placement.cpp

Go to the documentation of this file.

/*
 * placement.cpp
 *
 * Copyright (C) 2009  Thomas A. Vaughan
 * All rights reserved.
 *
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the <organization> nor the
 *       names of its contributors may be used to endorse or promote products
 *       derived from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THOMAS A. VAUGHAN ''AS IS'' AND ANY
 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED. IN NO EVENT SHALL THOMAS A. VAUGHAN BE LIABLE FOR ANY
 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *
 * Implementation placement objects.  See placement.h
 */

// includes --------------------------------------------------------------------
#include "placement.h"                  // always include our own header first!

#include <iostream>
#include <math.h>

#include "util/token_stream.h"



static const float s_radiansPerDegree           = M_PI / 180.0;


////////////////////////////////////////////////////////////////////////////////
//
//      static helper methods
//
////////////////////////////////////////////////////////////////////////////////


////////////////////////////////////////////////////////////////////////////////
//
//      public API
//
////////////////////////////////////////////////////////////////////////////////

placement_t
parsePlacement
(
IO std::istream& stream
)
{
        ASSERT(stream.good(), "bad?");

        placement_t p;
        std::string token;

        // read vectors
        point3d_t euler;
        euler.clear();  // zero rotations by default
        while (true) {
                getNextToken(stream, token);
                if ("}" == token) {
                        break;
                } else if ("position" == token) {
                        parsePoint3d(stream, p.position);
                } else if ("euler" == token) {
                        parsePoint3d(stream, euler);
                } else {
                        ASSERT_THROW(false,
                            "Unknown token reading placement: " << token);
                }
        }

        // convert degrees to radians
        euler = s_radiansPerDegree * euler;

        // transform euler to quaternion
        p.rotation.setEulerZYX(euler.z, euler.y, euler.x);
//      euler.dump("Just read Euler: ");
//      p.rotation.dump("  quaternion representation");
        // end of placement

        // all done!
        return p;
}