1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
|
// This file is part of ff3d - http://www.freefem.org/ff3d
// Copyright (C) 2001, 2002, 2003 Stphane Del Pino
// This program 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 2, or (at your option)
// any later version.
// This program 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, write to the Free Software Foundation,
// Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
// $Id: Rotation.cpp,v 1.3 2006/10/01 23:25:58 delpinux Exp $
#include <Rotation.hpp>
#include <cmath>
#include <sstream>
TinyVector<3,real_t> Rotation::
operator()(const TinyVector<3,real_t>& v) const
{
return __matrix*v;
}
TinyVector<3,real_t> Rotation::
inverse(const TinyVector<3,real_t>& v) const
{
// As 'matrix' is composed of rotations, and
// as rotations are othogonal matrices
// the inverse of 'matrix' is its transposed
TinyVector<3,real_t> Temporary = 0;
for (size_t i=0; i<3; i++)
for (size_t j=0; j<3; j++) {
Temporary[i]+=__matrix(j,i)*v[j];
}
return Temporary;
}
Rotation::
Rotation(const TinyVector<3,real_t>& r)
: Transform(rotation),
__angles(r)
{
const real_t deg2rad=4*std::atan(1.)/180.;
const real_t cosx = std::cos(deg2rad*r[0]);
const real_t cosy = std::cos(deg2rad*r[1]);
const real_t cosz = std::cos(deg2rad*r[2]);
const real_t sinx = std::sin(deg2rad*r[0]);
const real_t siny = std::sin(deg2rad*r[1]);
const real_t sinz = std::sin(deg2rad*r[2]);
__matrix(0,0) = cosy*cosz;
__matrix(0,1) = -sinz*cosx + sinx*siny*cosz;
__matrix(0,2) = sinx*sinz + cosx*siny*cosz;
__matrix(1,0) = cosy*sinz;
__matrix(1,1) = cosx*cosz + sinx*siny*sinz;
__matrix(1,2) = -sinx*cosy + cosx*siny*sinz;
__matrix(2,0) = -siny;
__matrix(2,1) = sinx*cosy;
__matrix(2,2) = cosx*cosy;
}
Rotation::
Rotation(const Rotation& r)
: Transform(r),
__angles(r.__angles),
__matrix(r.__matrix)
{
;
}
//! prints rotation information to a string.
std::string Rotation::
povWrite() const
{
std::stringstream povs;
povs << "rotation <"
<< __angles[0]
<< ", "
<< __angles[1]
<< ", "
<< __angles[2]
<< ">";
povs << std::ends;
return povs.str();
}
ReferenceCounting<Transform> Rotation::
getCopy() const
{
return new Rotation(*this);
}
|
