Changeset 336 in flair-src for trunk/lib/FlairCore

Timestamp:

Oct 8, 2019, 4:41:35 PM (5 years ago)

Author:

Sanahuja Guillaume

Message:

use float

Location:

trunk/lib/FlairCore/src

Files:

• Euler.cpp (modified) (1 diff)
• Quaternion.cpp (modified) (2 diffs)
• Quaternion.h (modified) (1 diff)
• Vector2D.cpp (modified) (1 diff)
• Vector3D.cpp (modified) (1 diff)

trunk/lib/FlairCore/src/Euler.cpp

@@ -81 +81 @@
 */
 void Euler::ToQuaternion(Quaternion &quaternion) const {
-  quaternion.q0 = cos(yaw / 2) * cos(pitch / 2) * cos(roll / 2) +
-                  sin(yaw / 2) * sin(pitch / 2) * sin(roll / 2);
+  quaternion.q0 = cosf(yaw / 2.0f) * cosf(pitch / 2.0f) * cosf(roll / 2.0f) +
+                  sinf(yaw / 2.0f) * sinf(pitch / 2.0f) * sinf(roll / 2.0f);
 
-  quaternion.q1 = cos(yaw / 2) * cos(pitch / 2) * sin(roll / 2) -
-                  sin(yaw / 2) * sin(pitch / 2) * cos(roll / 2);
+  quaternion.q1 = cosf(yaw / 2.0f) * cosf(pitch / 2.0f) * sinf(roll / 2.0f) -
+                  sinf(yaw / 2.0f) * sinf(pitch / 2.0f) * cosf(roll / 2.0f);
 
-  quaternion.q2 = cos(yaw / 2) * sin(pitch / 2) * cos(roll / 2) +
-                  sin(yaw / 2) * cos(pitch / 2) * sin(roll / 2);
+  quaternion.q2 = cosf(yaw / 2.0f) * sinf(pitch / 2.0f) * cosf(roll / 2.0f) +
+                  sinf(yaw / 2.0f) * cosf(pitch / 2.0f) * sinf(roll / 2.0f);
 
-  quaternion.q3 = sin(yaw / 2) * cos(pitch / 2) * cos(roll / 2) -
-                  cos(yaw / 2) * sin(pitch / 2) * sin(roll / 2);
+  quaternion.q3 = sinf(yaw / 2.0f) * cosf(pitch / 2.0f) * cosf(roll / 2.0f) -
+                  cosf(yaw / 2.0f) * sinf(pitch / 2.0f) * sinf(roll / 2.0f);
 }
 

trunk/lib/FlairCore/src/Quaternion.cpp

@@ -39 +39 @@
 
 float Quaternion::GetNorm(void) const {
-  return sqrt(q0 * q0 + q1 * q1 + q2 * q2 + q3 * q3);
+  return sqrtf(q0 * q0 + q1 * q1 + q2 * q2 + q3 * q3);
 }
 
@@ -94 +94 @@
 }
 
+float Quaternion::GetEulerRoll(void) const {
+    return atan2f(2 * (q0 * q1 + q2 * q3), 1 - 2 * (q1 * q1 + q2 * q2));
+}
+  
+
+float Quaternion::GetEulerPitch(void) const {
+    return asinf(2 * (q0 * q2 - q1 * q3));
+}
+  
+
+float Quaternion::GetEulerYaw(void) const {
+    return atan2f(2 * (q0 * q3 + q1 * q2), 1 - 2 * (q2 * q2 + q3 * q3));
+}
+  
 void Quaternion::ToEuler(Euler &euler) const {
-  euler.roll = atan2(2 * (q0 * q1 + q2 * q3), 1 - 2 * (q1 * q1 + q2 * q2));
-  euler.pitch = asin(2 * (q0 * q2 - q1 * q3));
-  euler.yaw = atan2(2 * (q0 * q3 + q1 * q2), 1 - 2 * (q2 * q2 + q3 * q3));
+  euler.roll = GetEulerRoll();
+  euler.pitch = GetEulerPitch();
+  euler.yaw = GetEulerYaw();
 }
 

trunk/lib/FlairCore/src/Quaternion.h

@@ -115 +115 @@
   */
   Euler ToEuler(void) const;
+  
+  /*!
+  * \brief Get roll euler angle
+  *
+  * \return roll euler angle
+  */
+  float GetEulerRoll(void) const;
+  
+  /*!
+  * \brief Get pitch euler angle
+  *
+  * \return pitch euler angle
+  */
+  float GetEulerPitch(void) const;
+  
+  /*!
+  * \brief Get yaw euler angle
+  *
+  * \return yaw euler angle
+  */
+  float GetEulerYaw(void) const;
 
   /*!

trunk/lib/FlairCore/src/Vector2D.cpp

@@ -92 +92 @@
 template <typename T> void Vector2D<T>::RotateDeg(float value) { Rotate(Euler::ToRadian(value)); }
 
-template <typename T> float Vector2D<T>::GetNorm(void) const { return sqrt(x * x + y * y); }
+template <typename T> float Vector2D<T>::GetNorm(void) const { return sqrtf(x * x + y * y); }
 
 template <typename T> void Vector2D<T>::Normalize(void) {

trunk/lib/FlairCore/src/Vector3D.cpp

@@ -218 +218 @@
 }
 
-template <typename T> float Vector3D<T>::GetNorm(void) const { return sqrt(x * x + y * y + z * z); }
+template <typename T> float Vector3D<T>::GetNorm(void) const { return sqrtf(x * x + y * y + z * z); }
 
 template <typename T> void Vector3D<T>::Normalize(void) {