source: cpp/f4/f4_orientmat.cpp @ 4

Last change on this file since 4 was 4, checked in by Maciej Komosinski, 11 years ago

added f4, a genetic representation that describes development of an organism

File size: 2.2 KB
Line 
1/*
2 *  f4_orientmat.cpp - Extension of Orient with matrix multiplication.
3 *
4 *  f4genotype - f4 format genotype conversions for FramSticks
5 *
6 *  Copyright (C) 1999,2000  Adam Rotaru-Varga (adam_rotaru@yahoo.com)
7 *
8 *  This library is free software; you can redistribute it and/or
9 *  modify it under the terms of the GNU Lesser General Public
10 *  License as published by the Free Software Foundation; either
11 *  version 2.1 of the License, or (at your option) any later version.
12 *
13 *  This library is distributed in the hope that it will be useful,
14 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
15 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
16 *  Lesser General Public License for more details.
17 *
18 *  You should have received a copy of the GNU Lesser General Public
19 *  License along with this library; if not, write to the Free Software
20 *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
21 *
22 */
23
24#include "f4_orientmat.h"
25#include <math.h>
26
27
28f4_OrientMat::f4_OrientMat(XYZplanes plane, float angle)
29{
30  switch(plane)
31  {
32   case xOy:
33    x.x = cos(angle); x.y = -sin(angle); x.z = 0.0;
34    y.x = sin(angle); y.y =  cos(angle); y.z = 0.0;
35    z.x = 0.0;        z.y = 0.0;         z.z = 1.0;
36    break;
37   case xOz:
38    x.x = cos(angle); x.y = 0.0; x.z = -sin(angle);
39    y.x = 0.0;        y.y = 1.0; y.z = 0.0;
40    z.x = sin(angle); z.y = 0.0; z.z = cos(angle);
41    break;
42   case yOz:
43    x.x = 1.0;  x.y = 0.0;        x.z = 0.0;
44    y.x = 0.0;  y.y = cos(angle); y.z = -sin(angle);
45    z.x = 0.0;  z.y = sin(angle); z.z =  cos(angle);
46    break;
47  }
48}
49
50
51// M3 = this * M2;
52f4_OrientMat f4_OrientMat::operator*(const Orient & M2)
53{
54  f4_OrientMat M3;
55  M3.x.x = x.x * M2.x.x + x.y * M2.y.x + x.z * M2.z.x;
56  M3.x.y = x.x * M2.x.y + x.y * M2.y.y + x.z * M2.z.y;
57  M3.x.z = x.x * M2.x.z + x.y * M2.y.z + x.z * M2.z.z;
58  M3.y.x = y.x * M2.x.x + y.y * M2.y.x + y.z * M2.z.x;
59  M3.y.y = y.x * M2.x.y + y.y * M2.y.y + y.z * M2.z.y;
60  M3.y.z = y.x * M2.x.z + y.y * M2.y.z + y.z * M2.z.z;
61  M3.z.x = z.x * M2.x.x + z.y * M2.y.x + z.z * M2.z.x;
62  M3.z.y = z.x * M2.x.y + z.y * M2.y.y + z.z * M2.z.y;
63  M3.z.z = z.x * M2.x.z + z.y * M2.y.z + z.z * M2.z.z;
64  return M3;
65}
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