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view libs/vmath/quat.h @ 32:bc6db80aaa58

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stop the texture coordinates from growing to rediculous proportions
author John Tsiombikas <nuclear@mutantstargoat.com>
date Thu, 08 Sep 2011 21:22:44 +0300
parents
children ff055bff6a15
line source
1 #ifndef VMATH_QUATERNION_H_
2 #define VMATH_QUATERNION_H_
3
4 #include <stdio.h>
5 #include "vmath_types.h"
6 #include "vector.h"
7
8 #ifdef __cplusplus
9 extern "C" {
10 #endif /* __cplusplus */
11
12 #define quat_cons(s, x, y, z) v4_cons(x, y, z, s)
13 #define quat_vec(q) v3_cons((q).x, (q).y, (q).z)
14 #define quat_s(q) ((q).w)
15 #define quat_identity() quat_cons(1.0, 0.0, 0.0, 0.0)
16 void quat_print(FILE *fp, quat_t q);
17
18 #define quat_add v4_add
19 #define quat_sub v4_sub
20 #define quat_neg v4_neg
21
22 static inline quat_t quat_mul(quat_t q1, quat_t q2);
23
24 static inline quat_t quat_conjugate(quat_t q);
25
26 #define quat_length v4_length
27 #define quat_length_sq v4_length_sq
28
29 #define quat_normalize v4_normalize
30 static inline quat_t quat_inverse(quat_t q);
31
32 quat_t quat_rotate(quat_t q, scalar_t angle, scalar_t x, scalar_t y, scalar_t z);
33 quat_t quat_rotate_quat(quat_t q, quat_t rotq);
34
35 static inline void quat_to_mat3(mat3_t res, quat_t q);
36 static inline void quat_to_mat4(mat4_t res, quat_t q);
37
38 #define quat_lerp quat_slerp
39 quat_t quat_slerp(quat_t q1, quat_t q2, scalar_t t);
40
41
42 #ifdef __cplusplus
43 } /* extern "C" */
44
45 #include <iostream>
46
47 /* Quaternion */
48 class Quaternion {
49 public:
50 scalar_t s;
51 Vector3 v;
52
53 Quaternion();
54 Quaternion(scalar_t s, const Vector3 &v);
55 Quaternion(scalar_t s, scalar_t x, scalar_t y, scalar_t z);
56 Quaternion(const Vector3 &axis, scalar_t angle);
57 Quaternion(const quat_t &quat);
58
59 Quaternion operator +(const Quaternion &quat) const;
60 Quaternion operator -(const Quaternion &quat) const;
61 Quaternion operator -() const;
62 Quaternion operator *(const Quaternion &quat) const;
63
64 void operator +=(const Quaternion &quat);
65 void operator -=(const Quaternion &quat);
66 void operator *=(const Quaternion &quat);
67
68 void reset_identity();
69
70 Quaternion conjugate() const;
71
72 scalar_t length() const;
73 scalar_t length_sq() const;
74
75 void normalize();
76 Quaternion normalized() const;
77
78 Quaternion inverse() const;
79
80 void set_rotation(const Vector3 &axis, scalar_t angle);
81 void rotate(const Vector3 &axis, scalar_t angle);
82 /* note: this is a totally different operation from the above
83 * this treats the quaternion as signifying direction and rotates
84 * it by a rotation quaternion by rot * q * rot'
85 */
86 void rotate(const Quaternion &q);
87
88 Matrix3x3 get_rotation_matrix() const;
89
90 friend Quaternion slerp(const Quaternion &q1, const Quaternion &q2, scalar_t t);
91
92 friend std::ostream &operator <<(std::ostream &out, const Quaternion &q);
93 };
94
95 Quaternion slerp(const Quaternion &q1, const Quaternion &q2, scalar_t t);
96 inline Quaternion lerp(const Quaternion &q1, const Quaternion &q2, scalar_t t);
97 #endif /* __cplusplus */
98
99 #include "quat.inl"
100
101 #endif /* VMATH_QUATERNION_H_ */