>
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<a name="l00003"></a>00003 <span class="comment"> * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. *</span>
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<a name="l00004"></a>00004 <span class="comment"> * All rights reserved. Email: russ@q12.org Web: www.q12.org *</span>
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<a name="l00005"></a>00005 <span class="comment"> * *</span>
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<a name="l00006"></a>00006 <span class="comment"> * This library is free software; you can redistribute it and/or *</span>
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<a name="l00007"></a>00007 <span class="comment"> * modify it under the terms of EITHER: *</span>
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<a name="l00008"></a>00008 <span class="comment"> * (1) The GNU Lesser General Public License as published by the Free *</span>
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<a name="l00009"></a>00009 <span class="comment"> * Software Foundation; either version 2.1 of the License, or (at *</span>
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<a name="l00010"></a>00010 <span class="comment"> * your option) any later version. The text of the GNU Lesser *</span>
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<a name="l00011"></a>00011 <span class="comment"> * General Public License is included with this library in the *</span>
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<a name="l00012"></a>00012 <span class="comment"> * file LICENSE.TXT. *</span>
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<a name="l00013"></a>00013 <span class="comment"> * (2) The BSD-style license that is included with this library in *</span>
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<a name="l00014"></a>00014 <span class="comment"> * the file LICENSE-BSD.TXT. *</span>
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<a name="l00015"></a>00015 <span class="comment"> * *</span>
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<a name="l00016"></a>00016 <span class="comment"> * This library is distributed in the hope that it will be useful, *</span>
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<a name="l00017"></a>00017 <span class="comment"> * but WITHOUT ANY WARRANTY; without even the implied warranty of *</span>
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<a name="l00018"></a>00018 <span class="comment"> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *</span>
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<a name="l00019"></a>00019 <span class="comment"> * LICENSE.TXT and LICENSE-BSD.TXT for more details. *</span>
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<a name="l00020"></a>00020 <span class="comment"> * *</span>
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<a name="l00021"></a>00021 <span class="comment"> *************************************************************************/</span>
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<a name="l00022"></a>00022
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<a name="l00023"></a>00023 <span class="preprocessor">#ifndef _ODE_ROTATION_H_</span>
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<a name="l00024"></a>00024 <span class="preprocessor"></span><span class="preprocessor">#define _ODE_ROTATION_H_</span>
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<a name="l00025"></a>00025 <span class="preprocessor"></span>
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<a name="l00026"></a>00026 <span class="preprocessor">#include <ode/common.h></span>
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<a name="l00027"></a>00027 <span class="preprocessor">#include <ode/compatibility.h></span>
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<a name="l00028"></a>00028
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<a name="l00029"></a>00029 <span class="preprocessor">#ifdef __cplusplus</span>
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<a name="l00030"></a>00030 <span class="preprocessor"></span><span class="keyword">extern</span> <span class="stringliteral">"C"</span> {
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<a name="l00031"></a>00031 <span class="preprocessor">#endif</span>
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<a name="l00032"></a>00032 <span class="preprocessor"></span>
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<a name="l00033"></a>00033
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<a name="l00034"></a>00034 ODE_API <span class="keywordtype">void</span> dRSetIdentity (dMatrix3 R);
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<a name="l00035"></a>00035
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<a name="l00036"></a>00036 ODE_API <span class="keywordtype">void</span> dRFromAxisAndAngle (dMatrix3 R, dReal ax, dReal ay, dReal az,
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<a name="l00037"></a>00037 dReal angle);
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<a name="l00038"></a>00038
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<a name="l00039"></a>00039 ODE_API <span class="keywordtype">void</span> dRFromEulerAngles (dMatrix3 R, dReal phi, dReal theta, dReal psi);
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<a name="l00040"></a>00040
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<a name="l00041"></a>00041 ODE_API <span class="keywordtype">void</span> dRFrom2Axes (dMatrix3 R, dReal ax, dReal ay, dReal az,
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<a name="l00042"></a>00042 dReal bx, dReal by, dReal bz);
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<a name="l00043"></a>00043
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<a name="l00044"></a>00044 ODE_API <span class="keywordtype">void</span> dRFromZAxis (dMatrix3 R, dReal ax, dReal ay, dReal az);
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<a name="l00045"></a>00045
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<a name="l00046"></a>00046 ODE_API <span class="keywordtype">void</span> dQSetIdentity (dQuaternion q);
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<a name="l00047"></a>00047
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<a name="l00048"></a>00048 ODE_API <span class="keywordtype">void</span> dQFromAxisAndAngle (dQuaternion q, dReal ax, dReal ay, dReal az,
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<a name="l00049"></a>00049 dReal angle);
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<a name="l00050"></a>00050
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<a name="l00051"></a>00051 <span class="comment">/* Quaternion multiplication, analogous to the matrix multiplication routines. */</span>
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<a name="l00052"></a>00052 <span class="comment">/* qa = rotate by qc, then qb */</span>
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<a name="l00053"></a>00053 ODE_API <span class="keywordtype">void</span> dQMultiply0 (dQuaternion qa, <span class="keyword">const</span> dQuaternion qb, <span class="keyword">const</span> dQuaternion qc);
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<a name="l00054"></a>00054 <span class="comment">/* qa = rotate by qc, then by inverse of qb */</span>
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<a name="l00055"></a>00055 ODE_API <span class="keywordtype">void</span> dQMultiply1 (dQuaternion qa, <span class="keyword">const</span> dQuaternion qb, <span class="keyword">const</span> dQuaternion qc);
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<a name="l00056"></a>00056 <span class="comment">/* qa = rotate by inverse of qc, then by qb */</span>
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<a name="l00057"></a>00057 ODE_API <span class="keywordtype">void</span> dQMultiply2 (dQuaternion qa, <span class="keyword">const</span> dQuaternion qb, <span class="keyword">const</span> dQuaternion qc);
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<a name="l00058"></a>00058 <span class="comment">/* qa = rotate by inverse of qc, then by inverse of qb */</span>
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<a name="l00059"></a>00059 ODE_API <span class="keywordtype">void</span> dQMultiply3 (dQuaternion qa, <span class="keyword">const</span> dQuaternion qb, <span class="keyword">const</span> dQuaternion qc);
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<a name="l00060"></a>00060
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<a name="l00061"></a>00061 ODE_API <span class="keywordtype">void</span> dRfromQ (dMatrix3 R, <span class="keyword">const</span> dQuaternion q);
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<a name="l00062"></a>00062 ODE_API <span class="keywordtype">void</span> dQfromR (dQuaternion q, <span class="keyword">const</span> dMatrix3 R);
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<a name="l00063"></a>00063 ODE_API <span class="keywordtype">void</span> dDQfromW (dReal dq[4], <span class="keyword">const</span> dVector3 w, <span class="keyword">const</span> dQuaternion q);
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<a name="l00064"></a>00064
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<a name="l00065"></a>00065
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<a name="l00066"></a>00066 <span class="preprocessor">#ifdef __cplusplus</span>
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<a name="l00067"></a>00067 <span class="preprocessor"></span>}
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<a name="l00068"></a>00068 <span class="preprocessor">#endif</span>
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<a name="l00069"></a>00069 <span class="preprocessor"></span>
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<a name="l00070"></a>00070 <span class="preprocessor">#endif</span>
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</pre></div><hr size="1"><address style="text-align: right;"><small>Generated on Fri Oct 12 08:36:51 2007 for Open Dynamics Engine by
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<img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.3 </small></address>
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