rotateRPY.c
1.4 KB
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/**************************************************************************
* *
* Copyright (C) 1994, Silicon Graphics, Inc. *
* *
* These coded instructions, statements, and computer programs contain *
* unpublished proprietary information of Silicon Graphics, Inc., and *
* are protected by Federal copyright law. They may not be disclosed *
* to third parties or copied or duplicated in any form, in whole or *
* in part, without the prior written consent of Silicon Graphics, Inc. *
* *
**************************************************************************/
#include "guint.h"
/*
* Return rotation matrix given roll, pitch, and yaw in degrees
*
*/
void guRotateRPYF(float mf[4][4], float r, float p, float h)
{
static float dtor = 3.1415926 / 180.0;
float sinr, sinp, sinh;
float cosr, cosp, cosh;
r *= dtor;
p *= dtor;
h *= dtor;
sinr = sinf(r);
cosr = cosf(r);
sinp = sinf(p);
cosp = cosf(p);
sinh = sinf(h);
cosh = cosf(h);
guMtxIdentF(mf);
mf[0][0] = cosp*cosh;
mf[0][1] = cosp*sinh;
mf[0][2] = -sinp;
mf[1][0] = sinr*sinp*cosh - cosr*sinh;
mf[1][1] = sinr*sinp*sinh + cosr*cosh;
mf[1][2] = sinr*cosp;
mf[2][0] = cosr*sinp*cosh + sinr*sinh;
mf[2][1] = cosr*sinp*sinh - sinr*cosh;
mf[2][2] = cosr*cosp;
}
void guRotateRPY(Mtx *m, float r, float p, float h)
{
Matrix mf;
guRotateRPYF(mf, r, p, h);
guMtxF2L(mf, m);
}