csgeom/quaterni.h
Go to the documentation of this file.00001 /* 00002 Copyright (C) 2000 by Norman Kramer 00003 00004 This library is free software; you can redistribute it and/or 00005 modify it under the terms of the GNU Library General Public 00006 License as published by the Free Software Foundation; either 00007 version 2 of the License, or (at your option) any later version. 00008 00009 This library is distributed in the hope that it will be useful, 00010 but WITHOUT ANY WARRANTY; without even the implied warranty of 00011 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 00012 Library General Public License for more details. 00013 00014 You should have received a copy of the GNU Library General Public 00015 License along with this library; if not, write to the Free 00016 Software Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. 00017 */ 00018 00019 #ifndef __CS_QUATERNION_H__ 00020 #define __CS_QUATERNION_H__ 00021 00028 #include "csextern.h" 00029 00030 #include "csgeom/math3d.h" 00031 #include "csgeom/matrix3.h" 00032 #include "qsqrt.h" 00033 00037 class CS_CSGEOM_EXPORT csQuaternion 00038 { 00039 public: 00041 inline void Init (float theR, float theX, float theY, float theZ) 00042 { r = theR; x = theX; y = theY; z = theZ; } 00043 00045 csQuaternion () { Init(0, 0, 0, 0 ); } 00047 csQuaternion (float theR, float theX=0.0, float theY=0.0, float theZ=0.0) 00048 { Init (theR, theX, theY, theZ ); } 00050 csQuaternion (const csQuaternion& q) { Init (q.r, q.x, q.y, q.z); } 00052 csQuaternion (const csVector3& q) { Init (0, q.x, q.y, q.z); } 00053 00055 csQuaternion (const csMatrix3& smat); 00056 00058 inline friend csQuaternion operator+ (const csQuaternion& q1, 00059 const csQuaternion& q2) 00060 { 00061 return csQuaternion (q1.r + q2.r, q1.x + q2.x, q1.y + q2.y, q1.z + q2.z ); 00062 } 00063 00065 inline friend csQuaternion operator- (const csQuaternion& q1, 00066 const csQuaternion& q2) 00067 { 00068 return csQuaternion (q1.r - q2.r, q1.x - q2.x, q1.y - q2.y, q1.z - q2.z ); 00069 } 00070 00072 inline friend csQuaternion operator* (const csQuaternion& q1, 00073 const csQuaternion& q2) 00074 { 00075 return csQuaternion (q1.r*q2.r - q1.x*q2.x - q1.y*q2.y - q1.z*q2.z, 00076 q1.y*q2.z - q1.z*q2.y + q1.r*q2.x + q1.x*q2.r, 00077 q1.z*q2.x - q1.x*q2.z + q1.r*q2.y + q1.y*q2.r, 00078 q1.x*q2.y - q1.y*q2.x + q1.r*q2.z + q1.z*q2.r); 00079 } 00080 00082 csQuaternion& operator*= (const csQuaternion& q2) 00083 { 00084 Init (r*q2.r - x*q2.x - y*q2.y - z*q2.z, 00085 y*q2.z - z*q2.y + r*q2.x + x*q2.r, 00086 z*q2.x - x*q2.z + r*q2.y + y*q2.r, 00087 x*q2.y - y*q2.x + r*q2.z + z*q2.r); 00088 return *this; 00089 } 00090 00092 void Conjugate () { Init (r, -x, -y, -z); } 00093 00095 void Negate () { Init(-r, -x, -y, -z); } 00096 00098 void Invert(); 00099 00105 void GetAxisAngle(csVector3& axis, float& phi) const; 00106 00112 void SetWithAxisAngle(csVector3 axis, float phi); 00113 00119 void PrepRotation (float angle, csVector3 vec) 00120 { 00121 double theSin = sin (angle / 2.0f); 00122 Init ((float) cos (angle / 2.0f), vec.x * theSin, vec.y * theSin, 00123 vec.z * theSin); 00124 } 00125 00127 csVector3 Rotate (csVector3 vec) 00128 { 00129 csQuaternion p (vec); 00130 csQuaternion qConj (r, -x, -y, -z); 00131 00132 p = *this * p; 00133 p *= qConj; 00134 return csVector3 (p.x, p.y, p.z); 00135 } 00136 00138 void Normalize () 00139 { 00140 float dist, square; 00141 square = x * x + y * y + z * z + r * r; 00142 00143 if (square > 0.0) dist = (float)qisqrt(square); 00144 else dist = 1; 00145 00146 x *= dist; 00147 y *= dist; 00148 z *= dist; 00149 r *= dist; 00150 00151 /*if(x*x + y*y + z*z > .999) 00152 { 00153 // Severe problems... 00154 float inverselen = 1.0f / (x*x + y*y + z*z); 00155 x *= inverselen; 00156 y *= inverselen; 00157 z *= inverselen; 00158 if(r > 0) r = -1 + r; 00159 else r = 1 + r; 00160 } 00161 else 00162 { 00163 r = qsqrt(1.0f - x*x - y*y - z*z); 00164 }*/ 00165 } 00166 00172 void SetWithEuler (const csVector3 &rot); 00173 00178 void GetEulerAngles (csVector3& angles); 00179 00183 csQuaternion ToAxisAngle () const; 00184 00190 csQuaternion Slerp (const csQuaternion &quat2, float slerp) const; 00191 00192 //csQuaternion Lerp(const csQuaternion& quat2, float ratio) const; 00193 00194 float r,x,y,z; 00195 }; 00196 00199 #endif // __CS_QUATERNION_H__ 00200
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