void loop(void) { use_basic(); glEnable(GL_DEPTH_TEST); if(mm) rotz(pview,-mx*50.0f*dt); else if(rx!=0.0f) rotz(pview,-rx*200.0f*dt); else rotz(pview,-10.0f*dt); basic_pview(pview); update_model_vbo(); clear(); use_tex(area_tex); draw_model_vbo(&area_mod); use_text_pro(); glDisable(GL_DEPTH_TEST); use_tex(font.t); draw_text(text.len); if(kp(SDL_SCANCODE_DELETE) || kp(SDL_SCANCODE_ESCAPE) || bp(0)) quit(); }
/** Create or adjust "rot" parameter for a component * Assumed that name either equals "rotx", "roty" or "rotz" otherwise this * method will not add/modify "rot" parameter * @param comp :: Component * @param name :: Parameter name * @param deg :: Parameter value in degrees * @param pDescription :: a pointer (may be NULL) to a string, containing * parameter's * description. If provided, the contents of the string is copied to the * parameter's * memory */ void ParameterMap::addRotationParam(const IComponent *comp, const std::string &name, const double deg, const std::string *const pDescription) { Parameter_sptr paramRotX = get(comp, rotx()); Parameter_sptr paramRotY = get(comp, roty()); Parameter_sptr paramRotZ = get(comp, rotz()); double rotX, rotY, rotZ; if (paramRotX) rotX = paramRotX->value<double>(); else rotX = 0.0; if (paramRotY) rotY = paramRotY->value<double>(); else rotY = 0.0; if (paramRotZ) rotZ = paramRotZ->value<double>(); else rotZ = 0.0; // adjust rotation Quat quat; if (name.compare(rotx()) == 0) { addDouble(comp, rotx(), deg); quat = Quat(deg, V3D(1, 0, 0)) * Quat(rotY, V3D(0, 1, 0)) * Quat(rotZ, V3D(0, 0, 1)); } else if (name.compare(roty()) == 0) { addDouble(comp, roty(), deg); quat = Quat(rotX, V3D(1, 0, 0)) * Quat(deg, V3D(0, 1, 0)) * Quat(rotZ, V3D(0, 0, 1)); } else if (name.compare(rotz()) == 0) { addDouble(comp, rotz(), deg); quat = Quat(rotX, V3D(1, 0, 0)) * Quat(rotY, V3D(0, 1, 0)) * Quat(deg, V3D(0, 0, 1)); } else { g_log.warning() << "addRotationParam() called with unrecognized coordinate symbol: " << name; return; } // clear the position cache clearPositionSensitiveCaches(); // finally add or update "pos" parameter addQuat(comp, rot(), quat, pDescription); }
void ArcBall::setView( int view ) { m_zoom = 1.0; m_moveX = 0; m_moveY = 0; m_oldMoveX = 0; m_oldMoveY = 0; m_currentRot.setToIdentity(); m_lastRot.setToIdentity(); QQuaternion rotx( sqrt(0.5), 0, 0, sqrt(0.5) ); QQuaternion rot_x( -sqrt(0.5), 0, 0, sqrt(0.5) ); QQuaternion roty( 0, sqrt(0.5), 0, sqrt(0.5) ); QQuaternion rot_y( 0, -sqrt(0.5), 0, sqrt(0.5) ); QQuaternion rotz( 0, 0, sqrt(0.5), sqrt(0.5) ); if ( view == 2 ) { m_currentRot.rotate( rotz ); m_currentRot.rotate( rotx ); m_currentRot.rotate( rotx ); } if ( view == 3 ) { m_currentRot.rotate( rot_x ); m_currentRot.rotate( rot_y ); } }
//rotate void rotate(float rx, float ry, float rz){ Matrix4f rotx, roty, rotz; rotx = Matrix4f::Identity(); roty = Matrix4f::Identity(); rotz = Matrix4f::Identity(); float cosrx, sinrx, cosry, sinry, cosrz, sinrz; cosrx = cosf(rx); sinrx = sinf(rx); cosry = cosf(ry); sinry = sinf(ry); cosrz = cosf(rz); sinrz = sinf(rz); rotx(1,1) = cosrx; rotx(1,2) = -sinrx; rotx(2,1) = sinrx; rotx(2,2) = cosrx; roty(0,0) = cosry; roty(2,0) = -sinry; roty(0,2) = sinry; roty(2,2) = cosry; rotz(0,0) = cosrz; rotz(0,1) = -sinrz; rotz(1,0) = sinrz; rotz(1,1) = cosrz; model_view.top() *= (rotx * roty * rotz); }
void TvlqrControl::InitializeState(const mav_pose_t *msg) { initial_state_ = PoseMsgToStateEstimatorVector(msg); // get the yaw from the initial state double rpy[3]; bot_quat_to_roll_pitch_yaw(msg->orientation, rpy); Mz_ = rotz(-rpy[2]); t0_ = GetTimestampNow(); state_initialized_ = true; }
Matrix4D RotateZ(float theta) { Matrix4D rotz(cos(theta), -sin(theta), 0, 0, sin(theta), cos(theta), 0, 0, 0, 0, 1,0,0,0,0,1); return rotz; }
void GsMat::rotz ( float radians, char fmt ) { rotz ( sinf(radians), cosf(radians), fmt ); }