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OgreQuaternion.h

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00001 /*
00002 -----------------------------------------------------------------------------
00003 This source file is part of OGRE
00004     (Object-oriented Graphics Rendering Engine)
00005 For the latest info, see http://www.ogre3d.org/
00006 
00007 Copyright (c) 2000-2006 Torus Knot Software Ltd
00008 Also see acknowledgements in Readme.html
00009 
00010 This program is free software; you can redistribute it and/or modify it under
00011 the terms of the GNU Lesser General Public License as published by the Free Software
00012 Foundation; either version 2 of the License, or (at your option) any later
00013 version.
00014 
00015 This program is distributed in the hope that it will be useful, but WITHOUT
00016 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
00017 FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details.
00018 
00019 You should have received a copy of the GNU Lesser General Public License along with
00020 this program; if not, write to the Free Software Foundation, Inc., 59 Temple
00021 Place - Suite 330, Boston, MA 02111-1307, USA, or go to
00022 http://www.gnu.org/copyleft/lesser.txt.
00023 
00024 You may alternatively use this source under the terms of a specific version of
00025 the OGRE Unrestricted License provided you have obtained such a license from
00026 Torus Knot Software Ltd.
00027 -----------------------------------------------------------------------------
00028 */
00029 // NOTE THAT THIS FILE IS BASED ON MATERIAL FROM:
00030 
00031 // Magic Software, Inc.
00032 // http://www.geometrictools.com/
00033 // Copyright (c) 2000, All Rights Reserved
00034 //
00035 // Source code from Magic Software is supplied under the terms of a license
00036 // agreement and may not be copied or disclosed except in accordance with the
00037 // terms of that agreement.  The various license agreements may be found at
00038 // the Magic Software web site.  This file is subject to the license
00039 //
00040 // FREE SOURCE CODE
00041 // http://www.geometrictools.com/License/WildMagic3License.pdf
00042 
00043 #ifndef __Quaternion_H__
00044 #define __Quaternion_H__
00045 
00046 #include "OgrePrerequisites.h"
00047 #include "OgreMath.h"
00048 
00049 namespace Ogre {
00050 
00053     class _OgreExport Quaternion
00054     {
00055     public:
00056         inline Quaternion (
00057             Real fW = 1.0,
00058             Real fX = 0.0, Real fY = 0.0, Real fZ = 0.0)
00059         {
00060             w = fW;
00061             x = fX;
00062             y = fY;
00063             z = fZ;
00064         }
00065         inline Quaternion (const Quaternion& rkQ)
00066         {
00067             w = rkQ.w;
00068             x = rkQ.x;
00069             y = rkQ.y;
00070             z = rkQ.z;
00071         }
00073         inline Quaternion(const Matrix3& rot)
00074         {
00075             this->FromRotationMatrix(rot);
00076         }
00078         inline Quaternion(const Radian& rfAngle, const Vector3& rkAxis)
00079         {
00080             this->FromAngleAxis(rfAngle, rkAxis);
00081         }
00082 #ifndef OGRE_FORCE_ANGLE_TYPES
00083         inline Quaternion(const Real& rfAngle, const Vector3& rkAxis)
00084         {
00085             this->FromAngleAxis(rfAngle, rkAxis);
00086         }
00087 #endif//OGRE_FORCE_ANGLE_TYPES
00088 
00089         inline Quaternion(const Vector3& xaxis, const Vector3& yaxis, const Vector3& zaxis)
00090         {
00091             this->FromAxes(xaxis, yaxis, zaxis);
00092         }
00094         inline Quaternion(const Vector3* akAxis)
00095         {
00096             this->FromAxes(akAxis);
00097         }
00099         inline Quaternion(Real* valptr)
00100         {
00101             memcpy(&w, valptr, sizeof(Real)*4);
00102         }
00103 
00105         inline Real operator [] ( const size_t i ) const
00106         {
00107             assert( i < 4 );
00108 
00109             return *(&w+i);
00110         }
00111 
00113         inline Real& operator [] ( const size_t i )
00114         {
00115             assert( i < 4 );
00116 
00117             return *(&w+i);
00118         }
00119 
00121         inline Real* ptr()
00122         {
00123             return &w;
00124         }
00125 
00127         inline const Real* ptr() const
00128         {
00129             return &w;
00130         }
00131 
00132         void FromRotationMatrix (const Matrix3& kRot);
00133         void ToRotationMatrix (Matrix3& kRot) const;
00134         void FromAngleAxis (const Radian& rfAngle, const Vector3& rkAxis);
00135         void ToAngleAxis (Radian& rfAngle, Vector3& rkAxis) const;
00136         inline void ToAngleAxis (Degree& dAngle, Vector3& rkAxis) const {
