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/**
* @file rotation.cpp
*
* Vector rotation library
*/
#include "math.h"
#include "rotation.h"
__EXPORT void
get_rot_matrix(enum Rotation rot, math::Matrix<3,3> *rot_matrix)
{
float roll = M_DEG_TO_RAD_F * (float)rot_lookup[rot].roll;
float pitch = M_DEG_TO_RAD_F * (float)rot_lookup[rot].pitch;
float yaw = M_DEG_TO_RAD_F * (float)rot_lookup[rot].yaw;
rot_matrix->from_euler(roll, pitch, yaw);
}
#define HALF_SQRT_2 0.70710678118654757f
__EXPORT void
rotate_3f(enum Rotation rot, float &x, float &y, float &z)
{
float tmp;
switch (rot) {
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;
}
case ROTATION_ROLL_90: {
tmp = z; z = y; y = -tmp;
return;
}
case ROTATION_ROLL_90_YAW_45: {
tmp = z; z = y; y = -tmp;
tmp = HALF_SQRT_2*(x - y);
y = HALF_SQRT_2*(x + y);
x = tmp;
return;
}
case ROTATION_ROLL_90_YAW_90: {
tmp = z; z = y; y = -tmp;
tmp = x; x = -y; y = tmp;
return;
}
case ROTATION_ROLL_90_YAW_135: {
tmp = z; z = y; y = -tmp;
tmp = -HALF_SQRT_2*(x + y);
y = HALF_SQRT_2*(x - y);
x = tmp;
return;
}
case ROTATION_ROLL_270: {
tmp = z; z = -y; y = tmp;
return;
}
case ROTATION_ROLL_270_YAW_45: {
tmp = z; z = -y; y = tmp;
tmp = HALF_SQRT_2*(x - y);
y = HALF_SQRT_2*(x + y);
x = tmp;
return;
}
case ROTATION_ROLL_270_YAW_90: {
tmp = z; z = -y; y = tmp;
tmp = x; x = -y; y = tmp;
return;
}
case ROTATION_ROLL_270_YAW_135: {
tmp = z; z = -y; y = tmp;
tmp = -HALF_SQRT_2*(x + y);
y = HALF_SQRT_2*(x - y);
x = tmp;
return;
}
case ROTATION_ROLL_270_YAW_270: {
// unimplemented
ASSERT(0 == 1);
return;
}
case ROTATION_PITCH_90: {
tmp = z; z = -x; x = tmp;
return;
}
case ROTATION_PITCH_270: {
tmp = z; z = x; x = -tmp;
return;
}
}
}