2 * PROJECT: NyARToolkit
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3 * --------------------------------------------------------------------------------
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4 * This work is based on the original ARToolKit developed by
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7 * HITLab, University of Washington, Seattle
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8 * http://www.hitl.washington.edu/artoolkit/
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10 * The NyARToolkit is Java edition ARToolKit class library.
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11 * Copyright (C)2008-2009 Ryo Iizuka
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13 * This program is free software; you can redistribute it and/or
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14 * modify it under the terms of the GNU Lesser General Public License
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15 * as published by the Free Software Foundation; either version 3
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16 * of the License, or (at your option) any later version.
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18 * This program is distributed in the hope that it will be useful,
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19 * but WITHOUT ANY WARRANTY; without even the implied warranty of
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20 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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21 * GNU Lesser General Public License for more details
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23 * You should have received a copy of the GNU Lesser General Public
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24 * License along with this program. If not, see <http://www.gnu.org/licenses/>.
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26 * For further information please contact.
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27 * http://nyatla.jp/nyatoolkit/
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28 * <airmail(at)ebony.plala.or.jp> or <nyatla(at)nyatla.jp>
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31 package jp.nyatla.nyartoolkit.core.transmat.rotmatrix;
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33 import jp.nyatla.nyartoolkit.NyARException;
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34 import jp.nyatla.nyartoolkit.core.param.*;
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37 * 計算方法はARToolKitと同じだが、ARToolKitにある不要な行列から角度を逆算する
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38 * 処理を省略しているため、下位12桁目の計算値が異なる。
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41 public class NyARRotMatrix_ARToolKit_O2 extends NyARRotMatrix_ARToolKit
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48 public NyARRotMatrix_ARToolKit_O2(NyARPerspectiveProjectionMatrix i_matrix) throws NyARException
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53 public final void setAngle(final double i_x, final double i_y, final double i_z)
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55 final double sina = Math.sin(i_x);
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56 final double cosa = Math.cos(i_x);
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57 final double sinb = Math.sin(i_y);
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58 final double cosb = Math.cos(i_y);
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59 final double sinc = Math.sin(i_z);
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60 final double cosc = Math.cos(i_z);
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62 final double CACA = cosa * cosa;
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63 final double SASA = sina * sina;
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64 final double SACA = sina * cosa;
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65 final double SASB = sina * sinb;
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66 final double CASB = cosa * sinb;
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67 final double SACACB = SACA * cosb;
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69 this.m00 = CACA * cosb * cosc + SASA * cosc + SACACB * sinc - SACA * sinc;
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70 this.m01 = -CACA * cosb * sinc - SASA * sinc + SACACB * cosc - SACA * cosc;
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72 this.m10 = SACACB * cosc - SACA * cosc + SASA * cosb * sinc + CACA * sinc;
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73 this.m11 = -SACACB * sinc + SACA * sinc + SASA * cosb * cosc + CACA * cosc;
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75 this.m20 = -CASB * cosc - SASB * sinc;
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76 this.m21 = CASB * sinc - SASB * cosc;
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