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 <Vector3D.h>
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23 | #include <Euler.h>
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24 | #include <Quaternion.h>
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25 |
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26 | using std::string;
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27 | using namespace flair::core;
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28 | using namespace flair::gui;
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29 |
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30 | OneAxisRotation_impl::OneAxisRotation_impl(GroupBox* box)
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31 | {
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32 | rot_value=new DoubleSpinBox(box->NewRow(),"value"," deg",-180.,180.,10.,1);
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33 | rot_axe=new ComboBox(box->LastRowLastCol(),"axis");
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34 | rot_axe->AddItem("x");
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35 | rot_axe->AddItem("y");
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36 | rot_axe->AddItem("z");
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37 | }
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38 |
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39 | OneAxisRotation_impl::~OneAxisRotation_impl()
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40 | {
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41 |
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42 | }
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43 |
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44 | //compute rotation of each axis through ComputeRotation(Vector3D& vector)
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45 | void OneAxisRotation_impl::ComputeRotation(Quaternion& quat) const {
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46 | Vector3D rot=Vector3D(quat.q1,quat.q2,quat.q3);
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47 | ComputeRotation(rot);
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48 | quat.q1=rot.x;
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49 | quat.q2=rot.y;
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50 | quat.q3=rot.z;
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51 | }
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52 |
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53 | void OneAxisRotation_impl::ComputeRotation(RotationMatrix& matrix) const {
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54 | printf("not yet implemented\n");
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55 | }
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56 |
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57 | //on utilise la rotation d'un vector pour faire une rotation de repere
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58 | //d'ou le signe negatif
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59 | void OneAxisRotation_impl::ComputeRotation(Vector3D& vector) const
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60 | {
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61 | switch(rot_axe->CurrentIndex())
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62 | {
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63 | case 0:
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64 | vector.RotateXDeg(-rot_value->Value());
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65 | break;
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66 | case 1:
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67 | vector.RotateYDeg(-rot_value->Value());
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68 | break;
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69 | case 2:
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70 | vector.RotateZDeg(-rot_value->Value());
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71 | break;
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72 | }
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73 | }
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74 |
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75 | void OneAxisRotation_impl::ComputeRotation(Euler& euler) const
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76 | {
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77 | Quaternion quat;
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78 | euler.ToQuaternion(quat);
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79 | ComputeRotation(quat);
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80 | quat.ToEuler(euler);
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81 | }
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82 |
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