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improve whitespaces

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This commit is contained in:
wmayer
2017-12-11 01:41:46 +01:00
parent c42330ef0a
commit 3692861136
3 changed files with 89 additions and 85 deletions
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45
src/App/PropertyGeo.cpp
View File

@@ -749,9 +749,9 @@ void PropertyPlacement::Save (Base::Writer &writer) const
<< "\" Q1=\"" << _cPos.getRotation()[1]
<< "\" Q2=\"" << _cPos.getRotation()[2]
<< "\" Q3=\"" << _cPos.getRotation()[3] << "\"";
Vector3d axis;
double rfAngle;
_cPos.getRotation().getValue(axis, rfAngle);
Vector3d axis;
double rfAngle;
_cPos.getRotation().getValue(axis, rfAngle);
writer.Stream() << " A=\"" << rfAngle
<< "\" Ox=\"" << axis.x
<< "\" Oy=\"" << axis.y
@@ -765,25 +765,26 @@ void PropertyPlacement::Restore(Base::XMLReader &reader)
reader.readElement("PropertyPlacement");
// get the value of my Attribute
aboutToSetValue();
if (reader.hasAttribute("A")) {
_cPos = Base::Placement(Vector3d(reader.getAttributeAsFloat("Px"),
reader.getAttributeAsFloat("Py"),
reader.getAttributeAsFloat("Pz")),
Rotation(
Vector3d(reader.getAttributeAsFloat("Ox"),
reader.getAttributeAsFloat("Oy"),
reader.getAttributeAsFloat("Oz")),
reader.getAttributeAsFloat("A")));
} else {
_cPos = Base::Placement(Vector3d(reader.getAttributeAsFloat("Px"),
reader.getAttributeAsFloat("Py"),
reader.getAttributeAsFloat("Pz")),
Rotation(reader.getAttributeAsFloat("Q0"),
reader.getAttributeAsFloat("Q1"),
reader.getAttributeAsFloat("Q2"),
reader.getAttributeAsFloat("Q3")));
}
if (reader.hasAttribute("A")) {
_cPos = Base::Placement(Vector3d(reader.getAttributeAsFloat("Px"),
reader.getAttributeAsFloat("Py"),
reader.getAttributeAsFloat("Pz")),
Rotation(Vector3d(reader.getAttributeAsFloat("Ox"),
reader.getAttributeAsFloat("Oy"),
reader.getAttributeAsFloat("Oz")),
reader.getAttributeAsFloat("A")));
}
else {
_cPos = Base::Placement(Vector3d(reader.getAttributeAsFloat("Px"),
reader.getAttributeAsFloat("Py"),
reader.getAttributeAsFloat("Pz")),
Rotation(reader.getAttributeAsFloat("Q0"),
reader.getAttributeAsFloat("Q1"),
reader.getAttributeAsFloat("Q2"),
reader.getAttributeAsFloat("Q3")));
}
hasSetValue();
}

