CrystalSpace

Public API Reference

Main Page   Modules   Class Hierarchy   Alphabetical List   Compound List   File List   Compound Members   File Members   Related Pages  

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 "csgeom/math3d.h"
00029 #include "csgeom/matrix3.h"
00030 #include "qsqrt.h"
00031 
00035 class csQuaternion
00036 {
00037 public:
00039   inline void Init (float theR, float theX, float theY, float theZ)
00040   { r = theR; x = theX; y = theY; z = theZ; }
00041 
00043   csQuaternion () { Init(0, 0, 0, 0 ); }
00045   csQuaternion (float theR, float theX=0.0, float theY=0.0, float theZ=0.0)
00046   { Init (theR, theX, theY, theZ ); }
00048   csQuaternion (const csQuaternion& q) { Init (q.r, q.x, q.y, q.z); }
00050   csQuaternion (const csVector3& q) { Init (0, q.x, q.y, q.z); }
00051 
00053   csQuaternion (const csMatrix3& smat);
00054 
00056   inline friend csQuaternion operator+ (const csQuaternion& q1,
00057         const csQuaternion& q2)
00058   {
00059     return csQuaternion (q1.r + q2.r, q1.x + q2.x, q1.y + q2.y, q1.z + q2.z );
00060   }
00061 
00063   inline friend csQuaternion operator- (const csQuaternion& q1,
00064         const csQuaternion& q2)
00065   {
00066     return csQuaternion (q1.r - q2.r, q1.x - q2.x, q1.y - q2.y, q1.z - q2.z );
00067   }
00068 
00070   inline friend csQuaternion operator* (const csQuaternion& q1,
00071         const csQuaternion& q2)
00072   {
00073     return csQuaternion (q1.r*q2.r -  q1.x*q2.x - q1.y*q2.y - q1.z*q2.z,
00074              q1.y*q2.z -  q1.z*q2.y + q1.r*q2.x + q1.x*q2.r,
00075              q1.z*q2.x -  q1.x*q2.z + q1.r*q2.y + q1.y*q2.r,
00076              q1.x*q2.y -  q1.y*q2.x + q1.r*q2.z + q1.z*q2.r);
00077   }
00078 
00080   csQuaternion& operator*= (const csQuaternion& q2)
00081   {
00082     Init (r*q2.r -  x*q2.x - y*q2.y - z*q2.z,
00083       y*q2.z -  z*q2.y + r*q2.x + x*q2.r,
00084       z*q2.x -  x*q2.z + r*q2.y + y*q2.r,
00085       x*q2.y -  y*q2.x + r*q2.z + z*q2.r);
00086     return *this;
00087   }
00088 
00090   void Conjugate () { Init (r, -x, -y, -z); }
00091 
00093   void Negate () { Init(-r, -x, -y, -z); }
00094 
00096   void Invert();
00097 
00103   void GetAxisAngle(csVector3& axis, float& phi) const;
00104 
00110   void SetWithAxisAngle(csVector3 axis, float phi);
00111 
00117   void PrepRotation (float angle, csVector3 vec)
00118   {
00119     double theSin = sin (angle / 2.0f);
00120     Init ((float) cos (angle / 2.0f), vec.x * theSin, vec.y * theSin,
00121         vec.z * theSin);
00122   }
00123 
00125   csVector3 Rotate (csVector3 vec)
00126   {
00127     csQuaternion p (vec);
00128     csQuaternion qConj (r, -x, -y, -z);
00129 
00130     p = *this * p;
00131     p *= qConj;
00132     return csVector3 (p.x, p.y, p.z);
00133   }
00134 
00136   void Normalize ()
00137   {
00138     float dist, square;
00139     square = x * x + y * y + z * z + r * r;
00140 
00141     if (square > 0.0) dist = (float)qisqrt(square);
00142     else dist = 1;
00143 
00144     x *= dist;
00145     y *= dist;
00146     z *= dist;
00147     r *= dist;
00148 
00149     /*if(x*x + y*y + z*z > .999)
00150     {
00151       // Severe problems...
00152       float inverselen = 1.0f / (x*x + y*y + z*z);
00153       x *= inverselen;
00154       y *= inverselen;
00155       z *= inverselen;
00156       if(r > 0) r = -1 + r;
00157       else r = 1 + r;
00158     }
00159     else
00160     {
00161       r = qsqrt(1.0f - x*x - y*y - z*z);
00162       }*/
00163   }
00164 
00170   void SetWithEuler (const csVector3 &rot);
00171 
00176   void GetEulerAngles (csVector3& angles);
00177 
00181   csQuaternion ToAxisAngle () const;
00182 
00188   csQuaternion Slerp (const csQuaternion &quat2, float slerp) const;
00189 
00190   //csQuaternion Lerp(const csQuaternion& quat2, float ratio) const;
00191 
00192   float r,x,y,z;
00193 };
00194 
00197 #endif // __CS_QUATERNION_H__
00198 

Generated for Crystal Space by doxygen 1.2.18