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MATH: Keep position when building rotation.

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This commit is contained in:
Joseph Jezak 2014-06-24 11:36:35 -04:00
parent 231a98056f
commit b4e730beaa
1 changed files with 14 additions and 14 deletions
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28
math/rotation3d.h
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@ -107,68 +107,68 @@ Rotation3D<T>::Rotation3D() : Transform<T>() {}
template<class T>
void Rotation3D<T>::buildFromXYZ(const Angle &rotX, const Angle &rotY, const Angle &rotZ, EulerOrder order) {
// Build a matrix around each rotation angle
T m1, m2, m3;
T m2, m3;
// Combine them in the order requested
switch (order) {
case EO_XYX:
m1.buildAroundX(rotX);
this->buildAroundX(rotX);
m2.buildAroundY(rotY);
m3.buildAroundX(rotZ);
break;
case EO_XYZ:
m1.buildAroundX(rotX);
this->buildAroundX(rotX);
m2.buildAroundY(rotY);
m3.buildAroundZ(rotZ);
break;
case EO_XZX:
m1.buildAroundX(rotX);
this->buildAroundX(rotX);
m2.buildAroundZ(rotY);
m3.buildAroundX(rotZ);
break;
case EO_XZY:
m1.buildAroundX(rotX);
this->buildAroundX(rotX);
m2.buildAroundZ(rotY);
m3.buildAroundY(rotZ);
break;
case EO_YXY:
m1.buildAroundY(rotX);
this->buildAroundY(rotX);
m2.buildAroundX(rotY);
m3.buildAroundY(rotZ);
break;
case EO_YXZ:
m1.buildAroundY(rotX);
this->buildAroundY(rotX);
m2.buildAroundX(rotY);
m3.buildAroundZ(rotZ);
break;
case EO_YZX:
m1.buildAroundY(rotX);
this->buildAroundY(rotX);
m2.buildAroundZ(rotY);
m3.buildAroundX(rotZ);
break;
case EO_YZY:
m1.buildAroundY(rotX);
this->buildAroundY(rotX);
m2.buildAroundZ(rotY);
m3.buildAroundY(rotZ);
break;
// Original ResidualVM Implementation
case EO_ZXY:
m1.buildAroundZ(rotX);
this->buildAroundZ(rotX);
m2.buildAroundX(rotY);
m3.buildAroundY(rotZ);
break;
case EO_ZXZ:
m1.buildAroundZ(rotX);
this->buildAroundZ(rotX);
m2.buildAroundX(rotY);
m3.buildAroundZ(rotZ);
break;
case EO_ZYX:
m1.buildAroundZ(rotX);
this->buildAroundZ(rotX);
m2.buildAroundY(rotY);
m3.buildAroundX(rotZ);
break;
case EO_ZYZ:
m1.buildAroundZ(rotX);
this->buildAroundZ(rotX);
m2.buildAroundY(rotY);
m3.buildAroundZ(rotZ);
break;
@ -177,7 +177,7 @@ void Rotation3D<T>::buildFromXYZ(const Angle &rotX, const Angle &rotY, const Ang
break;
}
// Combine the rotations
this->getMatrix() = m1 * m2 * m3;
this->getMatrix() = this->getMatrix() * m2 * m3;
}
// at. Rotates about the +X axis.