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authorStanislaw Halik <sthalik@misaki.pl>2016-11-12 11:58:54 +0100
committerStanislaw Halik <sthalik@misaki.pl>2016-11-12 12:04:27 +0100
commita680c4573fb83e26caa8daee08d08dc045710dd6 (patch)
treeb4a7abfc1525263c1ec940351b89b23f774e05be /compat/euler.cpp
parente5d2902e11ae6ea2e26e0caa6588384225e018f6 (diff)
compat: move from simple-mat.hpp to euler.hpp
Diffstat (limited to 'compat/euler.cpp')
-rw-r--r--compat/euler.cpp96
1 files changed, 96 insertions, 0 deletions
diff --git a/compat/euler.cpp b/compat/euler.cpp
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+++ b/compat/euler.cpp
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+#include "euler.hpp"
+#include <cmath>
+
+namespace euler {
+
+euler_t OPENTRACK_COMPAT_EXPORT rmat_to_euler(const rmat& R)
+{
+ using std::atan2;
+ using std::sqrt;
+
+ const double cy = sqrt(R(2,2)*R(2, 2) + R(2, 1)*R(2, 1));
+ const bool large_enough = cy > 1e-10;
+ if (large_enough)
+ return euler_t(atan2(-R(1, 0), R(0, 0)),
+ atan2(R(2, 0), cy),
+ atan2(-R(2, 1), R(2, 2)));
+ else
+ return euler_t(atan2(R(0, 1), R(1, 1)),
+ atan2(R(2, 0), cy),
+ 0);
+}
+
+// tait-bryan angles, not euler
+rmat OPENTRACK_COMPAT_EXPORT euler_to_rmat(const euler_t& input)
+{
+ const double H = -input(0);
+ const double P = -input(1);
+ const double B = -input(2);
+
+ using std::cos;
+ using std::sin;
+
+ const auto c1 = cos(H);
+ const auto s1 = sin(H);
+ const auto c2 = cos(P);
+ const auto s2 = sin(P);
+ const auto c3 = cos(B);
+ const auto s3 = sin(B);
+
+ return rmat(
+ // 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
+ );
+}
+
+// https://en.wikipedia.org/wiki/Davenport_chained_rotations#Tait.E2.80.93Bryan_chained_rotations
+void OPENTRACK_COMPAT_EXPORT tait_bryan_to_matrices(const euler_t& input,
+ rmat& r_roll,
+ rmat& r_pitch,
+ rmat& r_yaw)
+{
+ using std::cos;
+ using std::sin;
+
+ {
+ const double phi = -input(2);
+ const double sin_phi = sin(phi);
+ const double cos_phi = cos(phi);
+
+ r_roll = rmat(1, 0, 0,
+ 0, cos_phi, -sin_phi,
+ 0, sin_phi, cos_phi);
+ }
+
+ {
+ const double theta = input(1);
+ const double sin_theta = sin(theta);
+ const double cos_theta = cos(theta);
+
+ r_pitch = rmat(cos_theta, 0, -sin_theta,
+ 0, 1, 0,
+ sin_theta, 0, cos_theta);
+ }
+
+ {
+ const double psi = -input(0);
+ const double sin_psi = sin(psi);
+ const double cos_psi = cos(psi);
+
+ r_yaw = rmat(cos_psi, -sin_psi, 0,
+ sin_psi, cos_psi, 0,
+ 0, 0, 1);
+ }
+}
+
+} // end ns euler