Remove fastmath funktions like discussed on the list.

[simgear.git] / simgear / math / SGQuat.hxx

diff --git a/simgear/math/SGQuat.hxx b/simgear/math/SGQuat.hxx
index f70df3ca43e6b1873605427ee54eb8fa448d4bd6..1ac86fe58310bd6857b2f7aa59935de2e15ada7f 100644 (file)
--- a/simgear/math/SGQuat.hxx
+++ b/simgear/math/SGQuat.hxx
@@ -1,3 +1,20 @@
+// Copyright (C) 2006  Mathias Froehlich - Mathias.Froehlich@web.de
+//
+// This library is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Library General Public
+// License as published by the Free Software Foundation; either
+// version 2 of the License, or (at your option) any later version.
+//
+// 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 GNU
+// Library General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+//
+
 #ifndef SGQuat_H
 #define SGQuat_H
 
@@ -32,7 +49,7 @@ public:
   { return fromRealImag(1, SGVec3<T>(0)); }
 
   /// Return a quaternion from euler angles
-  static SGQuat fromEuler(T z, T y, T x)
+  static SGQuat fromEulerRad(T z, T y, T x)
   {
     SGQuat q;
     T zd2 = T(0.5)*z; T yd2 = T(0.5)*y; T xd2 = T(0.5)*x;
@@ -47,17 +64,32 @@ public:
     return q;
   }
 
+  /// Return a quaternion from euler angles in degrees
+  static SGQuat fromEulerDeg(T z, T y, T x)
+  {
+    return fromEulerRad(SGMisc<T>::deg2rad(z), SGMisc<T>::deg2rad(y),
+                        SGMisc<T>::deg2rad(x));
+  }
+
   /// Return a quaternion from euler angles
   static SGQuat fromYawPitchRoll(T y, T p, T r)
-  { return fromEuler(y, p, r); }
+  { return fromEulerRad(y, p, r); }
+
+  /// Return a quaternion from euler angles
+  static SGQuat fromYawPitchRollDeg(T y, T p, T r)
+  { return fromEulerDeg(y, p, r); }
 
   /// Return a quaternion from euler angles
   static SGQuat fromHeadAttBank(T h, T a, T b)
-  { return fromEuler(h, a, b); }
+  { return fromEulerRad(h, a, b); }
+
+  /// Return a quaternion from euler angles
+  static SGQuat fromHeadAttBankDeg(T h, T a, T b)
+  { return fromEulerDeg(h, a, b); }
 
   /// Return a quaternion rotation the the horizontal local frame from given
   /// longitude and latitude
-  static SGQuat fromLonLat(T lon, T lat)
+  static SGQuat fromLonLatRad(T lon, T lat)
   {
     SGQuat q;
     T zd2 = T(0.5)*lon;
@@ -73,6 +105,16 @@ public:
     return q;
   }
 
+  /// Return a quaternion rotation the the horizontal local frame from given
+  /// longitude and latitude
+  static SGQuat fromLonLatDeg(T lon, T lat)
+  { return fromLonLatRad(SGMisc<T>::deg2rad(lon), SGMisc<T>::deg2rad(lat)); }
+
+  /// Return a quaternion rotation the the horizontal local frame from given
+  /// longitude and latitude
+  static SGQuat fromLonLat(const SGGeod& geod)
+  { return fromLonLatRad(geod.getLongitudeRad(), geod.getLatitudeRad()); }
+
   /// Create a quaternion from the angle axis representation
   static SGQuat fromAngleAxis(T angle, const SGVec3<T>& axis)
   {
@@ -80,6 +122,10 @@ public:
     return fromRealImag(cos(angle2), T(sin(angle2))*axis);
   }
 
+  /// Create a quaternion from the angle axis representation
+  static SGQuat fromAngleAxisDeg(T angle, const SGVec3<T>& axis)
+  { return fromAngleAxis(SGMisc<T>::deg2rad(angle), axis); }
+
   /// Create a quaternion from the angle axis representation where the angle
   /// is stored in the axis' length
   static SGQuat fromAngleAxis(const SGVec3<T>& axis)
@@ -147,9 +193,9 @@ public:
   void getEulerDeg(T& zDeg, T& yDeg, T& xDeg) const
   {
     getEulerRad(zDeg, yDeg, xDeg);
-    zDeg *= 180/SGMisc<value_type>::pi();
-    yDeg *= 180/SGMisc<value_type>::pi();
-    xDeg *= 180/SGMisc<value_type>::pi();
+    zDeg = SGMisc<T>::rad2deg(zDeg);
+    yDeg = SGMisc<T>::rad2deg(yDeg);
+    xDeg = SGMisc<T>::rad2deg(xDeg);
   }
 
   /// write the angle axis representation into the references
@@ -186,6 +232,13 @@ public:
   T& operator()(unsigned i)
   { return _data[i]; }
 
+  /// Access raw data by index, the index is unchecked
+  const T& operator[](unsigned i) const
+  { return _data[i]; }
+  /// Access raw data by index, the index is unchecked
+  T& operator[](unsigned i)
+  { return _data[i]; }
+
   /// Access the x component
   const T& x(void) const
   { return _data[0]; }
@@ -504,10 +557,6 @@ std::basic_ostream<char_type, traits_type>&
 operator<<(std::basic_ostream<char_type, traits_type>& s, const SGQuat<T>& v)
 { return s << "[ " << v(0) << ", " << v(1) << ", " << v(2) << ", " << v(3) << " ]"; }
 
-/// Two classes doing actually the same on different types
-typedef SGQuat<float> SGQuatf;
-typedef SGQuat<double> SGQuatd;
-
 inline
 SGQuatf
 toQuatf(const SGQuatd& v)