//-----------------------------------------------------------------------
void Matrix3::FromEulerAnglesZYX(const Radian& fYAngle, const Radian& fPAngle,
const Radian& fRAngle)
{
double fCos, fSin;
fCos = Math::Cos(fYAngle);
fSin = Math::Sin(fYAngle);
Matrix3 kZMat(fCos, -fSin, 0.0, fSin, fCos, 0.0, 0.0, 0.0, 1.0);
fCos = Math::Cos(fPAngle);
fSin = Math::Sin(fPAngle);
Matrix3 kYMat(fCos, 0.0, fSin, 0.0, 1.0, 0.0, -fSin, 0.0, fCos);
fCos = Math::Cos(fRAngle);
fSin = Math::Sin(fRAngle);
Matrix3 kXMat(1.0, 0.0, 0.0, 0.0, fCos, -fSin, 0.0, fSin, fCos);
*this = kZMat * (kYMat * kXMat);
}
//----------------------------------------------------------------------------
Matrix3 Matrix3::fromEulerAnglesZYX (float fYAngle, float fPAngle,
float fRAngle) {
float fCos, fSin;
fCos = cos(fYAngle);
fSin = sin(fYAngle);
Matrix3 kZMat(fCos, -fSin, 0.0, fSin, fCos, 0.0, 0.0, 0.0, 1.0);
fCos = cos(fPAngle);
fSin = sin(fPAngle);
Matrix3 kYMat(fCos, 0.0, fSin, 0.0, 1.0, 0.0, -fSin, 0.0, fCos);
fCos = cos(fRAngle);
fSin = sin(fRAngle);
Matrix3 kXMat(1.0, 0.0, 0.0, 0.0, fCos, -fSin, 0.0, fSin, fCos);
return kZMat * (kYMat * kXMat);
}
//----------------------------------------------------------------------------
Matrix3 Matrix3::fromEulerAnglesXYZ (float fYAngle, float fPAngle,
float fRAngle) {
float fCos, fSin;
fCos = cosf(fYAngle);
fSin = sinf(fYAngle);
Matrix3 kXMat(1.0f, 0.0f, 0.0f, 0.0f, fCos, -fSin, 0.0, fSin, fCos);
fCos = cosf(fPAngle);
fSin = sinf(fPAngle);
Matrix3 kYMat(fCos, 0.0f, fSin, 0.0f, 1.0f, 0.0f, -fSin, 0.0f, fCos);
fCos = cosf(fRAngle);
fSin = sinf(fRAngle);
Matrix3 kZMat(fCos, -fSin, 0.0f, fSin, fCos, 0.0f, 0.0f, 0.0f, 1.0f);
return kXMat * (kYMat * kZMat);
}
