Commit b044cd6e authored by Dirk Wilden's avatar Dirk Wilden
Browse files

removed warnings / euler angles files

git-svn-id: http://www.openflipper.org/svnrepo/OpenFlipper/branches/Free@10614 383ad7c9-94d9-4d36-a494-682f7c89f535
parent ea8742fa
/**** EulerAngles.c - Convert Euler angles to/from matrix or quat ****/
/* Ken Shoemake, 1993 */
#include <math.h>
#include <float.h>
#include "EulerAngles.hh"
EulerAngles Eul_(float ai, float aj, float ah, int order)
{
EulerAngles ea;
ea.x = ai; ea.y = aj; ea.z = ah;
ea.w = order;
return (ea);
}
/* Construct quaternion from Euler angles (in radians). */
Quat Eul_ToQuat(EulerAngles ea)
{
Quat qu;
double a[3], ti, tj, th, ci, cj, ch, si, sj, sh, cc, cs, sc, ss;
int i,j,k,h,n,s,f;
EulGetOrd(ea.w,i,j,k,h,n,s,f);
if (f==EulFrmR) {float t = ea.x; ea.x = ea.z; ea.z = t;}
if (n==EulParOdd) ea.y = -ea.y;
ti = ea.x*0.5; tj = ea.y*0.5; th = ea.z*0.5;
ci = cos(ti); cj = cos(tj); ch = cos(th);
si = sin(ti); sj = sin(tj); sh = sin(th);
cc = ci*ch; cs = ci*sh; sc = si*ch; ss = si*sh;
if (s==EulRepYes) {
a[i] = cj*(cs + sc); /* Could speed up with */
a[j] = sj*(cc + ss); /* trig identities. */
a[k] = sj*(cs - sc);
qu.w = cj*(cc - ss);
} else {
a[i] = cj*sc - sj*cs;
a[j] = cj*ss + sj*cc;
a[k] = cj*cs - sj*sc;
qu.w = cj*cc + sj*ss;
}
if (n==EulParOdd) a[j] = -a[j];
qu.x = a[X]; qu.y = a[Y]; qu.z = a[Z];
return (qu);
}
/* Construct matrix from Euler angles (in radians). */
void Eul_ToHMatrix(EulerAngles ea, HMatrix M)
{
double ti, tj, th, ci, cj, ch, si, sj, sh, cc, cs, sc, ss;
int i,j,k,h,n,s,f;
EulGetOrd(ea.w,i,j,k,h,n,s,f);
if (f==EulFrmR) {float t = ea.x; ea.x = ea.z; ea.z = t;}
if (n==EulParOdd) {ea.x = -ea.x; ea.y = -ea.y; ea.z = -ea.z;}
ti = ea.x; tj = ea.y; th = ea.z;
ci = cos(ti); cj = cos(tj); ch = cos(th);
si = sin(ti); sj = sin(tj); sh = sin(th);
cc = ci*ch; cs = ci*sh; sc = si*ch; ss = si*sh;
if (s==EulRepYes) {
M[i][i] = cj; M[i][j] = sj*si; M[i][k] = sj*ci;
M[j][i] = sj*sh; M[j][j] = -cj*ss+cc; M[j][k] = -cj*cs-sc;
M[k][i] = -sj*ch; M[k][j] = cj*sc+cs; M[k][k] = cj*cc-ss;
} else {
M[i][i] = cj*ch; M[i][j] = sj*sc-cs; M[i][k] = sj*cc+ss;
M[j][i] = cj*sh; M[j][j] = sj*ss+cc; M[j][k] = sj*cs-sc;
M[k][i] = -sj; M[k][j] = cj*si; M[k][k] = cj*ci;
}
M[W][X]=M[W][Y]=M[W][Z]=M[X][W]=M[Y][W]=M[Z][W]=0.0; M[W][W]=1.0;
}
/* Convert matrix to Euler angles (in radians). */
EulerAngles Eul_FromHMatrix(HMatrix M, int order)
{
EulerAngles ea;
int i,j,k,h,n,s,f;
EulGetOrd(order,i,j,k,h,n,s,f);
if (s==EulRepYes) {
double sy = sqrt(M[i][j]*M[i][j] + M[i][k]*M[i][k]);
if (sy > 16*FLT_EPSILON) {
ea.x = atan2(M[i][j], M[i][k]);
ea.y = atan2((double)sy,(double)M[i][i]);
ea.z = atan2(M[j][i], -M[k][i]);
} else {
ea.x = atan2(-M[j][k], M[j][j]);
ea.y = atan2((double)sy,(double) M[i][i]);
ea.z = 0;
}
} else {
double cy = sqrt(M[i][i]*M[i][i] + M[j][i]*M[j][i]);
if (cy > 16*FLT_EPSILON) {
ea.x = atan2(M[k][j], M[k][k]);
