oordinate.cpp

C arm 3D traslate 模擬C手臂在三度空間移動

// oordinate.cpp: implementation of the Coordinate class.
//
//////////////////////////////////////////////////////////////////////

#include "stdafx.h"
#include "OpenGLtest.h"
#include "oordinate.h"

#ifdef _DEBUG
#undef THIS_FILE
static char THIS_FILE[]=__FILE__;
#define new DEBUG_NEW
#endif

//////////////////////////////////////////////////////////////////////
// Construction/Destruction
//////////////////////////////////////////////////////////////////////
/*
Coordinate::Coordinate()
{

}
*/
Coordinate::~Coordinate()
{

}




CMatrix3D Coordinate::RotationX(double gamma)
{
   CMatrix3D TempObj;
   double ee;
   ee = 3.1415926/180.0 ;

   double cg = cos( gamma*ee );
   double sg = sin( gamma*ee );

  TempObj.m[0][0] = 1;       TempObj.m[0][1] = 0;     TempObj.m[0][2] = 0;
  TempObj.m[1][0] = 0;       TempObj.m[1][1] = cg;     TempObj.m[1][2] = -sg;
  TempObj.m[2][0] = 0;       TempObj.m[2][1] = sg;     TempObj.m[2][2] = cg;

   return TempObj;
                   
                  
}


CMatrix3D Coordinate::RotationY(double beta)
{
   CMatrix3D TempObj;
   double ee;
   ee = 3.1415926/180.0 ;

   double cb = cos( beta*ee );
   double sb = sin( beta*ee );

  TempObj.m[0][0] = cb;      TempObj.m[0][1] = 0;     TempObj.m[0][2] = sb;
  TempObj.m[1][0] = 0;       TempObj.m[1][1] = 1;     TempObj.m[1][2] = 0;
  TempObj.m[2][0] = -sb;     TempObj.m[2][1] = 0;    TempObj.m[2][2] = cb;

   return TempObj;
                   
                  
}



CMatrix3D Coordinate::RotationZ(double alpha)
{
   CMatrix3D TempObj;
   double ee;
   ee = 3.1415926/180.0 ;

   double ca = cos( alpha*ee );
   double sa = sin( alpha*ee );

  TempObj.m[0][0] = ca;       TempObj.m[0][1] = -sa;     TempObj.m[0][2] = 0;
  TempObj.m[1][0] = sa;       TempObj.m[1][1] = ca;      TempObj.m[1][2] = 0;
  TempObj.m[2][0] = 0;        TempObj.m[2][1] = 0;       TempObj.m[2][2] = 1;

   return TempObj;
                   
                  
}

CMatrix3D Coordinate::Translate(double alpha, double beta,double gamma)
{
 CMatrix3D TempObj;
  
   double ee;
   ee = 3.1415926/180.0 ;

   ca = cos( alpha*ee );
   sa = sin( alpha*ee );
   cb = cos( beta*ee );
   sb = sin( beta*ee );
   cg = cos( gamma*ee );
   sg = sin( gamma*ee );

 
  TempObj.m[0][0] =  ca*cb;     TempObj.m[0][1] = ca*sb*sg - sa*cg;     TempObj.m[0][2] = ca*sb*cg + sa*sg;
  TempObj.m[1][0] =  sa*cb;     TempObj.m[1][1] = sa*sb*sg + ca*cg;     TempObj.m[1][2] = sa*sb*cg - ca*sg;
  TempObj.m[2][0] = -sb;        TempObj.m[2][1] = cb*sg;                TempObj.m[2][2] = cb*cg;
	
  return TempObj;
  
}