[Csp-commits] APPLICATIONS/CSPSim/Source AircraftObject.cpp,1.29,1.30

[<mk...@us...>]

Update of /cvsroot/csp/APPLICATIONS/CSPSim/Source
In directory sc8-pr-cvs1:/tmp/cvs-serv31730/Source

Modified Files:
	AircraftObject.cpp 
Log Message:


Index: AircraftObject.cpp
===================================================================
RCS file: /cvsroot/csp/APPLICATIONS/CSPSim/Source/AircraftObject.cpp,v
retrieving revision 1.29
retrieving revision 1.30
diff -C2 -d -r1.29 -r1.30
*** AircraftObject.cpp	6 Aug 2003 06:25:18 -0000	1.29
--- AircraftObject.cpp	6 Aug 2003 07:56:56 -0000	1.30
***************
*** 524,536 ****
  void AircraftObject::setAttitude(double pitch, double roll, double heading)
  {
- 	simdata::Quat attitude;
  	m_Pitch = pitch;
  	m_Roll = roll;
  	m_Heading = heading;
  	
  	// use standard Euler convension (X axis is roll, Y is pitch, Z is yaw).
! 	//attitude = simdata::Quat::MakeQFromEulerAngles(m_Roll, m_Pitch, -m_Heading); // old-style
! 	attitude.makeRotate(m_Roll, m_Pitch, -m_Heading);
! 	DynamicObject::setAttitude(attitude);
  }
  
--- 524,537 ----
  void AircraftObject::setAttitude(double pitch, double roll, double heading)
  {
  	m_Pitch = pitch;
  	m_Roll = roll;
  	m_Heading = heading;
  	
+ 	simdata::Quat attitude;
  	// use standard Euler convension (X axis is roll, Y is pitch, Z is yaw).
! 	attitude.makeRotate(m_Roll, m_Pitch, m_Heading);
! 	// convert to CSP coordinate system (X axis is pitch, Y axis is roll, -Z is yaw)
! 	simdata::Quat modified(m_Attitude.y(), m_Attitude.x(), -m_Attitude.z(), m_Attitude.w());
! 	DynamicObject::setAttitude(modified);
  }
  
***************
*** 552,564 ****
  	///updateTransform();
  
! 	// modified Euler angles are the CSP frame (X is pitch, Y is roll, Z is -yaw).
! 	double yaw;
! 	m_Attitude.getEulerAngles(m_Roll, m_Pitch, yaw);
! 	m_Heading = -yaw;
! 	
! 	//simdata::Vector3 angles = simdata::Quat::MakeModifiedEulerAnglesFromQ(m_Attitude); // old-style
! 	//m_Pitch = angles.x();
! 	//m_Roll = angles.y();
! 	//m_Heading = angles.z();
  
  	m_Speed = m_LinearVelocity.length();
--- 553,559 ----
  	///updateTransform();
  
! 	// convert from CSP frame to standard Euler (X is roll, Y is pitch, Z is yaw)
! 	simdata::Quat modified(m_Attitude.y(), m_Attitude.x(), -m_Attitude.z(), m_Attitude.w());
! 	modified.getEulerAngles(m_Roll, m_Pitch, m_Heading);
  
  	m_Speed = m_LinearVelocity.length();