ea.y = atan2((double)-M[k][i],(double) cy);
ea.z = atan2(M[j][i], M[i][i]);
} else {
ea.x = atan2(-M[j][k], M[j][j]);
ea.y = atan2((double)-M[k][i],(double) cy);
ea.z = 0;
}
}
if (n==EulParOdd) {ea.x = -ea.x; ea.y = - ea.y; ea.z = -ea.z;}
if (f==EulFrmR) {float t = ea.x; ea.x = ea.z; ea.z = t;}
ea.w = order;
return (ea);
}
/* Convert quaternion to Euler angles (in radians). */
EulerAngles Eul_FromQuat(Quat q, int order)
{
HMatrix M;
double Nq = q.x*q.x+q.y*q.y+q.z*q.z+q.w*q.w;
double s = (Nq > 0.0) ? (2.0 / Nq) : 0.0;
double xs = q.x*s, ys = q.y*s, zs = q.z*s;
double wx = q.w*xs, wy = q.w*ys, wz = q.w*zs;
double xx = q.x*xs, xy = q.x*ys, xz = q.x*zs;
double yy = q.y*ys, yz = q.y*zs, zz = q.z*zs;
M[X][X] = 1.0 - (yy + zz); M[X][Y] = xy - wz; M[X][Z] = xz + wy;
M[Y][X] = xy + wz; M[Y][Y] = 1.0 - (xx + zz); M[Y][Z] = yz - wx;
M[Z][X] = xz - wy; M[Z][Y] = yz + wx; M[Z][Z] = 1.0 - (xx + yy);
M[W][X]=M[W][Y]=M[W][Z]=M[X][W]=M[Y][W]=M[Z][W]=0.0; M[W][W]=1.0;
return (Eul_FromHMatrix(M, order));
}
/**** EulerAngles.h - Support for 24 angle schemes ****/
/**** by Ken Shoemake, shoemake@graphics.cis.upenn.edu ****/
/**** in "Graphics Gems IV", Academic Press, 1994 ****/
#ifndef _H_EulerAngles
#define _H_EulerAngles
#include "QuatTypes.hh"
/*** Order type constants, constructors, extractors ***/
/* There are 24 possible conventions, designated by: */
/* o EulAxI = axis used initially */
/* o EulPar = parity of axis permutation */
/* o EulRep = repetition of initial axis as last */
/* o EulFrm = frame from which axes are taken */
/* Axes I,J,K will be a permutation of X,Y,Z. */
/* Axis H will be either I or K, depending on EulRep. */
/* Frame S takes axes from initial static frame. */
/* If ord = (AxI=X, Par=Even, Rep=No, Frm=S), then */
/* {a,b,c,ord} means Rz(c)Ry(b)Rx(a), where Rz(c)v */
/* rotates v around Z by c radians. */
#define EulFrmS 0
#define EulFrmR 1
#define EulFrm(ord) ((unsigned)(ord)&1)
#define EulRepNo 0
#define EulRepYes 1
#define EulRep(ord) (((unsigned)(ord)>>1)&1)
#define EulParEven 0
#define EulParOdd 1
#define EulPar(ord) (((unsigned)(ord)>>2)&1)
#define EulSafe "\000\001\002\000"
#define EulNext "\001\002\000\001"
#define EulAxI(ord) ((int)(EulSafe[(((unsigned)(ord)>>3)&3)]))
#define EulAxJ(ord) ((int)(EulNext[EulAxI(ord)+(EulPar(ord)==EulParOdd)]))
#define EulAxK(ord) ((int)(EulNext[EulAxI(ord)+(EulPar(ord)!=EulParOdd)]))
#define EulAxH(ord) ((EulRep(ord)==EulRepNo)?EulAxK(ord):EulAxI(ord))
/* EulGetOrd unpacks all useful information about order simultaneously. */
#define EulGetOrd(ord,i,j,k,h,n,s,f) {unsigned o=ord;f=o&1;o>>1;s=o&1;o>>1;\
n=o&1;o>>1;i=EulSafe[o&3];j=EulNext[i+n];k=EulNext[i+1-n];h=s?k:i;}
/* EulOrd creates an order value between 0 and 23 from 4-tuple choices. */
#define EulOrd(i,p,r,f) (((((((i)<<1)+(p))<<1)+(r))<<1)+(f))
/* Static axes */
#define EulOrdXYZs EulOrd(X,EulParEven,EulRepNo,EulFrmS)
