From afd3c76088334e593cf4caaec4c6ea1063c7d9e0 Mon Sep 17 00:00:00 2001 From: ehofman Date: Sun, 19 Feb 2006 17:22:17 +0000 Subject: [PATCH] =?utf8?q?Mathias=20Fr=F6hlich:?= MIME-Version: 1.0 Content-Type: text/plain; charset=utf8 Content-Transfer-Encoding: 8bit This patch makes use of the vectors now available in simgear with that past patch. And using that it simplyfies the carrier code somehow. - Small additional factory's to the quaternion code are done in the simgear part. Also more explicit unit names in the factory functions. - The flightgear part makes use of them and simplyfies some computations especially in the carrier code. - The data part fixes the coordinate frames I used for the park positions in the carrier to match the usual ones. I believed that I had done so, but it was definitly different. Also there are more parking positions avaliable now. --- simgear/math/SGMathTest.cxx | 6 ++--- simgear/math/SGMisc.hxx | 5 +++++ simgear/math/SGQuat.hxx | 45 +++++++++++++++++++++++++++++++------ simgear/math/SGVec3.hxx | 7 ++++++ simgear/math/SGVec4.hxx | 7 ++++++ 5 files changed, 60 insertions(+), 10 deletions(-) diff --git a/simgear/math/SGMathTest.cxx b/simgear/math/SGMathTest.cxx index 2855b77a..90811773 100644 --- a/simgear/math/SGMathTest.cxx +++ b/simgear/math/SGMathTest.cxx @@ -126,7 +126,7 @@ QuatTest(void) q2 = SGQuat::fromAngleAxis(y, e2); q3 = SGQuat::fromAngleAxis(x, e1); v2 = q3.transform(q2.transform(q1.transform(v1))); - q4 = SGQuat::fromEuler(z, y, x); + q4 = SGQuat::fromEulerRad(z, y, x); if (!equivalent(q4.transform(v1), v2)) return false; @@ -219,7 +219,7 @@ sgInterfaceTest(void) { SGVec3f v3f = SGVec3f::e2(); SGVec4f v4f = SGVec4f::e2(); - SGQuatf qf = SGQuatf::fromEuler(1.2, 1.3, -0.4); + SGQuatf qf = SGQuatf::fromEulerRad(1.2, 1.3, -0.4); SGMatrixf mf(qf, v3f); // Copy to and from plibs types check if result is equal, @@ -266,7 +266,7 @@ sgdInterfaceTest(void) { SGVec3d v3d = SGVec3d::e2(); SGVec4d v4d = SGVec4d::e2(); - SGQuatd qd = SGQuatd::fromEuler(1.2, 1.3, -0.4); + SGQuatd qd = SGQuatd::fromEulerRad(1.2, 1.3, -0.4); SGMatrixd md(qd, v3d); // Copy to and from plibs types check if result is equal, diff --git a/simgear/math/SGMisc.hxx b/simgear/math/SGMisc.hxx index b6671f84..59c61edc 100644 --- a/simgear/math/SGMisc.hxx +++ b/simgear/math/SGMisc.hxx @@ -29,6 +29,11 @@ public: return 0; } + static T rad2deg(const T& val) + { return val*180/pi(); } + static T deg2rad(const T& val) + { return val*pi()/180; } + #ifndef NDEBUG /// Returns true if v is a NaN value /// Use with care: allways code that you do not need to use that! diff --git a/simgear/math/SGQuat.hxx b/simgear/math/SGQuat.hxx index f70df3ca..c4bf5cc7 100644 --- a/simgear/math/SGQuat.hxx +++ b/simgear/math/SGQuat.hxx @@ -32,7 +32,7 @@ public: { return fromRealImag(1, SGVec3(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 +47,32 @@ public: return q; } + /// Return a quaternion from euler angles in degrees + static SGQuat fromEulerDeg(T z, T y, T x) + { + return fromEulerRad(SGMisc::deg2rad(z), SGMisc::deg2rad(y), + SGMisc::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 +88,11 @@ 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::deg2rad(lon), SGMisc::deg2rad(lat)); } + /// Create a quaternion from the angle axis representation static SGQuat fromAngleAxis(T angle, const SGVec3& axis) { @@ -80,6 +100,10 @@ public: return fromRealImag(cos(angle2), T(sin(angle2))*axis); } + /// Create a quaternion from the angle axis representation + static SGQuat fromAngleAxisDeg(T angle, const SGVec3& axis) + { return fromAngleAxis(SGMisc::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& axis) @@ -147,9 +171,9 @@ public: void getEulerDeg(T& zDeg, T& yDeg, T& xDeg) const { getEulerRad(zDeg, yDeg, xDeg); - zDeg *= 180/SGMisc::pi(); - yDeg *= 180/SGMisc::pi(); - xDeg *= 180/SGMisc::pi(); + zDeg = SGMisc::rad2deg(zDeg); + yDeg = SGMisc::rad2deg(yDeg); + xDeg = SGMisc::rad2deg(xDeg); } /// write the angle axis representation into the references @@ -186,6 +210,13 @@ 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]; } diff --git a/simgear/math/SGVec3.hxx b/simgear/math/SGVec3.hxx index 8bce7eac..473fad4c 100644 --- a/simgear/math/SGVec3.hxx +++ b/simgear/math/SGVec3.hxx @@ -42,6 +42,13 @@ 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]; } diff --git a/simgear/math/SGVec4.hxx b/simgear/math/SGVec4.hxx index 2e469e7f..7c94ef53 100644 --- a/simgear/math/SGVec4.hxx +++ b/simgear/math/SGVec4.hxx @@ -35,6 +35,13 @@ 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]; } -- 2.39.5