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annotate libs/vmath/quat.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 libvmath - a vector math library
nuclear@0 3 Copyright (C) 2004-2011 John Tsiombikas <nuclear@member.fsf.org>
nuclear@0 4
nuclear@0 5 This program is free software: you can redistribute it and/or modify
nuclear@0 6 it under the terms of the GNU Lesser General Public License as published
nuclear@0 7 by the Free Software Foundation, either version 3 of the License, or
nuclear@0 8 (at your option) any later version.
nuclear@0 9
nuclear@0 10 This program is distributed in the hope that it will be useful,
nuclear@0 11 but WITHOUT ANY WARRANTY; without even the implied warranty of
nuclear@0 12 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
nuclear@0 13 GNU Lesser General Public License for more details.
nuclear@0 14
nuclear@0 15 You should have received a copy of the GNU Lesser General Public License
nuclear@0 16 along with this program. If not, see <http://www.gnu.org/licenses/>.
nuclear@0 17 */
nuclear@0 18
nuclear@0 19 #ifndef VMATH_QUATERNION_H_
nuclear@0 20 #define VMATH_QUATERNION_H_
nuclear@0 21
nuclear@0 22 #include <stdio.h>
nuclear@0 23 #include "vmath_types.h"
nuclear@0 24 #include "vector.h"
nuclear@0 25
nuclear@0 26 #ifdef __cplusplus
nuclear@0 27 extern "C" {
nuclear@0 28 #endif /* __cplusplus */
nuclear@0 29
nuclear@0 30 #define quat_cons(s, x, y, z) v4_cons(x, y, z, s)
nuclear@0 31 #define quat_vec(q) v3_cons((q).x, (q).y, (q).z)
nuclear@0 32 #define quat_s(q) ((q).w)
nuclear@0 33 #define quat_identity() quat_cons(1.0, 0.0, 0.0, 0.0)
nuclear@0 34 void quat_print(FILE *fp, quat_t q);
nuclear@0 35
nuclear@0 36 #define quat_add v4_add
nuclear@0 37 #define quat_sub v4_sub
nuclear@0 38 #define quat_neg v4_neg
nuclear@0 39
nuclear@0 40 static inline quat_t quat_mul(quat_t q1, quat_t q2);
nuclear@0 41
nuclear@0 42 static inline quat_t quat_conjugate(quat_t q);
nuclear@0 43
nuclear@0 44 #define quat_length v4_length
nuclear@0 45 #define quat_length_sq v4_length_sq
nuclear@0 46
nuclear@0 47 #define quat_normalize v4_normalize
nuclear@0 48 static inline quat_t quat_inverse(quat_t q);
nuclear@0 49
nuclear@0 50 quat_t quat_rotate(quat_t q, scalar_t angle, scalar_t x, scalar_t y, scalar_t z);
nuclear@0 51 quat_t quat_rotate_quat(quat_t q, quat_t rotq);
nuclear@0 52
nuclear@0 53 static inline void quat_to_mat3(mat3_t res, quat_t q);
nuclear@0 54 static inline void quat_to_mat4(mat4_t res, quat_t q);
nuclear@0 55
nuclear@0 56 #define quat_lerp quat_slerp
nuclear@0 57 quat_t quat_slerp(quat_t q1, quat_t q2, scalar_t t);
nuclear@0 58
nuclear@0 59
nuclear@0 60 #ifdef __cplusplus
nuclear@0 61 } /* extern "C" */
nuclear@0 62
nuclear@0 63 #include <iostream>
nuclear@0 64
nuclear@0 65 /* Quaternion */
nuclear@0 66 class Quaternion {
nuclear@0 67 public:
nuclear@0 68 scalar_t s;
nuclear@0 69 Vector3 v;
nuclear@0 70
nuclear@0 71 Quaternion();
nuclear@0 72 Quaternion(scalar_t s, const Vector3 &v);
nuclear@0 73 Quaternion(scalar_t s, scalar_t x, scalar_t y, scalar_t z);
nuclear@0 74 Quaternion(const Vector3 &axis, scalar_t angle);
nuclear@0 75 Quaternion(const quat_t &quat);
nuclear@0 76
nuclear@0 77 Quaternion operator +(const Quaternion &quat) const;
nuclear@0 78 Quaternion operator -(const Quaternion &quat) const;
nuclear@0 79 Quaternion operator -() const;
nuclear@0 80 Quaternion operator *(const Quaternion &quat) const;
nuclear@0 81
nuclear@0 82 void operator +=(const Quaternion &quat);
nuclear@0 83 void operator -=(const Quaternion &quat);
nuclear@0 84 void operator *=(const Quaternion &quat);
nuclear@0 85
nuclear@0 86 void reset_identity();
nuclear@0 87
nuclear@0 88 Quaternion conjugate() const;
nuclear@0 89
nuclear@0 90 scalar_t length() const;
nuclear@0 91 scalar_t length_sq() const;
nuclear@0 92
nuclear@0 93 void normalize();
nuclear@0 94 Quaternion normalized() const;
nuclear@0 95
nuclear@0 96 Quaternion inverse() const;
nuclear@0 97
nuclear@0 98 void set_rotation(const Vector3 &axis, scalar_t angle);
nuclear@0 99 void rotate(const Vector3 &axis, scalar_t angle);
nuclear@0 100 /* note: this is a totally different operation from the above
nuclear@0 101 * this treats the quaternion as signifying direction and rotates
nuclear@0 102 * it by a rotation quaternion by rot * q * rot'
nuclear@0 103 */
nuclear@0 104 void rotate(const Quaternion &q);
nuclear@0 105
nuclear@0 106 Matrix3x3 get_rotation_matrix() const;
nuclear@0 107 };
nuclear@0 108
nuclear@0 109 Quaternion slerp(const Quaternion &q1, const Quaternion &q2, scalar_t t);
nuclear@0 110 inline Quaternion lerp(const Quaternion &q1, const Quaternion &q2, scalar_t t);
nuclear@0 111
nuclear@0 112 std::ostream &operator <<(std::ostream &out, const Quaternion &q);
nuclear@0 113
nuclear@0 114 #endif /* __cplusplus */
nuclear@0 115
nuclear@0 116 #include "quat.inl"
nuclear@0 117
nuclear@0 118 #endif /* VMATH_QUATERNION_H_ */