#define EulOrdXYXs EulOrd(X,EulParEven,EulRepYes,EulFrmS)
#define EulOrdXZYs EulOrd(X,EulParOdd,EulRepNo,EulFrmS)
#define EulOrdXZXs EulOrd(X,EulParOdd,EulRepYes,EulFrmS)
#define EulOrdYZXs EulOrd(Y,EulParEven,EulRepNo,EulFrmS)
#define EulOrdYZYs EulOrd(Y,EulParEven,EulRepYes,EulFrmS)
#define EulOrdYXZs EulOrd(Y,EulParOdd,EulRepNo,EulFrmS)
#define EulOrdYXYs EulOrd(Y,EulParOdd,EulRepYes,EulFrmS)
#define EulOrdZXYs EulOrd(Z,EulParEven,EulRepNo,EulFrmS)
#define EulOrdZXZs EulOrd(Z,EulParEven,EulRepYes,EulFrmS)
#define EulOrdZYXs EulOrd(Z,EulParOdd,EulRepNo,EulFrmS)
#define EulOrdZYZs EulOrd(Z,EulParOdd,EulRepYes,EulFrmS)
/* Rotating axes */
#define EulOrdZYXr EulOrd(X,EulParEven,EulRepNo,EulFrmR)
#define EulOrdXYXr EulOrd(X,EulParEven,EulRepYes,EulFrmR)
#define EulOrdYZXr EulOrd(X,EulParOdd,EulRepNo,EulFrmR)
#define EulOrdXZXr EulOrd(X,EulParOdd,EulRepYes,EulFrmR)
#define EulOrdXZYr EulOrd(Y,EulParEven,EulRepNo,EulFrmR)
#define EulOrdYZYr EulOrd(Y,EulParEven,EulRepYes,EulFrmR)
#define EulOrdZXYr EulOrd(Y,EulParOdd,EulRepNo,EulFrmR)
#define EulOrdYXYr EulOrd(Y,EulParOdd,EulRepYes,EulFrmR)
#define EulOrdYXZr EulOrd(Z,EulParEven,EulRepNo,EulFrmR)
#define EulOrdZXZr EulOrd(Z,EulParEven,EulRepYes,EulFrmR)
#define EulOrdXYZr EulOrd(Z,EulParOdd,EulRepNo,EulFrmR)
#define EulOrdZYZr EulOrd(Z,EulParOdd,EulRepYes,EulFrmR)
EulerAngles Eul_(float ai, float aj, float ah, int order);
Quat Eul_ToQuat(EulerAngles ea);
void Eul_ToHMatrix(EulerAngles ea, HMatrix M);
EulerAngles Eul_FromHMatrix(HMatrix M, int order);
EulerAngles Eul_FromQuat(Quat q, int order);
#endif
......@@ -51,7 +51,6 @@
#include "OpenFlipper/common/GlobalOptions.hh"
#include <ACG/Geometry/AlgorithmsAngleT.hh>
#include "EulerAngles.hh"
#include <bitset>
......@@ -505,7 +504,7 @@ bool FileBVHPlugin::saveObject(int _id, QString _filename)
Skeleton* skeleton = PluginFunctions::skeleton(object);
if ( writeSkeleton( stream, _filename, *skeleton ) ){
if ( writeSkeleton( stream, *skeleton ) ){
emit log(LOGINFO, tr("Saved object to ") + object->path() + OpenFlipper::Options::dirSeparator() + object->name() );
stream.close();
......@@ -556,7 +555,7 @@ ACG::Vec3d MatrixToEuler(ACG::Matrix4x4d _matrix){
//-----------------------------------------------------------------------------------------------------
bool FileBVHPlugin::writeSkeleton( std::ostream& _out, QString _filename, Skeleton& _skeleton ) {
bool FileBVHPlugin::writeSkeleton( std::ostream& _out, Skeleton& _skeleton ) {
Skeleton::Pose* refPose = _skeleton.referencePose();
......
......@@ -107,7 +107,7 @@ class FileBVHPlugin : public QObject, BaseInterface, FileInterface, LoadSaveInte
private:
bool writeSkeleton( std::ostream& _out, QString _filename, Skeleton& _skeleton );
bool writeSkeleton( std::ostream& _out, Skeleton& _skeleton );
ACG::Vec3d convertToAxisRotation(ACG::Matrix4x4d& _rotationMatrix);
......
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