#include "Vector3.h" #include "RotationMatrix.h" #include "EularAngles.h" #include "Quaternion.h" void RotationMatrix ::Identity() { m11 = m22 = m33 = 1 ; m12 = m13 = m21 = m23 = m31 = m32 = 0 ; } void RotationMatrix ::SetUp(const EulerAngles& orientation) { float sinHeading = sin(orientation.heading) ; float cosHeading = cos(orientation.heading) ; float sinPitch = sin(orientation.pitch) ; float cosPitch = cos(orientation.pitch) ; float sinBank = sin(orientation.bank) ; float cosBank = cos(orientation.bank) ; m11 = cosHeading * cosBank + sinHeading * sinPitch * sinBank ; m12 = -cosHeading * sinBank + sinHeading * sinPitch * cosBank ; m13 = sinHeading * sinPitch ; m21 = sinBank * cosPitch ; m22 = cosBank * cosPitch ; m23 = -sinPitch ; m31 = -sinHeading * cosBank + cosHeading * sinPitch * sinBank ; m32 = sinBank * sinHeading + cosHeading * sinPitch * cosBank ; m33 = cosHeading * cosPitch ; } void RotationMatrix ::FromInertialToObjectQuaternion(const Quaternion& q) { m11 = 1 - 2 * (q.y * q.y + q.z * q.z) ; m12 = 2 * (q.x * q.y + q.w * q.z) ; m13 = 2 * (q.x * q.z - q.w * q.y) ; m21 = 2 * (q.x * q.y - q.w * q.z) ; m22 = 1 - 2 * (q.x * q.x + q.z * q.z) ; m23 = 2 * (q.y + q.z + q.w * q.x) ; m31 = 2 * (q.x * q.z + q.w * q.y) ; m32 = 2 * (q.y * q.z - q.w * q.x) ; m33 = 1 - 2 * (q.x * q.x + q.y * q.y) ; } void RotationMatrix ::FromObjectToInertialQuaternion(const Quaternion& q) { m11 = 1 - 2 * (q.y * q.y + q.z * q.z) ; m12 = 2 * (q.x * q.y - q.w * q.z) ; m13 = 2 * (q.x * q.z + q.w * q.y) ; m21 = 2 * (q.x * q.y + q.w * q.z) ; m22 = 1 - 2 * (q.x * q.x + q.z * q.z) ; m23 = 2 * (q.y * q.z - q.w * q.x) ; m31 = 2 * (q.x * q.z - q.w * q.y) ; m32 = 2 * (q.y * q.z + q.w * q.x) ; m33 = 1 - 2 * (q.x * q.x + q.y * q.y) ; } Vector3 RotationMatrix ::InertialToObject(const Vector3& v) const { return Vector3( m11 * v.x + m12 * v.y + m13 * v.z, m21 * v.x + m22 * v.y + m23 * v.z, m31 * v.x + m32 * v.y + m33 * v.z) ; } Vector3 RotationMatrix ::ObjectToInertial(const Vector3& v) const { return Vector3( m11 * v.x + m32 * v.y + m31 * v.z, m12 * v.x + m22 * v.y + m32 * v.z, m13 * v.x + m23 * v.y + m33 * v.z) ; }