C++ Quat::w方法代码示例

osg::Quat lerp_Quat(osg::Quat v0, osg::Quat v1, double t)
{
	osg::Quat vec;

	vec.x() = lerp_lf(v0.x(), v1.x(), t);
	vec.y() = lerp_lf(v0.y(), v1.y(), t);
	vec.z() = lerp_lf(v0.z(), v1.z(), t);
	vec.w() = lerp_lf(v0.w(), v1.w(), t);

	return vec;
}

// ================================================
// updateMotionTracker
// vvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvv
void PluginMotionTrackerRecvr::updateMotionTracker( int trackerID, int viewID, 
		osg::Quat orientation )
{
	
	if( trackerParamsMap == NULL )
		return;
	
	TrackerParams *trackerParams = (*trackerParamsMap)[trackerID];
	if( trackerParams == NULL )
	{
		// The tracker ID specified doesn't yet have an entry in 
		// trackerParamsMap.  It will be created and added to the map.
		// The default values set by TrackerParams constructor should be good 
		// enough.
		(*trackerParamsMap)[trackerID] = trackerParams = new TrackerParams;
	}
	
	// this tracker plugin generates quaternions
	trackerParams->useQuaternion = true;
	
	trackerParams->trackerRotateQuat[0] = orientation.x();
	trackerParams->trackerRotateQuat[1] = orientation.y();
	trackerParams->trackerRotateQuat[2] = orientation.z();
	trackerParams->trackerRotateQuat[3] = orientation.w();

	trackerParams->trackerAbsoluteYaw = 0.0;

	trackerParams->trackerOffset[0] = 0.0;
	trackerParams->trackerOffset[1] = 0.0;
	trackerParams->trackerOffset[2] = 0.0;
	
}

unsigned int PhysicsEngine::addUserVehicle(const osg::Vec3f& pos, const osg::Vec3f& sizes, const osg::Quat& orient, float mass)
{
    assert(OpenThreads::Thread::CurrentThread() == m_physicsThread);

    if (! m_vehicleShape)
        m_vehicleShape = new btBoxShape(btVector3(sizes.x() / 2, sizes.y() / 2, sizes.z() / 2));
    //m_collisionShapes.push_back(m_vehicleShape);

    btTransform startTransform;
    startTransform.setIdentity();
    startTransform.setRotation(btQuaternion(orient.x(), orient.y(), orient.z(), orient.w()));
    startTransform.setOrigin(btVector3(pos.x(), pos.y(), pos.z()));

    VehicleMotionState* motionState = new VehicleMotionState(this, m_nextUsedId, startTransform);
    btVector3 inertia;
    m_vehicleShape->calculateLocalInertia(mass, inertia);

    btRigidBody* body = new btRigidBody(mass, motionState, m_vehicleShape, inertia);
    m_vehicles[m_nextUsedId] = body;
    ++m_nextUsedId;

    body->setDamping(0.5f, 0.7f);
    m_physicsWorld->addRigidBody(body, COLLISION_SHIPGROUP, COLLISION_SHIPGROUP | COLLISION_ASTEROIDGROUP);

    return m_nextUsedId - 1;
}

osg::Vec3d Math::fromQuat(const osg::Quat& quat)
{
    // From: http://guardian.curtin.edu.au/cga/faq/angles.html
    // Except OSG exchanges pitch & roll from what is listed on that page
    double qx = quat.x();
    double qy = quat.y();
    double qz = quat.z();
    double qw = quat.w();

    double sqx = qx * qx;
    double sqy = qy * qy;
    double sqz = qz * qz;
    double sqw = qw * qw;

    double term1 = 2 * (qx*qy + qw*qz);
    double term2 = sqw + sqx - sqy - sqz;
    double term3 = -2 * (qx*qz - qw*qy);
    double term4 = 2 * (qw*qx + qy*qz);
    double term5 = sqw - sqx - sqy + sqz;

    double heading = atan2(term1, term2);
    double pitch = atan2(term4, term5);
    double roll = asin(term3);

    return osg::Vec3d(heading, pitch, roll);
}

void DataOutputStream::writeQuat(const osg::Quat& q){
    writeFloat(q.x());
    writeFloat(q.y());
    writeFloat(q.z());
    writeFloat(q.w());

    if (_verboseOutput) std::cout<<"read/writeQuat() ["<<q<<"]"<<std::endl;
}

void CamInfo::setCamRot(osg::Quat rot)
{
	CamRot.set(rot.x(),rot.y(),rot.z(),rot.w());
}

bool Node::equivalent(const osg::Quat& q0, const osg::Quat& q1) {
	return osg::equivalent(q0.x(), q1.x(), 1e-4)
			&& osg::equivalent(q0.y(), q1.y(), 1e-4)
			&& osg::equivalent(q0.z(), q1.z(), 1e-4)
			&& osg::equivalent(q0.w(), q1.w(), 1e-4);
}