Rotations in 3D , Euler angles & Quaternions

Rotations in 3D , Euler angles & Quaternions

[Alain De Vos]

Are there Ada packages,types available you can use to juggle, compose rotations,manipulate euler angels, quaternions,convert ?
Or does a user must construct these objects using complex numbers,trigonometric functions, matrix multiplication ?

Re: Rotations in 3D , Euler angles & Quaternions

[AdaMagica]

In my physical dimension package, there are matrix rotations and quaternions:

http://archive.adaic.com/tools/CKWG/Dimension/SI.html

Re: Rotations in 3D , Euler angles & Quaternions

[Lucretia]

On Monday, 11 November 2019 22:52:27 UTC, Alain De Vos  wrote:
> Are there Ada packages,types available you can use to juggle, compose rotations,manipulate euler angels, quaternions,convert ?
> Or does a user must construct these objects using complex numbers,trigonometric functions, matrix multiplication ?

There are vectors and matrices in the library: http://www.ada-auth.org/standards/12rm/html/RM-G-3.html I've no idea how well these optimise or perform for games / 3d rendering.

I have some old game optimised vector3/4 / matrix3/4 types I wrote for the NeHe ports I did. I don't even know if you need to optimise them now for the hw we have.

Re: Rotations in 3D , Euler angles & Quaternions

[Alain De Vos]

On Monday, November 11, 2019 at 11:52:27 PM UTC+1, Alain De Vos wrote:
> Are there Ada packages,types available you can use to juggle, compose rotations,manipulate euler angels, quaternions,convert ?
> Or does a user must construct these objects using complex numbers,trigonometric functions, matrix multiplication ?

PS :  I also found a quaternion in openglada 

Re: Rotations in 3D , Euler angles & Quaternions

[Stephen Leake]

On Monday, November 11, 2019 at 2:52:27 PM UTC-8, Alain De Vos wrote:
> Are there Ada packages,types available you can use to juggle, compose rotations,manipulate euler angels, quaternions,convert ?
> Or does a user must construct these objects using complex numbers,trigonometric functions, matrix multiplication ?

I wrote just such a set of packages when I was doing robotics as NASA. It's not on the web anywhere, but I can make it available; no warranties!

Re: Rotations in 3D , Euler angles & Quaternions

[Shark8]

On Tuesday, November 12, 2019 at 10:06:50 AM UTC-7, Stephen Leake wrote:
> 
> I wrote just such a set of packages when I was doing robotics as NASA. It's not on the web anywhere, but I can make it available; no warranties!

Nice!
Speaking of NASA-ish things, I'm working on a SPARK-verified FITS library for my current organization (involved in astronomy) — though, I don't know that this would have much overlap with robotics unless perhaps tying in the scientific-instrumentation.

Re: Rotations in 3D , Euler angles & Quaternions

[Alain De Vos]

On Tuesday, November 12, 2019 at 8:50:03 PM UTC+1, Shark8 wrote:
> On Tuesday, November 12, 2019 at 10:06:50 AM UTC-7, Stephen Leake wrote:
> > 
> > I wrote just such a set of packages when I was doing robotics as NASA. It's not on the web anywhere, but I can make it available; no warranties!
> 
> Nice!
> Speaking of NASA-ish things, I'm working on a SPARK-verified FITS library for my current organization (involved in astronomy) — though, I don't know that this would have much overlap with robotics unless perhaps tying in the scientific-instrumentation.

There is alot of stuff which rotates.
Rockets, robot arms, planets, ...

Re: Rotations in 3D , Euler angles & Quaternions

[Maurice Calvert]

On Tuesday, 12 November 2019 at 18:06:50 UTC+1, Stephen Leake wrote:
> On Monday, November 11, 2019 at 2:52:27 PM UTC-8, Alain De Vos wrote: 
> > Are there Ada packages,types available you can use to juggle, compose rotations,manipulate euler angels, quaternions,convert ? 
> > Or does a user must construct these objects using complex numbers,trigonometric functions, matrix multiplication ?
> I wrote just such a set of packages when I was doing robotics as NASA. It's not on the web anywhere, but I can make it available; no warranties!

Is there any possibility you could publish the sources please?
Thanks >;-)

Re: Rotations in 3D , Euler angles & Quaternions

[Rod Kay]

On Tuesday, 12 November 2019 at 09:52:27 UTC+11, devosa...@gmail.com wrote:
> Are there Ada packages,types available you can use to juggle, compose rotations,manipulate euler angels, quaternions,convert ? 
> Or does a user must construct these objects using complex numbers,trigonometric functions, matrix multiplication ?

You might take a look at the 'any_math.any_Algebra.any_linear.any_d3' package in the Lace components.

https://github.com/charlie5/lace

The file is '.../lace/1-base/math/source/generic/pure/algebra/any_math-any_algebra-any_linear-any_d3.ads'.

The package is a generic. Instantiations for Short_Float, Float and Long_Float are in '.../lace/1-base/math/source/precision'.

Re: Rotations in 3D , Euler angles & Quaternions

[Stephen Leake]

Maurice Calvert <maurice.calvert@gmail.com> writes:

> On Tuesday, 12 November 2019 at 18:06:50 UTC+1, Stephen Leake wrote:
>> On Monday, November 11, 2019 at 2:52:27 PM UTC-8, Alain De Vos wrote: 
>> > Are there Ada packages,types available you can use to juggle,
>> > compose rotations,manipulate euler angels, quaternions,convert ?
>> > Or does a user must construct these objects using complex
>> > numbers,trigonometric functions, matrix multiplication ?
>> I wrote just such a set of packages when I was doing robotics as
>> NASA. It's not on the web anywhere, but I can make it available; no
>> warranties!
>
> Is there any possibility you could publish the sources please?

https://stephe-leake.org/ada/sal-2016.tar.gz


-- 
-- Stephe

Re: Rotations in 3D , Euler angles & Quaternions

[onox]

On Monday, November 11, 2019 at 11:52:27 PM UTC+1, devosa...@gmail.com wrote:
> Are there Ada packages,types available you can use to juggle, compose rotations,manipulate euler angels, quaternions,convert ? 
> Or does a user must construct these objects using complex numbers,trigonometric functions, matrix multiplication ?

If you have an x86-64 CPU with SSE3 and AVX instructions, you might want to check my 3D engine, Orka, which provides packages for vectors (4), matrices (4x4), and quaternions. See https://github.com/onox/orka/blob/master/src/orka/interface/orka-transforms-simd_quaternions.ads. Use Orka.Transforms.Singles.Quaternions for 32-bit floats with SSE and Orka.Transforms.Doubles.Quaternions for 64-bit with AVX.