From 089d07189294e1bcb6eefad838cf5a683fa1451b Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Sun, 26 Oct 2014 06:14:33 +0100 Subject: pose-widget: copy-paste euler- > tait-bryan from tracker.cpp --- ftnoir_posewidget/glwidget.cpp | 41 +++++++++++++++++++++++++---------------- 1 file 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(); } -- cgit v1.2.3