From 52a0c84fce13471a875ce2ab780e8ac1dc311c79 Mon Sep 17 00:00:00 2001
From: David Rose <david@ddrose.com>
Date: Sun, 23 Jan 2005 16:39:16 +0000
Subject: [PATCH] add LQuaternionf::get_forward(), fix angle_rad()

---
 panda/src/linmath/lquaternion_src.I | 49 ++++++++++++++++++++++++-----
 panda/src/linmath/lquaternion_src.h |  4 +++
 2 files changed, 46 insertions(+), 7 deletions(-)

diff --git a/panda/src/linmath/lquaternion_src.I b/panda/src/linmath/lquaternion_src.I
index 8ca6bb90e7..7997c43b38 100644
--- a/panda/src/linmath/lquaternion_src.I
+++ b/panda/src/linmath/lquaternion_src.I
@@ -107,21 +107,23 @@ operator - (const FLOATNAME(LQuaternion) &other) const {
 }
 
 ////////////////////////////////////////////////////////////////////
-//     Function: LVector::angle_rad
+//     Function: LQuaternion::angle_rad
 //       Access: Published
-//  Description: Returns the angle between this quat and the other
-//               one, expressed in radians.
+//  Description: Returns the angle between the orientation represented
+//               by this quaternion and the other one, expressed in
+//               radians.
 ////////////////////////////////////////////////////////////////////
 INLINE_LINMATH FLOATTYPE FLOATNAME(LQuaternion)::
 angle_rad(const FLOATNAME(LQuaternion) &other) const {
-  return get_axis().angle_rad(other.get_axis());
+  return get_forward().angle_rad(other.get_forward());
 }
 
 ////////////////////////////////////////////////////////////////////
-//     Function: LVector::angle_deg
+//     Function: LQuaternion::angle_deg
 //       Access: Published
-//  Description: Returns the angle between this vector and the other
-//               one, expressed in degrees.
+//  Description: Returns the angle between the orientation represented
+//               by this quaternion and the other one, expressed in
+//               degrees.
 ////////////////////////////////////////////////////////////////////
 INLINE_LINMATH FLOATTYPE FLOATNAME(LQuaternion)::
 angle_deg(const FLOATNAME(LQuaternion) &other) const {
@@ -299,6 +301,39 @@ get_angle() const {
   return rad_2_deg(acos(_v.data[0]) * 2.0);
 }
 
+////////////////////////////////////////////////////////////////////
+//     Function: LQuaternion::get_up
+//       Access: Public
+//  Description: Returns the orientation represented by this
+//               quaternion, expressed as an up vector.
+////////////////////////////////////////////////////////////////////
+INLINE_LINMATH FLOATNAME(LVector3) FLOATNAME(LQuaternion)::
+get_up(CoordinateSystem cs) const {
+  return xform(FLOATNAME(LVector3)::up(cs));
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: LQuaternion::get_right
+//       Access: Public
+//  Description: Returns the orientation represented by this
+//               quaternion, expressed as a right vector.
+////////////////////////////////////////////////////////////////////
+INLINE_LINMATH FLOATNAME(LVector3) FLOATNAME(LQuaternion)::
+get_right(CoordinateSystem cs) const {
+  return xform(FLOATNAME(LVector3)::right(cs));
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: LQuaternion::get_forward
+//       Access: Public
+//  Description: Returns the orientation represented by this
+//               quaternion, expressed as a forward vector.
+////////////////////////////////////////////////////////////////////
+INLINE_LINMATH FLOATNAME(LVector3) FLOATNAME(LQuaternion)::
+get_forward(CoordinateSystem cs) const {
+  return xform(FLOATNAME(LVector3)::forward(cs));
+}
+
 
 ////////////////////////////////////////////////////////////////////
 //     Function: LQuaternion::get_r
diff --git a/panda/src/linmath/lquaternion_src.h b/panda/src/linmath/lquaternion_src.h
index 08365a99a5..0d4ed76789 100644
--- a/panda/src/linmath/lquaternion_src.h
+++ b/panda/src/linmath/lquaternion_src.h
@@ -73,6 +73,10 @@ PUBLISHED:
   INLINE_LINMATH FLOATNAME(LVector3) get_axis() const;
   INLINE_LINMATH FLOATTYPE get_angle() const;
 
+  INLINE_LINMATH FLOATNAME(LVector3) get_up(CoordinateSystem cs = CS_default) const;
+  INLINE_LINMATH FLOATNAME(LVector3) get_right(CoordinateSystem cs = CS_default) const;
+  INLINE_LINMATH FLOATNAME(LVector3) get_forward(CoordinateSystem cs = CS_default) const;
+
   INLINE_LINMATH FLOATTYPE get_r() const;
   INLINE_LINMATH FLOATTYPE get_i() const;
   INLINE_LINMATH FLOATTYPE get_j() const;