| 1 | // %flair:license{
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| 2 | // This file is part of the Flair framework distributed under the
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| 3 | // CECILL-C License, Version 1.0.
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| 4 | // %flair:license}
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| 5 | // created: 2013/04/17
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| 6 | // filename: OneAxisRotation_impl.cpp
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| 7 | //
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| 8 | // author: Guillaume Sanahuja
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| 9 | // Copyright Heudiasyc UMR UTC/CNRS 7253
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| 10 | //
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| 11 | // version: $Id: $
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| 12 | //
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| 13 | // purpose: objet integrant pour une rotation sur un axe
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| 14 | //
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| 15 | //
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| 16 | /*********************************************************************/
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| 17 |
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| 18 | #include "OneAxisRotation_impl.h"
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| 19 | #include "GroupBox.h"
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| 20 | #include "ComboBox.h"
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| 21 | #include "DoubleSpinBox.h"
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| 22 | #include <Euler.h>
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| 23 | #include <Quaternion.h>
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| 24 |
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| 25 | using std::string;
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| 26 | using namespace flair::core;
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| 27 | using namespace flair::gui;
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| 28 |
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| 29 | template void OneAxisRotation_impl::ComputeRotation(Vector3D<float>&) const;
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| 30 | template void OneAxisRotation_impl::ComputeRotation(Vector3D<double>&) const;
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| 31 |
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| 32 | OneAxisRotation_impl::OneAxisRotation_impl(GroupBox *box) {
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| 33 | rot_value =
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| 34 | new DoubleSpinBox(box->NewRow(), "value", " deg", -180., 180., 10., 1);
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| 35 | rot_axe = new ComboBox(box->LastRowLastCol(), "axis");
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| 36 | rot_axe->AddItem("x");
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| 37 | rot_axe->AddItem("y");
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| 38 | rot_axe->AddItem("z");
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| 39 | }
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| 40 |
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| 41 | OneAxisRotation_impl::~OneAxisRotation_impl() {}
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| 42 |
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| 43 | // compute rotation of each axis through ComputeRotation(Vector3D& vector)
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| 44 | void OneAxisRotation_impl::ComputeRotation(Quaternion &quat) const {
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| 45 | Vector3Df rot = Vector3Df(quat.q1, quat.q2, quat.q3);
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| 46 | ComputeRotation(rot);
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| 47 | quat.q1 = rot.x;
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| 48 | quat.q2 = rot.y;
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| 49 | quat.q3 = rot.z;
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| 50 | }
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| 51 |
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| 52 | void OneAxisRotation_impl::ComputeRotation(RotationMatrix &matrix) const {
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| 53 | Printf("not yet implemented\n");
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| 54 | }
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| 55 |
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| 56 | // on utilise la rotation d'un vector pour faire une rotation de repere
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| 57 | // d'ou le signe negatif
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| 58 | template <typename T> void OneAxisRotation_impl::ComputeRotation(Vector3D<T> &vector) const {
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| 59 | switch (rot_axe->CurrentIndex()) {
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| 60 | case 0:
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| 61 | vector.RotateXDeg(-rot_value->Value());
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| 62 | break;
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| 63 | case 1:
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| 64 | vector.RotateYDeg(-rot_value->Value());
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| 65 | break;
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| 66 | case 2:
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| 67 | vector.RotateZDeg(-rot_value->Value());
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| 68 | break;
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| 69 | }
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| 70 | }
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| 71 |
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| 72 | void OneAxisRotation_impl::ComputeRotation(Euler &euler) const {
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| 73 | Quaternion quat;
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| 74 | euler.ToQuaternion(quat);
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| 75 | ComputeRotation(quat);
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| 76 | quat.ToEuler(euler);
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| 77 | }
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| 78 |
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| 79 | int OneAxisRotation_impl::GetAxis() const {
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| 80 | return rot_axe->CurrentIndex();
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| 81 | }
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| 82 |
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| 83 | float OneAxisRotation_impl::GetAngle() const {
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| 84 | return rot_value->Value();
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| 85 | }
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| 86 |
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