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authorStanislaw Halik <sthalik@misaki.pl>2016-07-21 14:26:44 +0200
committerStanislaw Halik <sthalik@misaki.pl>2016-07-23 11:05:33 +0200
commitb6ae6dcbb8ffc3dda16a2004c5fb98ea18890833 (patch)
tree6c995246eeeb1409932dfc02e9a4d308bcda5f5b
parent6a0ead2849c9e0dc3bbefeecf3e36d4f187624ae (diff)
pose-widget: use common code for euler -> rmat
-rw-r--r--pose-widget/glwidget.cpp19
1 files changed, 9 insertions, 10 deletions
diff --git a/pose-widget/glwidget.cpp b/pose-widget/glwidget.cpp
index b9aec303..d8b451ef 100644
--- a/pose-widget/glwidget.cpp
+++ b/pose-widget/glwidget.cpp
@@ -47,18 +47,17 @@ void GLWidget::rotateBy(float xAngle, float yAngle, float zAngle, float x, float
using std::sin;
using std::cos;
- float c1 = cos(yAngle / 57.295781f);
- float s1 = sin(yAngle / 57.295781f);
- float c2 = cos(xAngle / 57.295781f);
- float s2 = sin(xAngle / 57.295781f);
- float c3 = cos(zAngle / 57.295781f);
- float s3 = sin(zAngle / 57.295781f);
-
- rotation = rmat(c2*c3, -c2*s3, s2,
- c1*s3+c3*s1*s2, c1*c3-s1*s2*s3, -c2*s1,
- s1*s3-c1*c3*s2, c3*s1+c1*s2*s3, c1*c2);
+ static constexpr num d2r = float(OPENTRACK_PI / 180);
+
translation = vec3(x, y, z);
+ euler::euler_t euler(-zAngle * d2r, xAngle * d2r, yAngle * d2r);
+ euler::rmat r = euler::euler_to_rmat(euler);
+
+ for (int i = 0; i < 3; i++)
+ for (int j = 0; j < 3; j++)
+ rotation(i, j) = num(r(i, j));
+
update();
}