# 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         }
    00066         inline Quaternion(const Matrix3& rot)
    00067         {
    00068             this->FromRotationMatrix(rot);
    00069         }
    00071         inline Quaternion(const Radian& rfAngle, const Vector3& rkAxis)
    00072         {
    00073             this->FromAngleAxis(rfAngle, rkAxis);
    00074         }
    00076         inline Quaternion(const Vector3& xaxis, const Vector3& yaxis, const Vector3& zaxis)
    00077         {
    00078             this->FromAxes(xaxis, yaxis, zaxis);
    00079         }
    00081         inline Quaternion(const Vector3* akAxis)
    00082         {
    00083             this->FromAxes(akAxis);
    00084         }
    00086         inline Quaternion(Real* valptr)
    00087         {
    00088             memcpy(&w, valptr, sizeof(Real)*4);
    00089         }
    00090
    00092         inline Real operator [] ( const size_t i ) const
    00093         {
    00094             assert( i < 4 );
    00095
    00096             return *(&w+i);
    00097         }
    00098
    00100         inline Real& operator [] ( const size_t i )
    00101         {
    00102             assert( i < 4 );
    00103
    00104             return *(&w+i);
    00105         }
    00106
    00108         inline Real* ptr()
    00109         {
    00110             return &w;
    00111         }
    00112
    00114         inline const Real* ptr() const
    00115         {
    00116             return &w;
    00117         }
    00118
    00119         void FromRotationMatrix (const Matrix3& kRot);
    00120         void ToRotationMatrix (Matrix3& kRot) const;
    00121         void FromAngleAxis (const Radian& rfAngle, const Vector3& rkAxis);
    00122         void ToAngleAxis (Radian& rfAngle, Vector3& rkAxis) const;
    00123         inline void ToAngleAxis (Degree& dAngle, Vector3& rkAxis) const {
    00124             Radian rAngle;
    00125             ToAngleAxis ( rAngle, rkAxis );
    00126             dAngle = rAngle;
    00127         }
    00128         void FromAxes (const Vector3* akAxis);
    00129         void FromAxes (const Vector3& xAxis, const Vector3& yAxis, const Vector3& zAxis);
    00130         void ToAxes (Vector3* akAxis) const;
    00131         void ToAxes (Vector3& xAxis, Vector3& yAxis, Vector3& zAxis) const;
    00133         Vector3 xAxis(void) const;
    00135         Vector3 yAxis(void) const;
    00137         Vector3 zAxis(void) const;
    00138
    00139         inline Quaternion& operator= (const Quaternion& rkQ)
    00140         {
    00141             w = rkQ.w;
    00142             x = rkQ.x;
    00143             y = rkQ.y;
    00144             z = rkQ.z;
    00145             return *this;
    00146         }
    00147         Quaternion operator+ (const Quaternion& rkQ) const;
    00148         Quaternion operator- (const Quaternion& rkQ) const;
    00149         Quaternion operator* (const Quaternion& rkQ) const;
    00150         Quaternion operator* (Real fScalar) const;
    00151         _OgreExport friend Quaternion operator* (Real fScalar,
    00152             const Quaternion& rkQ);
    00153         Quaternion operator- () const;
    00154         inline bool operator== (const Quaternion& rhs) const
    00155         {
    00156             return (rhs.x == x) && (rhs.y == y) &&
    00157                 (rhs.z == z) && (rhs.w == w);
    00158         }
    00159         inline bool operator!= (const Quaternion& rhs) const
    00160         {
    00161             return !operator==(rhs);
    00162         }
    00163         // functions of a quaternion
    00164         Real Dot (const Quaternion& rkQ) const;  // dot product
    00165         Real Norm () const;  // squared-length
    00167         Real normalise(void);
    00168         Quaternion Inverse () const;  // apply to non-zero quaternion
    00169         Quaternion UnitInverse () const;  // apply to unit-length quaternion
    00170         Quaternion Exp () const;
    00171         Quaternion Log () const;
    00172
    00173         // rotation of a vector by a quaternion
    00174         Vector3 operator* (const Vector3& rkVector) const;
    00175
    00184         Radian getRoll(bool reprojectAxis = true) const;
    00193         Radian getPitch(bool reprojectAxis = true) const;
    00202         Radian getYaw(bool reprojectAxis = true) const;
    00204         bool equals(const Quaternion& rhs, const Radian& tolerance) const;
    00205
    00206         // spherical linear interpolation
    00207         static Quaternion Slerp (Real fT, const Quaternion& rkP,
    00208             const Quaternion& rkQ, bool shortestPath = false);
    00209
    00210         static Quaternion SlerpExtraSpins (Real fT,
    00211             const Quaternion& rkP, const Quaternion& rkQ,
    00212             int iExtraSpins);
    00213
    00214         // setup for spherical quadratic interpolation
    00215         static void Intermediate (const Quaternion& rkQ0,
    00216             const Quaternion& rkQ1, const Quaternion& rkQ2,
    00217             Quaternion& rka, Quaternion& rkB);
    00218
    00219         // spherical quadratic interpolation
    00220         static Quaternion Squad (Real fT, const Quaternion& rkP,
    00221             const Quaternion& rkA, const Quaternion& rkB,
    00222             const Quaternion& rkQ, bool shortestPath = false);
    00223
    00224         // normalised linear interpolation - faster but less accurate (non-constant rotation velocity)
    00225         static Quaternion nlerp(Real fT, const Quaternion& rkP,
    00226             const Quaternion& rkQ, bool shortestPath = false);
    00227
    00228         // cutoff for sine near zero
    00229         static const Real ms_fEpsilon;
    00230
    00231         // special values
    00232         static const Quaternion ZERO;
    00233         static const Quaternion IDENTITY;
    00234
    00235         Real w, x, y, z;
    00236
    00240         inline _OgreExport friend std::ostream& operator <<
    00241             ( std::ostream& o, const Quaternion& q )
    00242         {
    00243             o << "Quaternion(" << q.w << ", " << q.x << ", " << q.y << ", " << q.z << ")";
    00244             return o;
    00245         }
    00246
    00247     };
    00248
    00249 }
    00250
    00251
    00252
    00253
    00254 #endif

Copyright © 2008 Torus Knot Software Ltd
This work is licensed under a Creative Commons Attribution-ShareAlike 2.5 License.
Last modified Sat Apr 11 13:46:42 2009