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92 lines
2.1 KiB
92 lines
2.1 KiB
#include "rotationsmatrix.h"
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Rotationsmatrix::Rotationsmatrix() : Matrix(3,3) {
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set(x_axis, 0.0f);
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}
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Rotationsmatrix::Rotationsmatrix(axis _ax, float _deg) : Matrix(3,3) {
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set(_ax, _deg);
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}
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Rotationsmatrix::Rotationsmatrix(Punkt3D _rotvec, float _deg) : Matrix(3,3) {
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set(_rotvec, _deg);
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}
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void Rotationsmatrix::set(Punkt3D _rotvec, float _deg) {
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rotvec = _rotvec;
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rotvec.normalize();
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deg = _deg;
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initRot();
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}
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void Rotationsmatrix::set(axis _ax, float _deg) {
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deg = _deg;
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switch(_ax) {
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case x_axis:
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rotvec.set(1.0f, 0.0f, 0.0f);
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break;
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case y_axis:
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rotvec.set(0.0f, 1.0f, 0.0f);
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break;
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case z_axis:
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rotvec.set(0.0f, 0.0f, 1.0f);
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break;
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}
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initRot();
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}
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void Rotationsmatrix::set(float _deg) {
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deg = _deg;
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initRot();
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}
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void Rotationsmatrix::initRot() {
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c[0][0] = scos(deg) + pow(rotvec.x,2.0f) * (1 - scos(deg));
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c[0][1] = rotvec.x * rotvec.y * (1 - scos(deg)) - rotvec.z * ssin(deg);
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c[0][2] = rotvec.x * rotvec.z * (1 - scos(deg)) + rotvec.y * ssin(deg);
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c[1][0] = rotvec.y * rotvec.x * (1 - scos(deg)) + rotvec.z * ssin(deg);
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c[1][1] = scos(deg) + pow(rotvec.y,2.0f) * (1 - scos(deg));
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c[1][2] = rotvec.y * rotvec.z * (1 - scos(deg)) - rotvec.x * ssin(deg);
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c[2][0] = rotvec.z * rotvec.x * (1 - scos(deg)) - rotvec.y * ssin(deg);
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c[2][1] = rotvec.z * rotvec.y * (1 - scos(deg)) + rotvec.x * ssin(deg);
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c[2][2] = scos(deg) + pow(rotvec.z,2.0f) * (1 - scos(deg));
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}
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Punkt3D Rotationsmatrix::operator*(const Punkt3D &p) {
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Matrix erg(3,1);
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Punkt3D erg2;
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erg = (((Matrix*)(this))->operator*(Matrix(p)));
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const float **mat = erg.getMatrix();
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erg2.set(mat[0][0], mat[1][0], mat[2][0]);
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return erg2;
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}
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Rotationsmatrix Rotationsmatrix::operator*(const Rotationsmatrix &p) {
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Matrix m(3, 3);
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Rotationsmatrix rotmat;
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m = ((Matrix)(*this) * (Matrix)p);
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const float **mat = m.getMatrix();
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rotmat.c[0][0] = mat[0][0];
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rotmat.c[0][1] = mat[0][1];
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rotmat.c[0][2] = mat[0][2];
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rotmat.c[1][0] = mat[1][0];
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rotmat.c[1][1] = mat[1][1];
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rotmat.c[1][2] = mat[1][2];
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rotmat.c[2][0] = mat[2][0];
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rotmat.c[2][1] = mat[2][1];
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rotmat.c[2][2] = mat[2][2];
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return rotmat;
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}
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Rotationsmatrix::~Rotationsmatrix() {
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}
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