miniassimp

annotate include/miniassimp/quaternion.h @ 0:879c81d94345

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author John Tsiombikas <nuclear@member.fsf.org>
date Mon, 28 Jan 2019 18:19:26 +0200
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nuclear@0 1 /*
nuclear@0 2 Open Asset Import Library (assimp)
nuclear@0 3 ----------------------------------------------------------------------
nuclear@0 4
nuclear@0 5 Copyright (c) 2006-2018, assimp team
nuclear@0 6
nuclear@0 7
nuclear@0 8 All rights reserved.
nuclear@0 9
nuclear@0 10 Redistribution and use of this software in source and binary forms,
nuclear@0 11 with or without modification, are permitted provided that the
nuclear@0 12 following conditions are met:
nuclear@0 13
nuclear@0 14 * Redistributions of source code must retain the above
nuclear@0 15 copyright notice, this list of conditions and the
nuclear@0 16 following disclaimer.
nuclear@0 17
nuclear@0 18 * Redistributions in binary form must reproduce the above
nuclear@0 19 copyright notice, this list of conditions and the
nuclear@0 20 following disclaimer in the documentation and/or other
nuclear@0 21 materials provided with the distribution.
nuclear@0 22
nuclear@0 23 * Neither the name of the assimp team, nor the names of its
nuclear@0 24 contributors may be used to endorse or promote products
nuclear@0 25 derived from this software without specific prior
nuclear@0 26 written permission of the assimp team.
nuclear@0 27
nuclear@0 28 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
nuclear@0 29 "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
nuclear@0 30 LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
nuclear@0 31 A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
nuclear@0 32 OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
nuclear@0 33 SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
nuclear@0 34 LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
nuclear@0 35 DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
nuclear@0 36 THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
nuclear@0 37 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
nuclear@0 38 OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
nuclear@0 39
nuclear@0 40 ----------------------------------------------------------------------
nuclear@0 41 */
nuclear@0 42
nuclear@0 43 /** @file quaternion.h
nuclear@0 44 * @brief Quaternion structure, including operators when compiling in C++
nuclear@0 45 */
nuclear@0 46 #pragma once
nuclear@0 47 #ifndef AI_QUATERNION_H_INC
nuclear@0 48 #define AI_QUATERNION_H_INC
nuclear@0 49
nuclear@0 50 #ifdef __cplusplus
nuclear@0 51
nuclear@0 52 #include "defs.h"
nuclear@0 53
nuclear@0 54 template <typename TReal> class aiVector3t;
nuclear@0 55 template <typename TReal> class aiMatrix3x3t;
nuclear@0 56
nuclear@0 57 // ---------------------------------------------------------------------------
nuclear@0 58 /** Represents a quaternion in a 4D vector. */
nuclear@0 59 template <typename TReal>
nuclear@0 60 class aiQuaterniont
nuclear@0 61 {
nuclear@0 62 public:
nuclear@0 63 aiQuaterniont() AI_NO_EXCEPT : w(1.0), x(), y(), z() {}
nuclear@0 64 aiQuaterniont(TReal pw, TReal px, TReal py, TReal pz)
nuclear@0 65 : w(pw), x(px), y(py), z(pz) {}
nuclear@0 66
nuclear@0 67 /** Construct from rotation matrix. Result is undefined if the matrix is not orthonormal. */
nuclear@0 68 explicit aiQuaterniont( const aiMatrix3x3t<TReal>& pRotMatrix);
nuclear@0 69
nuclear@0 70 /** Construct from euler angles */
nuclear@0 71 aiQuaterniont( TReal rotx, TReal roty, TReal rotz);
nuclear@0 72
nuclear@0 73 /** Construct from an axis-angle pair */
nuclear@0 74 aiQuaterniont( aiVector3t<TReal> axis, TReal angle);
nuclear@0 75
nuclear@0 76 /** Construct from a normalized quaternion stored in a vec3 */
nuclear@0 77 explicit aiQuaterniont( aiVector3t<TReal> normalized);
nuclear@0 78
nuclear@0 79 /** Returns a matrix representation of the quaternion */
nuclear@0 80 aiMatrix3x3t<TReal> GetMatrix() const;
nuclear@0 81
nuclear@0 82 public:
nuclear@0 83
nuclear@0 84 bool operator== (const aiQuaterniont& o) const;
nuclear@0 85 bool operator!= (const aiQuaterniont& o) const;
nuclear@0 86
nuclear@0 87 bool Equal(const aiQuaterniont& o, TReal epsilon = 1e-6) const;
nuclear@0 88
nuclear@0 89 public:
nuclear@0 90
nuclear@0 91 /** Normalize the quaternion */
nuclear@0 92 aiQuaterniont& Normalize();
nuclear@0 93
nuclear@0 94 /** Compute quaternion conjugate */
nuclear@0 95 aiQuaterniont& Conjugate ();
nuclear@0 96
nuclear@0 97 /** Rotate a point by this quaternion */
nuclear@0 98 aiVector3t<TReal> Rotate (const aiVector3t<TReal>& in);
nuclear@0 99
nuclear@0 100 /** Multiply two quaternions */
nuclear@0 101 aiQuaterniont operator* (const aiQuaterniont& two) const;
nuclear@0 102
nuclear@0 103 public:
nuclear@0 104
nuclear@0 105 /** Performs a spherical interpolation between two quaternions and writes the result into the third.
nuclear@0 106 * @param pOut Target object to received the interpolated rotation.
nuclear@0 107 * @param pStart Start rotation of the interpolation at factor == 0.
nuclear@0 108 * @param pEnd End rotation, factor == 1.
nuclear@0 109 * @param pFactor Interpolation factor between 0 and 1. Values outside of this range yield undefined results.
nuclear@0 110 */
nuclear@0 111 static void Interpolate( aiQuaterniont& pOut, const aiQuaterniont& pStart,
nuclear@0 112 const aiQuaterniont& pEnd, TReal pFactor);
nuclear@0 113
nuclear@0 114 public:
nuclear@0 115
nuclear@0 116 //! w,x,y,z components of the quaternion
nuclear@0 117 TReal w, x, y, z;
nuclear@0 118 } ;
nuclear@0 119
nuclear@0 120 typedef aiQuaterniont<ai_real> aiQuaternion;
nuclear@0 121
nuclear@0 122 #else
nuclear@0 123
nuclear@0 124 struct aiQuaternion {
nuclear@0 125 ai_real w, x, y, z;
nuclear@0 126 };
nuclear@0 127
nuclear@0 128 #endif
nuclear@0 129
nuclear@0 130 #endif // AI_QUATERNION_H_INC