/************************************************************************* *                                                                       * * 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 __cplusplusextern "C" {#endifvoid dRSetIdentity (dMatrix3 R);void dRFromAxisAndAngle (dMatrix3 R, dReal ax, dReal ay, dReal az,			 dReal angle);void dRFromEulerAngles (dMatrix3 R, dReal phi, dReal theta, dReal psi);void dRFrom2Axes (dMatrix3 R, dReal ax, dReal ay, dReal az,		  dReal bx, dReal by, dReal bz);void dRFromZAxis (dMatrix3 R, dReal ax, dReal ay, dReal az);void dQSetIdentity (dQuaternion q);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 */void dQMultiply0 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc);/* qa = rotate by qc, then by inverse of qb */void dQMultiply1 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc);/* qa = rotate by inverse of qc, then by qb */void dQMultiply2 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc);/* qa = rotate by inverse of qc, then by inverse of qb */void dQMultiply3 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc);void dRfromQ (dMatrix3 R, const dQuaternion q);void dQfromR (dQuaternion q, const dMatrix3 R);void dDQfromW (dReal dq[4], const dVector3 w, const dQuaternion q);#ifdef __cplusplus}#endif#endif