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/*************************************************************************
* *
* Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. *
* All rights reserved. Email: russ@q12.org Web: www.q12.org *
* *
* This library is free software; you can redistribute it and/or *
* modify it under the terms of EITHER: *
* (1) The GNU Lesser General Public License as published by the Free *
* Software Foundation; either version 2.1 of the License, or (at *
* your option) any later version. The text of the GNU Lesser *
* General Public License is included with this library in the *
* file LICENSE.TXT. *
* (2) The BSD-style license that is included with this library in *
* the file LICENSE-BSD.TXT. *
* *
* This library is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
* LICENSE.TXT and LICENSE-BSD.TXT for more details. *
* *
*************************************************************************/
#ifndef _ODE_ROTATION_H_
#define _ODE_ROTATION_H_
#include <ode/common.h>
#include <ode/compatibility.h>
#ifdef __cplusplus
extern "C" {
#endif
ODE_API void dRSetIdentity (dMatrix3 R);
ODE_API void dRFromAxisAndAngle (dMatrix3 R, dReal ax, dReal ay, dReal az,
dReal angle);
ODE_API void dRFromEulerAngles (dMatrix3 R, dReal phi, dReal theta, dReal psi);
ODE_API void dRFrom2Axes (dMatrix3 R, dReal ax, dReal ay, dReal az,
dReal bx, dReal by, dReal bz);
ODE_API void dRFromZAxis (dMatrix3 R, dReal ax, dReal ay, dReal az);
ODE_API void dQSetIdentity (dQuaternion q);
ODE_API void dQFromAxisAndAngle (dQuaternion q, dReal ax, dReal ay, dReal az,
dReal angle);
/* Quaternion multiplication, analogous to the matrix multiplication routines. */
/* qa = rotate by qc, then qb */
ODE_API void dQMultiply0 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc);
/* qa = rotate by qc, then by inverse of qb */
ODE_API void dQMultiply1 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc);
/* qa = rotate by inverse of qc, then by qb */
ODE_API void dQMultiply2 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc);
/* qa = rotate by inverse of qc, then by inverse of qb */
ODE_API void dQMultiply3 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc);
ODE_API void dRfromQ (dMatrix3 R, const dQuaternion q);
ODE_API void dQfromR (dQuaternion q, const dMatrix3 R);
ODE_API void dDQfromW (dReal dq[4], const dVector3 w, const dQuaternion q);
#ifdef __cplusplus
}
#endif
#endif
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