vrshoot

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

find changesets by author, revision, files, or words in the commit message
initial commit
author John Tsiombikas <nuclear@member.fsf.org>
date Sat, 01 Feb 2014 19:58:19 +0200
parents
children
line source
1 /*
2 Open Asset Import Library (assimp)
3 ----------------------------------------------------------------------
4
5 Copyright (c) 2006-2012, assimp team
6 All rights reserved.
7
8 Redistribution and use of this software in source and binary forms,
9 with or without modification, are permitted provided that the
10 following conditions are met:
11
12 * Redistributions of source code must retain the above
13 copyright notice, this list of conditions and the
14 following disclaimer.
15
16 * Redistributions in binary form must reproduce the above
17 copyright notice, this list of conditions and the
18 following disclaimer in the documentation and/or other
19 materials provided with the distribution.
20
21 * Neither the name of the assimp team, nor the names of its
22 contributors may be used to endorse or promote products
23 derived from this software without specific prior
24 written permission of the assimp team.
25
26 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
27 "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
28 LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
29 A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
30 OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
31 SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
32 LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
33 DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
34 THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
35 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
36 OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
37
38 ----------------------------------------------------------------------
39 */
40
41 /** @file quaternion.h
42 * @brief Quaternion structure, including operators when compiling in C++
43 */
44 #ifndef AI_QUATERNION_H_INC
45 #define AI_QUATERNION_H_INC
46
47 #ifdef __cplusplus
48
49 template <typename TReal> class aiVector3t;
50 template <typename TReal> class aiMatrix3x3t;
51
52 // ---------------------------------------------------------------------------
53 /** Represents a quaternion in a 4D vector. */
54 template <typename TReal>
55 class aiQuaterniont
56 {
57 public:
58 aiQuaterniont() : w(), x(), y(), z() {}
59 aiQuaterniont(TReal pw, TReal px, TReal py, TReal pz)
60 : w(pw), x(px), y(py), z(pz) {}
61
62 /** Construct from rotation matrix. Result is undefined if the matrix is not orthonormal. */
63 aiQuaterniont( const aiMatrix3x3t<TReal>& pRotMatrix);
64
65 /** Construct from euler angles */
66 aiQuaterniont( TReal rotx, TReal roty, TReal rotz);
67
68 /** Construct from an axis-angle pair */
69 aiQuaterniont( aiVector3t<TReal> axis, TReal angle);
70
71 /** Construct from a normalized quaternion stored in a vec3 */
72 aiQuaterniont( aiVector3t<TReal> normalized);
73
74 /** Returns a matrix representation of the quaternion */
75 aiMatrix3x3t<TReal> GetMatrix() const;
76
77 public:
78
79 bool operator== (const aiQuaterniont& o) const;
80 bool operator!= (const aiQuaterniont& o) const;
81
82 public:
83
84 /** Normalize the quaternion */
85 aiQuaterniont& Normalize();
86
87 /** Compute quaternion conjugate */
88 aiQuaterniont& Conjugate ();
89
90 /** Rotate a point by this quaternion */
91 aiVector3t<TReal> Rotate (const aiVector3t<TReal>& in);
92
93 /** Multiply two quaternions */
94 aiQuaterniont operator* (const aiQuaterniont& two) const;
95
96 public:
97
98 /** Performs a spherical interpolation between two quaternions and writes the result into the third.
99 * @param pOut Target object to received the interpolated rotation.
100 * @param pStart Start rotation of the interpolation at factor == 0.
101 * @param pEnd End rotation, factor == 1.
102 * @param pFactor Interpolation factor between 0 and 1. Values outside of this range yield undefined results.
103 */
104 static void Interpolate( aiQuaterniont& pOut, const aiQuaterniont& pStart,
105 const aiQuaterniont& pEnd, TReal pFactor);
106
107 public:
108
109 //! w,x,y,z components of the quaternion
110 TReal w, x, y, z;
111 } ;
112
113 typedef aiQuaterniont<float> aiQuaternion;
114
115 #else
116
117 struct aiQuaternion {
118 float w, x, y, z;
119 };
120
121 #endif
122
123
124 #endif // AI_QUATERNION_H_INC