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quaternion.h

00001 // quaternion.h (based on the Quaternion class from eris) 00002 // 00003 // The WorldForge Project 00004 // Copyright (C) 2002 The WorldForge Project 00005 // 00006 // This program is free software; you can redistribute it and/or modify 00007 // it under the terms of the GNU General Public License as published by 00008 // the Free Software Foundation; either version 2 of the License, or 00009 // (at your option) any later version. 00010 // 00011 // This program is distributed in the hope that it will be useful, 00012 // but WITHOUT ANY WARRANTY; without even the implied warranty of 00013 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00014 // GNU General Public License for more details. 00015 // 00016 // You should have received a copy of the GNU General Public License 00017 // along with this program; if not, write to the Free Software 00018 // Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. 00019 // 00020 // For information about WorldForge and its authors, please contact 00021 // the Worldforge Web Site at http://www.worldforge.org. 00022 // 00023 00024 // Author: Ron Steinke 00025 00026 #ifndef WFMATH_QUATERNION_H 00027 #define WFMATH_QUATERNION_H 00028 00029 #include <wfmath/const.h> 00030 #include <wfmath/vector.h> 00031 #include <wfmath/rotmatrix.h> 00032 00033 namespace WFMath { 00034 00036 00040 class Quaternion 00041 { 00042 public: 00044 Quaternion () : m_valid(false) {} 00046 00049 Quaternion (CoordType w_in, CoordType x_in, CoordType y_in, CoordType z_in); 00051 Quaternion (int axis, CoordType angle) {rotation(axis, angle);} 00053 Quaternion (const Vector<3>& axis, CoordType angle) {rotation(axis, angle);} 00055 00058 explicit Quaternion (const Vector<3>& axis) {rotation(axis);} // angle == axis.mag() 00060 Quaternion (const Quaternion& p) : m_w(p.m_w), m_vec(p.m_vec), 00061 m_valid(p.m_valid), m_age(p.m_age) {} 00063 explicit Quaternion (const AtlasInType& a) {fromAtlas(a);} 00064 00065 ~Quaternion() {} 00066 00067 friend std::ostream& operator<<(std::ostream& os, const Quaternion& p); 00068 friend std::istream& operator>>(std::istream& is, Quaternion& p); 00069 00071 AtlasOutType toAtlas() const; 00073 void fromAtlas(const AtlasInType& a); 00074 00075 Quaternion& operator= (const Quaternion& rhs) 00076 {m_w = rhs.m_w; m_vec = rhs.m_vec; m_valid = rhs.m_valid; m_age = rhs.m_age; return *this;} 00077 00078 // This regards q and -1*q as equal, since they give the 00079 // same RotMatrix<3> 00080 bool isEqualTo(const Quaternion &q, double epsilon = WFMATH_EPSILON) const; 00081 00082 bool operator== (const Quaternion& rhs) const {return isEqualTo(rhs);} 00083 bool operator!= (const Quaternion& rhs) const {return !isEqualTo(rhs);} 00084 00085 bool isValid() const {return m_valid;} 00086 00088 Quaternion& identity() {m_w = 1; m_vec.zero(); m_valid = true; m_age = 0; return *this;} // Set to null rotation 00089 00090 // Operators 00091 00093 Quaternion operator* (const Quaternion& rhs) const; 00095 Quaternion operator/ (const Quaternion& rhs) const; 00097 Quaternion& operator*= (const Quaternion& rhs) 00098 {return *this = operator*(rhs);} 00100 Quaternion& operator/= (const Quaternion& rhs) 00101 {return *this = operator/(rhs);} 00102 00103 // Functions 00104 00105 // Returns "not_flip", similar to RotMatrix<>.toEuler() 00107 00116 bool fromRotMatrix(const RotMatrix<3>& m); 00117 00119 Quaternion inverse() const; 00120 00122 Quaternion& rotate(const RotMatrix<3>&); 00123 00125 Quaternion& rotate(const Quaternion& q) {return operator*=(q);} 00126 00128 Quaternion& rotation(int axis, CoordType angle); 00130 Quaternion& rotation(const Vector<3>& axis, CoordType angle); 00132 00135 Quaternion& rotation(const Vector<3>& axis); // angle == axis.mag() 00136 00138 Quaternion& rotation(const Vector<3>& from, const Vector<3>& to); 00139 00140 // documented elsewhere 00141 template<const int dim> 00142 friend Vector<3>& Vector<dim>::rotate(const Quaternion& q); 00143 template<const int dim> 00144 friend RotMatrix<3>& RotMatrix<dim>::fromQuaternion(const Quaternion& q, 00145 const bool not_flip); 00146 00148 CoordType scalar() const {return m_w;} 00150 const Vector<3>& vector() const {return m_vec;} 00151 00153 void normalize(); 00155 unsigned age() const {return m_age;} 00156 00157 private: 00158 Quaternion(bool valid) : m_valid(valid), m_age(1) {} 00159 void checkNormalization() {if(m_age >= WFMATH_MAX_NORM_AGE && m_valid) normalize();} 00160 CoordType m_w; 00161 Vector<3> m_vec; 00162 bool m_valid; 00163 unsigned m_age; 00164 }; 00165 00166 } // namespace WFMath 00167 00168 #endif // WFMATH_QUATERNION_H

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