Author: paperwing
Date: 2012-03-02 11:15:12 -0800 (Fri, 02 Mar 2012)
New Revision: 28414
Modified:
csplugins/trunk/toronto/yuedong/paperwing-impl/src/main/java/org/cytoscape/paperwing/internal/tools/GeometryToolkit.java
Log:
Revised calculations for obtaining the direction and up vectors from yaw,
pitch, and roll angles
Modified:
csplugins/trunk/toronto/yuedong/paperwing-impl/src/main/java/org/cytoscape/paperwing/internal/tools/GeometryToolkit.java
===================================================================
---
csplugins/trunk/toronto/yuedong/paperwing-impl/src/main/java/org/cytoscape/paperwing/internal/tools/GeometryToolkit.java
2012-03-02 19:06:33 UTC (rev 28413)
+++
csplugins/trunk/toronto/yuedong/paperwing-impl/src/main/java/org/cytoscape/paperwing/internal/tools/GeometryToolkit.java
2012-03-02 19:15:12 UTC (rev 28414)
@@ -216,35 +216,46 @@
/**
* Assuming the initial direction is towards the negative z direction,
calculate what
- * the direction would be given pitch and yaw angles. The rotations are
done by the right-hand rule.
+ * the direction would be given yaw and pitch angles. The rotations are
done by the right-hand rule.
*
+ * @param yaw The yaw angle
* @param pitch The pitch angle
- * @param yaw The yaw angle
- * @return The direction vector corresponding to the given pitch and
yaw angles.
+ * @return The unit direction vector corresponding to the given yaw and
pitch angles.
*/
- public static Vector3 findDirectionVector(double pitch, double yaw) {
+ public static Vector3 findDirectionVector(double yaw, double pitch) {
Vector3 direction = new Vector3(0, 0, -1);
- // Rotate about x-axis for pitch
- direction = direction.rotate(new Vector3(1, 0, 0), pitch);
-
// Rotate about y-axis for yaw
direction = direction.rotate(new Vector3(0, 1, 0), yaw);
- return direction;
+ Vector3 newAxisX = (new Vector3(1, 0, 0)).rotate(new Vector3(0,
1, 0), yaw);
+
+ // Rotate about its new x-axis for pitch
+ direction = direction.rotate(newAxisX, pitch);
+
+ return direction.normalize();
}
/**
* Assuming the initial up vector is towards the positive y direction,
calculate what the
- * up vector would be given the roll angle. The rotations are done by
the right-hand rule.
+ * up vector would be given the yaw, pitch, and roll angles. The
rotations are done by
+ * the right-hand rule.
*
+ * @param yaw The yaw angle
+ * @param pitch The pitch angle
* @param roll The roll angle
- * @return The up vector corresponding to the given roll angle.
+ * @return The unit up vector corresponding to the given roll angle.
*/
- public static Vector3 findUpVector(double roll) {
- Vector3 up = (new Vector3(0, 1, 0)).rotate(new Vector3(0, 0,
1), roll);
+ public static Vector3 findUpVector(double yaw, double pitch, double
roll) {
+
+ // Determine the rotated axes
+ Vector3 newAxisX = (new Vector3(1, 0, 0)).rotate(new Vector3(0,
1, 0), yaw);
+ Vector3 newAxisY = (new Vector3(0, 1, 0)).rotate(newAxisX,
pitch);
+ Vector3 newAxisZ = newAxisX.cross(newAxisY);
- return up;
+ Vector3 up = newAxisY.rotate(newAxisZ, roll);
+
+ return up.normalize();
}
/**
@@ -261,8 +272,13 @@
double pitch, yaw, roll;
Vector3 pitchProjection = direction.projectNormal(new
Vector3(0, 1, 0));
- pitch = direction.angleAcute(pitchProjection);
+ if (pitchProjection.magnitudeSquared() < Double.MIN_NORMAL) {
+ pitch = 90;
+ } else {
+ pitch = direction.angleAcute(pitchProjection);
+ }
+
Vector3 yawProjection = direction.projectNormal(new Vector3(1,
0, 0));
yaw = direction.angleAcute(yawProjection);
--
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