nuclear@0: /*
nuclear@0: Open Asset Import Library (assimp)
nuclear@0: ----------------------------------------------------------------------
nuclear@0: 
nuclear@0: Copyright (c) 2006-2018, assimp team
nuclear@0: 
nuclear@0: 
nuclear@0: All rights reserved.
nuclear@0: 
nuclear@0: Redistribution and use of this software in source and binary forms,
nuclear@0: with or without modification, are permitted provided that the
nuclear@0: following conditions are met:
nuclear@0: 
nuclear@0: * Redistributions of source code must retain the above
nuclear@0:   copyright notice, this list of conditions and the
nuclear@0:   following disclaimer.
nuclear@0: 
nuclear@0: * Redistributions in binary form must reproduce the above
nuclear@0:   copyright notice, this list of conditions and the
nuclear@0:   following disclaimer in the documentation and/or other
nuclear@0:   materials provided with the distribution.
nuclear@0: 
nuclear@0: * Neither the name of the assimp team, nor the names of its
nuclear@0:   contributors may be used to endorse or promote products
nuclear@0:   derived from this software without specific prior
nuclear@0:   written permission of the assimp team.
nuclear@0: 
nuclear@0: THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
nuclear@0: "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
nuclear@0: LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
nuclear@0: A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
nuclear@0: OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
nuclear@0: SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
nuclear@0: LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
nuclear@0: DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
nuclear@0: THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
nuclear@0: (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
nuclear@0: OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
nuclear@0: 
nuclear@0: ----------------------------------------------------------------------
nuclear@0: */
nuclear@0: 
nuclear@0: /** @file quaternion.h
nuclear@0:  *  @brief Quaternion structure, including operators when compiling in C++
nuclear@0:  */
nuclear@0: #pragma once
nuclear@0: #ifndef AI_QUATERNION_H_INC
nuclear@0: #define AI_QUATERNION_H_INC
nuclear@0: 
nuclear@0: #ifdef __cplusplus
nuclear@0: 
nuclear@0: #include "defs.h"
nuclear@0: 
nuclear@0: template <typename TReal> class aiVector3t;
nuclear@0: template <typename TReal> class aiMatrix3x3t;
nuclear@0: 
nuclear@0: // ---------------------------------------------------------------------------
nuclear@0: /** Represents a quaternion in a 4D vector. */
nuclear@0: template <typename TReal>
nuclear@0: class aiQuaterniont
nuclear@0: {
nuclear@0: public:
nuclear@0:     aiQuaterniont() AI_NO_EXCEPT : w(1.0), x(), y(), z() {}
nuclear@0:     aiQuaterniont(TReal pw, TReal px, TReal py, TReal pz)
nuclear@0:         : w(pw), x(px), y(py), z(pz) {}
nuclear@0: 
nuclear@0:     /** Construct from rotation matrix. Result is undefined if the matrix is not orthonormal. */
nuclear@0:     explicit aiQuaterniont( const aiMatrix3x3t<TReal>& pRotMatrix);
nuclear@0: 
nuclear@0:     /** Construct from euler angles */
nuclear@0:     aiQuaterniont( TReal rotx, TReal roty, TReal rotz);
nuclear@0: 
nuclear@0:     /** Construct from an axis-angle pair */
nuclear@0:     aiQuaterniont( aiVector3t<TReal> axis, TReal angle);
nuclear@0: 
nuclear@0:     /** Construct from a normalized quaternion stored in a vec3 */
nuclear@0:     explicit aiQuaterniont( aiVector3t<TReal> normalized);
nuclear@0: 
nuclear@0:     /** Returns a matrix representation of the quaternion */
nuclear@0:     aiMatrix3x3t<TReal> GetMatrix() const;
nuclear@0: 
nuclear@0: public:
nuclear@0: 
nuclear@0:     bool operator== (const aiQuaterniont& o) const;
nuclear@0:     bool operator!= (const aiQuaterniont& o) const;
nuclear@0: 
nuclear@0:     bool Equal(const aiQuaterniont& o, TReal epsilon = 1e-6) const;
nuclear@0: 
nuclear@0: public:
nuclear@0: 
nuclear@0:     /** Normalize the quaternion */
nuclear@0:     aiQuaterniont& Normalize();
nuclear@0: 
nuclear@0:     /** Compute quaternion conjugate */
nuclear@0:     aiQuaterniont& Conjugate ();
nuclear@0: 
nuclear@0:     /** Rotate a point by this quaternion */
nuclear@0:     aiVector3t<TReal> Rotate (const aiVector3t<TReal>& in);
nuclear@0: 
nuclear@0:     /** Multiply two quaternions */
nuclear@0:     aiQuaterniont operator* (const aiQuaterniont& two) const;
nuclear@0: 
nuclear@0: public:
nuclear@0: 
nuclear@0:     /** Performs a spherical interpolation between two quaternions and writes the result into the third.
nuclear@0:      * @param pOut Target object to received the interpolated rotation.
nuclear@0:      * @param pStart Start rotation of the interpolation at factor == 0.
nuclear@0:      * @param pEnd End rotation, factor == 1.
nuclear@0:      * @param pFactor Interpolation factor between 0 and 1. Values outside of this range yield undefined results.
nuclear@0:      */
nuclear@0:     static void Interpolate( aiQuaterniont& pOut, const aiQuaterniont& pStart,
nuclear@0:         const aiQuaterniont& pEnd, TReal pFactor);
nuclear@0: 
nuclear@0: public:
nuclear@0: 
nuclear@0:     //! w,x,y,z components of the quaternion
nuclear@0:     TReal w, x, y, z;
nuclear@0: } ;
nuclear@0: 
nuclear@0: typedef aiQuaterniont<ai_real> aiQuaternion;
nuclear@0: 
nuclear@0: #else
nuclear@0: 
nuclear@0: struct aiQuaternion {
nuclear@0:     ai_real w, x, y, z;
nuclear@0: };
nuclear@0: 
nuclear@0: #endif
nuclear@0: 
nuclear@0: #endif // AI_QUATERNION_H_INC