00137             Radian rAngle;
00138             ToAngleAxis ( rAngle, rkAxis );
00139             dAngle = rAngle;
00140         }
00141 #ifndef OGRE_FORCE_ANGLE_TYPES
00142         inline void FromAngleAxis (const Real& rfAngle, const Vector3& rkAxis) {
00143             FromAngleAxis ( Angle(rfAngle), rkAxis );
00144         }
00145         inline void ToAngleAxis (Real& rfAngle, Vector3& rkAxis) const {
00146             Radian r;
00147             ToAngleAxis ( r, rkAxis );
00148             rfAngle = r.valueAngleUnits();
00149         }
00150 #endif//OGRE_FORCE_ANGLE_TYPES
00151         void FromAxes (const Vector3* akAxis);
00152         void FromAxes (const Vector3& xAxis, const Vector3& yAxis, const Vector3& zAxis);
00153         void ToAxes (Vector3* akAxis) const;
00154         void ToAxes (Vector3& xAxis, Vector3& yAxis, Vector3& zAxis) const;
00156         Vector3 xAxis(void) const;
00158         Vector3 yAxis(void) const;
00160         Vector3 zAxis(void) const;
00161 
00162         inline Quaternion& operator= (const Quaternion& rkQ)
00163         {
00164             w = rkQ.w;
00165             x = rkQ.x;
00166             y = rkQ.y;
00167             z = rkQ.z;
00168             return *this;
00169         }
00170         Quaternion operator+ (const Quaternion& rkQ) const;
00171         Quaternion operator- (const Quaternion& rkQ) const;
00172         Quaternion operator* (const Quaternion& rkQ) const;
00173         Quaternion operator* (Real fScalar) const;
00174         _OgreExport friend Quaternion operator* (Real fScalar,
00175             const Quaternion& rkQ);
00176         Quaternion operator- () const;
00177         inline bool operator== (const Quaternion& rhs) const
00178         {
00179             return (rhs.x == x) && (rhs.y == y) &&
00180                 (rhs.z == z) && (rhs.w == w);
00181         }
00182         inline bool operator!= (const Quaternion& rhs) const
00183         {
00184             return !operator==(rhs);
00185         }
00186         // functions of a quaternion
00187         Real Dot (const Quaternion& rkQ) const;  // dot product
00188         Real Norm () const;  // squared-length
00190         Real normalise(void); 
00191         Quaternion Inverse () const;  // apply to non-zero quaternion
00192         Quaternion UnitInverse () const;  // apply to unit-length quaternion
00193         Quaternion Exp () const;
00194         Quaternion Log () const;
00195 
00196         // rotation of a vector by a quaternion
00197         Vector3 operator* (const Vector3& rkVector) const;
00198 
00207         Radian getRoll(bool reprojectAxis = true) const;
00216         Radian getPitch(bool reprojectAxis = true) const;
00225         Radian getYaw(bool reprojectAxis = true) const;     
00227         bool equals(const Quaternion& rhs, const Radian& tolerance) const;
00228         
00229         // spherical linear interpolation
00230         static Quaternion Slerp (Real fT, const Quaternion& rkP,
00231             const Quaternion& rkQ, bool shortestPath = false);
00232 
00233         static Quaternion SlerpExtraSpins (Real fT,
00234             const Quaternion& rkP, const Quaternion& rkQ,
00235             int iExtraSpins);
00236 
00237         // setup for spherical quadratic interpolation
00238         static void Intermediate (const Quaternion& rkQ0,
00239             const Quaternion& rkQ1, const Quaternion& rkQ2,
00240             Quaternion& rka, Quaternion& rkB);
00241 
00242         // spherical quadratic interpolation
00243         static Quaternion Squad (Real fT, const Quaternion& rkP,
00244             const Quaternion& rkA, const Quaternion& rkB,
00245             const Quaternion& rkQ, bool shortestPath = false);
00246 
00247         // normalised linear interpolation - faster but less accurate (non-constant rotation velocity)
00248         static Quaternion nlerp(Real fT, const Quaternion& rkP, 
00249             const Quaternion& rkQ, bool shortestPath = false);
00250 
00251         // cutoff for sine near zero
00252         static const Real ms_fEpsilon;
00253 
00254         // special values
00255         static const Quaternion ZERO;
00256         static const Quaternion IDENTITY;
00257 
00258         Real w, x, y, z;
00259 
00263         inline _OgreExport friend std::ostream& operator <<
00264             ( std::ostream& o, const Quaternion& q )
00265         {
00266             o << "Quaternion(" << q.w << ", " << q.x << ", " << q.y << ", " << q.z << ")";
00267             return o;
00268         }
00269 
00270     };
00271 
00272 }
00273 
00274 
00275 
00276 
00277 #endif 

Copyright © 2000-2005 by The OGRE Team
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This work is licensed under a Creative Commons Attribution-ShareAlike 2.5 License.
Last modified Sun Jul 8 15:20:08 2007