1.1 --- /dev/null	Thu Jan 01 00:00:00 1970 +0000
     1.2 +++ b/include/miniassimp/quaternion.h	Mon Jan 28 18:19:26 2019 +0200
     1.3 @@ -0,0 +1,130 @@
     1.4 +/*
     1.5 +Open Asset Import Library (assimp)
     1.6 +----------------------------------------------------------------------
     1.7 +
     1.8 +Copyright (c) 2006-2018, assimp team
     1.9 +
    1.10 +
    1.11 +All rights reserved.
    1.12 +
    1.13 +Redistribution and use of this software in source and binary forms,
    1.14 +with or without modification, are permitted provided that the
    1.15 +following conditions are met:
    1.16 +
    1.17 +* Redistributions of source code must retain the above
    1.18 +  copyright notice, this list of conditions and the
    1.19 +  following disclaimer.
    1.20 +
    1.21 +* Redistributions in binary form must reproduce the above
    1.22 +  copyright notice, this list of conditions and the
    1.23 +  following disclaimer in the documentation and/or other
    1.24 +  materials provided with the distribution.
    1.25 +
    1.26 +* Neither the name of the assimp team, nor the names of its
    1.27 +  contributors may be used to endorse or promote products
    1.28 +  derived from this software without specific prior
    1.29 +  written permission of the assimp team.
    1.30 +
    1.31 +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
    1.32 +"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
    1.33 +LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
    1.34 +A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
    1.35 +OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
    1.36 +SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
    1.37 +LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
    1.38 +DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
    1.39 +THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
    1.40 +(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
    1.41 +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
    1.42 +
    1.43 +----------------------------------------------------------------------
    1.44 +*/
    1.45 +
    1.46 +/** @file quaternion.h
    1.47 + *  @brief Quaternion structure, including operators when compiling in C++
    1.48 + */
    1.49 +#pragma once
    1.50 +#ifndef AI_QUATERNION_H_INC
    1.51 +#define AI_QUATERNION_H_INC
    1.52 +
    1.53 +#ifdef __cplusplus
    1.54 +
    1.55 +#include "defs.h"
    1.56 +
    1.57 +template <typename TReal> class aiVector3t;
    1.58 +template <typename TReal> class aiMatrix3x3t;
    1.59 +
    1.60 +// ---------------------------------------------------------------------------
    1.61 +/** Represents a quaternion in a 4D vector. */
    1.62 +template <typename TReal>
    1.63 +class aiQuaterniont
    1.64 +{
    1.65 +public:
    1.66 +    aiQuaterniont() AI_NO_EXCEPT : w(1.0), x(), y(), z() {}
    1.67 +    aiQuaterniont(TReal pw, TReal px, TReal py, TReal pz)
    1.68 +        : w(pw), x(px), y(py), z(pz) {}
    1.69 +
    1.70 +    /** Construct from rotation matrix. Result is undefined if the matrix is not orthonormal. */
    1.71 +    explicit aiQuaterniont( const aiMatrix3x3t<TReal>& pRotMatrix);
    1.72 +
    1.73 +    /** Construct from euler angles */
    1.74 +    aiQuaterniont( TReal rotx, TReal roty, TReal rotz);
    1.75 +
    1.76 +    /** Construct from an axis-angle pair */
    1.77 +    aiQuaterniont( aiVector3t<TReal> axis, TReal angle);
    1.78 +
    1.79 +    /** Construct from a normalized quaternion stored in a vec3 */
    1.80 +    explicit aiQuaterniont( aiVector3t<TReal> normalized);
    1.81 +
    1.82 +    /** Returns a matrix representation of the quaternion */
    1.83 +    aiMatrix3x3t<TReal> GetMatrix() const;
    1.84 +
    1.85 +public:
    1.86 +
    1.87 +    bool operator== (const aiQuaterniont& o) const;
    1.88 +    bool operator!= (const aiQuaterniont& o) const;
    1.89 +
    1.90 +    bool Equal(const aiQuaterniont& o, TReal epsilon = 1e-6) const;
    1.91 +
    1.92 +public:
    1.93 +
    1.94 +    /** Normalize the quaternion */
    1.95 +    aiQuaterniont& Normalize();
    1.96 +
    1.97 +    /** Compute quaternion conjugate */
    1.98 +    aiQuaterniont& Conjugate ();
    1.99 +
   1.100 +    /** Rotate a point by this quaternion */
   1.101 +    aiVector3t<TReal> Rotate (const aiVector3t<TReal>& in);
   1.102 +
   1.103 +    /** Multiply two quaternions */
   1.104 +    aiQuaterniont operator* (const aiQuaterniont& two) const;
   1.105 +
   1.106 +public:
   1.107 +
   1.108 +    /** Performs a spherical interpolation between two quaternions and writes the result into the third.
   1.109 +     * @param pOut Target object to received the interpolated rotation.
   1.110 +     * @param pStart Start rotation of the interpolation at factor == 0.
   1.111 +     * @param pEnd End rotation, factor == 1.
   1.112 +     * @param pFactor Interpolation factor between 0 and 1. Values outside of this range yield undefined results.
   1.113 +     */
   1.114 +    static void Interpolate( aiQuaterniont& pOut, const aiQuaterniont& pStart,
   1.115 +        const aiQuaterniont& pEnd, TReal pFactor);
   1.116 +
   1.117 +public:
   1.118 +
   1.119 +    //! w,x,y,z components of the quaternion
   1.120 +    TReal w, x, y, z;
   1.121 +} ;
   1.122 +
   1.123 +typedef aiQuaterniont<ai_real> aiQuaternion;
   1.124 +
   1.125 +#else
   1.126 +
   1.127 +struct aiQuaternion {
   1.128 +    ai_real w, x, y, z;
   1.129 +};
   1.130 +
   1.131 +#endif
   1.132 +
   1.133 +#endif // AI_QUATERNION_H_INC