122
src/Base/Rotation.cpp
View File

@@ -38,12 +38,13 @@ Rotation::Rotation()
quat[0]=quat[1]=quat[2]=0.0;quat[3]=1.0;
_axis.Set(0.0, 0.0, 1.0);
_angle = 0.0;
_angle = 0.0;
}
/** Construct a rotation by rotation axis and angle */
Rotation::Rotation(const Vector3d& axis, const double fAngle)
{
// set to (0,0,1) as fallback in case the passed axis is the null vector
_axis.Set(0.0, 0.0, 1.0);
this->setValue(axis, fAngle);
}
@@ -61,7 +62,7 @@ Rotation::Rotation(const Matrix4D& matrix)
Rotation::Rotation(const double q[4])
{
_axis.Set(0.0, 0.0, 1.0);
_angle = 0.0;
_angle = 0.0;
this->setValue(q);
}
@@ -72,14 +73,14 @@ Rotation::Rotation(const double q[4])
Rotation::Rotation(const double q0, const double q1, const double q2, const double q3)
{
_axis.Set(0.0, 0.0, 1.0);
_angle = 0.0;
_angle = 0.0;
this->setValue(q0, q1, q2, q3);
}
Rotation::Rotation(const Vector3d & rotateFrom, const Vector3d & rotateTo)
{
_axis.Set(0.0, 0.0, 1.0);
_angle = 0.0;
_angle = 0.0;
this->setValue(rotateFrom, rotateTo);
}
@@ -89,13 +90,11 @@ Rotation::Rotation(const Rotation& rot)
this->quat[1] = rot.quat[1];
this->quat[2] = rot.quat[2];
this->quat[3] = rot.quat[3];
this->_axis[0] = rot._axis[0];
this->_axis[1] = rot._axis[1];
this->_axis[2] = rot._axis[2];
this->_angle = rot._angle;
this->_axis[0] = rot._axis[0];
this->_axis[1] = rot._axis[1];
this->_axis[2] = rot._axis[2];
this->_angle = rot._angle;
}
const double * Rotation::getValue(void) const
@@ -111,7 +110,11 @@ void Rotation::getValue(double & q0, double & q1, double & q2, double & q3) cons
q3 = this->quat[3];
}
void Rotation::evaluateVector () {
void Rotation::evaluateVector()
{
// Taken from <http://de.wikipedia.org/wiki/Quaternionen>
//
// Note: -1 < w < +1 (|w| == 1 not allowed, with w:=quat[3])
if((this->quat[3] > -1.0) && (this->quat[3] < 1.0)) {
double rfAngle = double(acos(this->quat[3])) * 2.0;
double scale = (double)sin(rfAngle / 2.0);
@@ -119,17 +122,18 @@ void Rotation::evaluateVector () {
this->_axis.x = this->quat[0] / scale;
this->_axis.y = this->quat[1] / scale;
this->_axis.z = this->quat[2] / scale;
_angle=double(acos(this->quat[3])) * 2.0;
if (_angle>=D_PI) {
_angle -= 2 * D_PI;
}
} else {
_angle = 0.0;
}
// the vector stays unchanged
_angle = rfAngle;
if (_angle >= D_PI) {
_angle -= 2 * D_PI;
}
}
else {
// the vector stays unchanged
_angle = 0.0;
}
}
void Rotation::setValue(const double q0, const double q1, const double q2, const double q3)
{
this->quat[0] = q0;
@@ -137,16 +141,15 @@ void Rotation::setValue(const double q0, const double q1, const double q2, const
this->quat[2] = q2;
this->quat[3] = q3;
this->normalize();
this->evaluateVector ();
this->evaluateVector();
}
void Rotation::getValue(Vector3d & axis, double & rfAngle) const
{
rfAngle = _angle;//double(acos(this->quat[3])) * 2.0;
axis.x = _axis.x;
axis.y = _axis.y;
axis.z = _axis.z;
rfAngle = _angle;//double(acos(this->quat[3])) * 2.0;
axis.x = _axis.x;
axis.y = _axis.y;
axis.z = _axis.z;
}
/**
@@ -189,7 +192,7 @@ void Rotation::setValue(const double q[4])
this->quat[2] = q[2];
this->quat[3] = q[3];
this->normalize();
this->evaluateVector ();
this->evaluateVector();
}
void Rotation::setValue(const Matrix4D & m)
@@ -221,23 +224,26 @@ void Rotation::setValue(const Matrix4D & m)
this->quat[j] = (double)((m[j][i] + m[i][j]) * s);
this->quat[k] = (double)((m[k][i] + m[i][k]) * s);
}
this->evaluateVector ();
this->evaluateVector();
}
void Rotation::setValue(const Vector3d & axis, const double fAngle)
{
// Taken from <http://de.wikipedia.org/wiki/Quaternionen>
//
// normalization of the angle to be in [0, 2pi[
_angle=fAngle;
