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
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