// -----------------------------------------------------------------------------------------
void CPepeEngineQuaternion::fromAxes(const CPepeEngineVector3* akAxis)
{
CPepeEngineMatrix3 kRot;
for (size_t iCol = 0; iCol < 3; iCol++) {
kRot[0][iCol] = akAxis[iCol].x;
kRot[1][iCol] = akAxis[iCol].y;
kRot[2][iCol] = akAxis[iCol].z;
}
fromRotationMatrix(kRot);
}
void hduQuaternion::fromRotationMatrix(const hduMatrix& rotMat)
{
double r[3][3];
r[0][0] = rotMat.get(0,0);
r[1][0] = rotMat.get(1,0);
r[2][0] = rotMat.get(2,0);
r[0][1] = rotMat.get(0,1);
r[1][1] = rotMat.get(1,1);
r[2][1] = rotMat.get(2,1);
r[0][2] = rotMat.get(0,2);
r[1][2] = rotMat.get(1,2);
r[2][2] = rotMat.get(2,2);
fromRotationMatrix(r);
}
void CQuaternion::fromAxes (const CVector3& xAxis, const CVector3& yAxis, const CVector3& zAxis) {
CMatrix4 m;
FMatrix4 &kRot = m.m;
kRot[0][0] = xAxis.x;
kRot[1][0] = xAxis.y;
kRot[2][0] = xAxis.z;
kRot[0][1] = yAxis.x;
kRot[1][1] = yAxis.y;
kRot[2][1] = yAxis.z;
kRot[0][2] = zAxis.x;
kRot[1][2] = zAxis.y;
kRot[2][2] = zAxis.z;
fromRotationMatrix(m);
}
// -----------------------------------------------------------------------------------------
void CPepeEngineQuaternion::fromAxes(const CPepeEngineVector3& xaxis, const CPepeEngineVector3& yaxis, const CPepeEngineVector3& zaxis)
{
CPepeEngineMatrix3 kRot;
kRot[0][0] = xaxis.x;
kRot[1][0] = xaxis.y;
kRot[2][0] = xaxis.z;
kRot[0][1] = yaxis.x;
kRot[1][1] = yaxis.y;
kRot[2][1] = yaxis.z;
kRot[0][2] = zaxis.x;
kRot[1][2] = zaxis.y;
kRot[2][2] = zaxis.z;
fromRotationMatrix(kRot);
}
hduQuaternion::hduQuaternion(const hduMatrix& rotMat)
{
fromRotationMatrix(rotMat);
}
hduQuaternion::hduQuaternion(double R[3][3])
{
fromRotationMatrix(R);
}
