forked from bartvdbraak/blender
116 lines
3.9 KiB
C++
116 lines
3.9 KiB
C++
/*
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* $Id$
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* ***** BEGIN GPL LICENSE BLOCK *****
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*
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* This program is free software; you can redistribute it and/or
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* modify it under the terms of the GNU General Public License
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* as published by the Free Software Foundation; either version 2
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* of the License, or (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program; if not, write to the Free Software Foundation,
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* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
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*
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* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
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* All rights reserved.
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*
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* The Original Code is: all of this file.
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*
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* Contributor(s): none yet.
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*
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* ***** END GPL LICENSE BLOCK *****
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*/
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/** \file moto/include/MT_Quaternion.h
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* \ingroup moto
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*/
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/*
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* Copyright (c) 2000 Gino van den Bergen <gino@acm.org>
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*
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* Permission to use, copy, modify, distribute and sell this software
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* and its documentation for any purpose is hereby granted without fee,
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* provided that the above copyright notice appear in all copies and
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* that both that copyright notice and this permission notice appear
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* in supporting documentation. Gino van den Bergen makes no
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* representations about the suitability of this software for any
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* purpose. It is provided "as is" without express or implied warranty.
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*
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*/
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#ifndef MT_QUATERNION_H
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#define MT_QUATERNION_H
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#include <MT_assert.h>
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#include "MT_Vector3.h"
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#include "MT_Vector4.h"
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class MT_Quaternion : public MT_Vector4 {
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public:
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MT_Quaternion() {}
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MT_Quaternion(const MT_Vector4& v) : MT_Vector4(v) {}
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MT_Quaternion(const float v[4]) : MT_Vector4(v) {}
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MT_Quaternion(const double v[4]) : MT_Vector4(v) {}
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MT_Quaternion(MT_Scalar xx, MT_Scalar yy, MT_Scalar zz, MT_Scalar ww) :
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MT_Vector4(xx, yy, zz, ww) {}
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MT_Quaternion(const MT_Vector3& axis, MT_Scalar mt_angle) {
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setRotation(axis, mt_angle);
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}
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MT_Quaternion(MT_Scalar yaw, MT_Scalar pitch, MT_Scalar roll) {
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setEuler(yaw, pitch, roll);
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}
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void setRotation(const MT_Vector3& axis, MT_Scalar mt_angle) {
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MT_Scalar d = axis.length();
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MT_assert(!MT_fuzzyZero(d));
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MT_Scalar s = sin(mt_angle * MT_Scalar(0.5)) / d;
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setValue(axis[0] * s, axis[1] * s, axis[2] * s,
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cos(mt_angle * MT_Scalar(0.5)));
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}
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void setEuler(MT_Scalar yaw, MT_Scalar pitch, MT_Scalar roll) {
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MT_Scalar cosYaw = cos(yaw * MT_Scalar(0.5));
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MT_Scalar sinYaw = sin(yaw * MT_Scalar(0.5));
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MT_Scalar cosPitch = cos(pitch * MT_Scalar(0.5));
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MT_Scalar sinPitch = sin(pitch * MT_Scalar(0.5));
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MT_Scalar cosRoll = cos(roll * MT_Scalar(0.5));
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MT_Scalar sinRoll = sin(roll * MT_Scalar(0.5));
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setValue(cosRoll * sinPitch * cosYaw + sinRoll * cosPitch * sinYaw,
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cosRoll * cosPitch * sinYaw - sinRoll * sinPitch * cosYaw,
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sinRoll * cosPitch * cosYaw - cosRoll * sinPitch * sinYaw,
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cosRoll * cosPitch * cosYaw + sinRoll * sinPitch * sinYaw);
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}
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MT_Quaternion& operator*=(const MT_Quaternion& q);
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void conjugate();
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MT_Quaternion conjugate() const;
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void invert();
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MT_Quaternion inverse() const;
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MT_Scalar angle(const MT_Quaternion& q) const;
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MT_Quaternion slerp(const MT_Quaternion& q, const MT_Scalar& t) const;
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static MT_Quaternion random();
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};
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MT_Quaternion operator*(const MT_Quaternion& q1, const MT_Quaternion& q2);
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MT_Quaternion operator*(const MT_Quaternion& q, const MT_Vector3& w);
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MT_Quaternion operator*(const MT_Vector3& w, const MT_Quaternion& q);
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#ifdef GEN_INLINED
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#include "MT_Quaternion.inl"
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#endif
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#endif
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