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authorStanislaw Halik <sthalik@misaki.pl>2014-10-26 06:14:33 +0100
committerStanislaw Halik <sthalik@misaki.pl>2014-10-26 06:14:33 +0100
commit089d07189294e1bcb6eefad838cf5a683fa1451b (patch)
tree137f069db8e337859c3024b86a3a72107b336b76
parente097b0bbcd6a146a09503f5f14e13fafa78a3d70 (diff)
pose-widget: copy-paste euler- > tait-bryan from tracker.cpp
-rw-r--r--ftnoir_posewidget/glwidget.cpp41
1 files changed, 25 insertions, 16 deletions
diff --git a/ftnoir_posewidget/glwidget.cpp b/ftnoir_posewidget/glwidget.cpp
index 70114b0e..9495376f 100644
--- a/ftnoir_posewidget/glwidget.cpp
+++ b/ftnoir_posewidget/glwidget.cpp
@@ -34,22 +34,31 @@ void GLWidget::paintEvent ( QPaintEvent * event ) {
void GLWidget::rotateBy(double xAngle, double yAngle, double zAngle)
{
- double ch = cos(xAngle / 57.295781);
- double sh = sin(xAngle / 57.295781);
- double ca = cos(zAngle / 57.295781);
- double sa = sin(zAngle / 57.295781);
- double cb = cos(yAngle / 57.295781);
- double sb = sin(yAngle / 57.295781);
-
- matrix[0 * 3 + 0] = ch * ca;
- matrix[0 * 3 + 1]= sh*sb - ch*sa*cb;
- matrix[0 * 3 + 2]= ch*sa*sb + sh*cb;
- matrix[1 * 3 + 0]= sa;
- matrix[1 * 3 + 1]= ca*cb;
- matrix[1 * 3 + 2]= -ca*sb;
- matrix[2 * 3 + 0]= -sh*ca;
- matrix[2 * 3 + 1]= sh*sa*cb + ch*sb;
- matrix[2 * 3 + 2]= -sh*sa*sb + ch*cb;
+ double c1 = cos(xAngle / 57.295781);
+ double s1 = sin(xAngle / 57.295781);
+ double c2 = cos(zAngle / 57.295781);
+ double s2 = sin(zAngle / 57.295781);
+ double c3 = cos(yAngle / 57.295781);
+ double s3 = sin(yAngle / 57.295781);
+
+ double foo[] = {
+ // z
+ c1 * c2,
+ c1 * s2 * s3 - c3 * s1,
+ s1 * s3 + c1 * c3 * s2,
+ // y
+ c2 * s1,
+ c1 * c3 + s1 * s2 * s3,
+ c3 * s1 * s2 - c1 * s3,
+ // x
+ -s2,
+ c2 * s3,
+ c2 * c3
+ };
+
+ for (int i = 0; i < 9; i++)
+ matrix[i] = foo[i];
+
update();
}