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annotate libs/assimp/assimp/quaternion.h @ 0:b2f14e535253

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author John Tsiombikas <nuclear@member.fsf.org>
date Sat, 01 Feb 2014 19:58:19 +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) 2006-2012, assimp team
nuclear@0 6 All rights reserved.
nuclear@0 7
nuclear@0 8 Redistribution and use of this software in source and binary forms,
nuclear@0 9 with or without modification, are permitted provided that the
nuclear@0 10 following conditions are met:
nuclear@0 11
nuclear@0 12 * Redistributions of source code must retain the above
nuclear@0 13 copyright notice, this list of conditions and the
nuclear@0 14 following disclaimer.
nuclear@0 15
nuclear@0 16 * Redistributions in binary form must reproduce the above
nuclear@0 17 copyright notice, this list of conditions and the
nuclear@0 18 following disclaimer in the documentation and/or other
nuclear@0 19 materials provided with the distribution.
nuclear@0 20
nuclear@0 21 * Neither the name of the assimp team, nor the names of its
nuclear@0 22 contributors may be used to endorse or promote products
nuclear@0 23 derived from this software without specific prior
nuclear@0 24 written permission of the assimp team.
nuclear@0 25
nuclear@0 26 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
nuclear@0 27 "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
nuclear@0 28 LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
nuclear@0 29 A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
nuclear@0 30 OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
nuclear@0 31 SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
nuclear@0 32 LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
nuclear@0 33 DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
nuclear@0 34 THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
nuclear@0 35 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
nuclear@0 36 OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
nuclear@0 37
nuclear@0 38 ----------------------------------------------------------------------
nuclear@0 39 */
nuclear@0 40
nuclear@0 41 /** @file quaternion.h
nuclear@0 42 * @brief Quaternion structure, including operators when compiling in C++
nuclear@0 43 */
nuclear@0 44 #ifndef AI_QUATERNION_H_INC
nuclear@0 45 #define AI_QUATERNION_H_INC
nuclear@0 46
nuclear@0 47 #ifdef __cplusplus
nuclear@0 48
nuclear@0 49 template <typename TReal> class aiVector3t;
nuclear@0 50 template <typename TReal> class aiMatrix3x3t;
nuclear@0 51
nuclear@0 52 // ---------------------------------------------------------------------------
nuclear@0 53 /** Represents a quaternion in a 4D vector. */
nuclear@0 54 template <typename TReal>
nuclear@0 55 class aiQuaterniont
nuclear@0 56 {
nuclear@0 57 public:
nuclear@0 58 aiQuaterniont() : w(), x(), y(), z() {}
nuclear@0 59 aiQuaterniont(TReal pw, TReal px, TReal py, TReal pz)
nuclear@0 60 : w(pw), x(px), y(py), z(pz) {}
nuclear@0 61
nuclear@0 62 /** Construct from rotation matrix. Result is undefined if the matrix is not orthonormal. */
nuclear@0 63 aiQuaterniont( const aiMatrix3x3t<TReal>& pRotMatrix);
nuclear@0 64
nuclear@0 65 /** Construct from euler angles */
nuclear@0 66 aiQuaterniont( TReal rotx, TReal roty, TReal rotz);
nuclear@0 67
nuclear@0 68 /** Construct from an axis-angle pair */
nuclear@0 69 aiQuaterniont( aiVector3t<TReal> axis, TReal angle);
nuclear@0 70
nuclear@0 71 /** Construct from a normalized quaternion stored in a vec3 */
nuclear@0 72 aiQuaterniont( aiVector3t<TReal> normalized);
nuclear@0 73
nuclear@0 74 /** Returns a matrix representation of the quaternion */
nuclear@0 75 aiMatrix3x3t<TReal> GetMatrix() const;
nuclear@0 76
nuclear@0 77 public:
nuclear@0 78
nuclear@0 79 bool operator== (const aiQuaterniont& o) const;
nuclear@0 80 bool operator!= (const aiQuaterniont& o) const;
nuclear@0 81
nuclear@0 82 public:
nuclear@0 83
nuclear@0 84 /** Normalize the quaternion */
nuclear@0 85 aiQuaterniont& Normalize();
nuclear@0 86
nuclear@0 87 /** Compute quaternion conjugate */
nuclear@0 88 aiQuaterniont& Conjugate ();
nuclear@0 89
nuclear@0 90 /** Rotate a point by this quaternion */
nuclear@0 91 aiVector3t<TReal> Rotate (const aiVector3t<TReal>& in);
nuclear@0 92
nuclear@0 93 /** Multiply two quaternions */
nuclear@0 94 aiQuaterniont operator* (const aiQuaterniont& two) const;
nuclear@0 95
nuclear@0 96 public:
nuclear@0 97
nuclear@0 98 /** Performs a spherical interpolation between two quaternions and writes the result into the third.
nuclear@0 99 * @param pOut Target object to received the interpolated rotation.
nuclear@0 100 * @param pStart Start rotation of the interpolation at factor == 0.
nuclear@0 101 * @param pEnd End rotation, factor == 1.
nuclear@0 102 * @param pFactor Interpolation factor between 0 and 1. Values outside of this range yield undefined results.
nuclear@0 103 */
nuclear@0 104 static void Interpolate( aiQuaterniont& pOut, const aiQuaterniont& pStart,
nuclear@0 105 const aiQuaterniont& pEnd, TReal pFactor);
nuclear@0 106
nuclear@0 107 public:
nuclear@0 108
nuclear@0 109 //! w,x,y,z components of the quaternion
nuclear@0 110 TReal w, x, y, z;
nuclear@0 111 } ;
nuclear@0 112
nuclear@0 113 typedef aiQuaterniont<float> aiQuaternion;
nuclear@0 114
nuclear@0 115 #else
nuclear@0 116
nuclear@0 117 struct aiQuaternion {
nuclear@0 118 float w, x, y, z;
nuclear@0 119 };
nuclear@0 120
nuclear@0 121 #endif
nuclear@0 122
nuclear@0 123
nuclear@0 124 #endif // AI_QUATERNION_H_INC