double theAngle = fAngle - floor(fAngle / (2.0 * D_PI))*(2.0 * D_PI);
// normalization of the angle to be in [0, 2pi[
_angle = fAngle;
double theAngle = fAngle - floor(fAngle / (2.0 * D_PI))*(2.0 * D_PI);
this->quat[3] = (double)cos(theAngle/2.0);
Vector3d norm = axis;
norm.Normalize();
double l = norm.Length();
if (l>0.5) {
this->_axis = norm;
}
double l = norm.Length();
// Keep old axis in case the new axis is the null vector
if (l > 0.5) {
this->_axis = norm;
}
double scale = (double)sin(theAngle/2.0);
this->quat[0] = this->_axis.x * scale;
@@ -296,10 +302,10 @@ Rotation & Rotation::invert(void)
this->quat[1] = -this->quat[1];
this->quat[2] = -this->quat[2];
this->_axis.x = -this->_axis.x;
this->_axis.y = -this->_axis.y;
this->_axis.z = -this->_axis.z;
this->_axis.x = -this->_axis.x;
this->_axis.y = -this->_axis.y;
this->_axis.z = -this->_axis.z;
return *this;
}
@@ -310,10 +316,10 @@ Rotation Rotation::inverse(void) const
rot.quat[1] = -this->quat[1];
rot.quat[2] = -this->quat[2];
rot.quat[3] = this->quat[3];
rot._axis[0] = -this->_axis[0];
rot._axis[1] = -this->_axis[1];
rot._axis[2] = -this->_axis[2];
rot._axis[0] = -this->_axis[0];
rot._axis[1] = -this->_axis[1];
rot._axis[2] = -this->_axis[2];
return rot;
}
@@ -342,14 +348,13 @@ Rotation Rotation::operator*(const Rotation & q) const
bool Rotation::operator==(const Rotation & q) const
{
if ((this->quat[0] == q.quat[0] &&
this->quat[1] == q.quat[1] &&
this->quat[2] == q.quat[2] &&
this->quat[3] == q.quat[3]) ||
(this->quat[0] == -q.quat[0] &&
this->quat[1] == -q.quat[1] &&
this->quat[2] == -q.quat[2] &&
this->quat[3] == -q.quat[3]))
this->quat[1] == q.quat[1] &&
this->quat[2] == q.quat[2] &&
this->quat[3] == q.quat[3]) ||
(this->quat[0] == -q.quat[0] &&
this->quat[1] == -q.quat[1] &&
this->quat[2] == -q.quat[2] &&
this->quat[3] == -q.quat[3]))
return true;
return false;
}
@@ -364,11 +369,11 @@ bool Rotation::isSame(const Rotation& q) const
if ((this->quat[0] == q.quat[0] &&
this->quat[1] == q.quat[1] &&
this->quat[2] == q.quat[2] &&
this->quat[3] == q.quat[3]) ||
(this->quat[0] == -q.quat[0] &&
this->quat[1] == -q.quat[1] &&
this->quat[2] == -q.quat[2] &&
this->quat[3] == -q.quat[3]))
this->quat[3] == q.quat[3]) ||
(this->quat[0] == -q.quat[0] &&
this->quat[1] == -q.quat[1] &&
this->quat[2] == -q.quat[2] &&
this->quat[3] == -q.quat[3]))
return true;
return false;
}
@@ -402,7 +407,6 @@ void Rotation::scaleAngle(const double scaleFactor)
Rotation Rotation::slerp(const Rotation & q0, const Rotation & q1, double t)
{
// Taken from <http://www.euclideanspace.com/maths/algebra/realNormedAlgebra/quaternions/slerp/>
// q = [q0*sin((1-t)*theta)+q1*sin(t*theta)]/sin(theta), 0<=t<=1
if (t<0.0) t=0.0;
@@ -607,12 +611,12 @@ void Rotation::setYawPitchRoll(double y, double p, double r)
// quat[2] = s1*c2*c3 - c1*s2*s3;
// quat[3] = c1*c2*c3 + s1*s2*s3;
this->setValue (
this->setValue (
c1*c2*s3 - s1*s2*c3,
c1*s2*c3 + s1*c2*s3,
s1*c2*c3 - c1*s2*s3,
c1*c2*c3 + s1*s2*s3
);
);
}
void Rotation::getYawPitchRoll(double& y, double& p, double& r) const

7
src/Base/Rotation.h
View File

@@ -102,13 +102,12 @@ public:
*/
static Rotation makeRotationByAxes(Vector3d xdir, Vector3d ydir, Vector3d zdir, const char* priorityOrder = "ZXY");
void evaluateVector ();
private:
void normalize();
void evaluateVector ();
double quat[4];
Vector3d _axis; // the axis kept not to lose direction when angle is 0
double _angle; // this angle to keep the angle chozen by the user
Vector3d _axis; // the axis kept not to lose direction when angle is 0
double _angle; // this angle to keep the angle chosen by the user
};
}