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<b>- Cal3D 0.11 API Reference -</b>
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<h1>quaternion.h</h1><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">//****************************************************************************//</span>
<a name="l00002"></a>00002 <span class="comment">// quaternion.h //</span>
<a name="l00003"></a>00003 <span class="comment">// Copyright (C) 2001, 2002 Bruno 'Beosil' Heidelberger //</span>
<a name="l00004"></a>00004 <span class="comment">//****************************************************************************//</span>
<a name="l00005"></a>00005 <span class="comment">// This library is free software; you can redistribute it and/or modify it //</span>
<a name="l00006"></a>00006 <span class="comment">// under the terms of the GNU Lesser General Public License as published by //</span>
<a name="l00007"></a>00007 <span class="comment">// the Free Software Foundation; either version 2.1 of the License, or (at //</span>
<a name="l00008"></a>00008 <span class="comment">// your option) any later version. //</span>
<a name="l00009"></a>00009 <span class="comment">//****************************************************************************//</span>
<a name="l00010"></a>00010
<a name="l00011"></a>00011 <span class="preprocessor">#ifndef CAL_QUATERNION_H</span>
<a name="l00012"></a>00012 <span class="preprocessor"></span><span class="preprocessor">#define CAL_QUATERNION_H</span>
<a name="l00013"></a>00013 <span class="preprocessor"></span>
<a name="l00014"></a>00014 <span class="comment">//****************************************************************************//</span>
<a name="l00015"></a>00015 <span class="comment">// Includes //</span>
<a name="l00016"></a>00016 <span class="comment">//****************************************************************************//</span>
<a name="l00017"></a>00017
<a name="l00018"></a>00018 <span class="preprocessor">#include "cal3d/global.h"</span>
<a name="l00019"></a>00019 <span class="preprocessor">#include "cal3d/vector.h"</span>
<a name="l00020"></a>00020
<a name="l00021"></a>00021 <span class="comment">//****************************************************************************//</span>
<a name="l00022"></a>00022 <span class="comment">// Forward declarations //</span>
<a name="l00023"></a>00023 <span class="comment">//****************************************************************************//</span>
<a name="l00024"></a>00024
<a name="l00025"></a>00025 <span class="comment">//class CalVector;</span>
<a name="l00026"></a>00026
<a name="l00027"></a>00027 <span class="comment">//****************************************************************************//</span>
<a name="l00028"></a>00028 <span class="comment">// Class declaration //</span>
<a name="l00029"></a>00029 <span class="comment">//****************************************************************************//</span>
<a name="l00030"></a>00030
<a name="l00031"></a>00031 <span class="comment">/*****************************************************************************/</span>
<a name="l00035"></a><a class="code" href="classCalQuaternion.html">00035</a> <span class="keyword">class </span>CAL3D_API <a class="code" href="classCalQuaternion.html" title="The quaternion class.">CalQuaternion</a>
<a name="l00036"></a>00036 {
<a name="l00037"></a>00037 <span class="comment">// member variables</span>
<a name="l00038"></a>00038 <span class="keyword">public</span>:
<a name="l00039"></a>00039 <span class="keywordtype">float</span> x;
<a name="l00040"></a>00040 <span class="keywordtype">float</span> y;
<a name="l00041"></a>00041 <span class="keywordtype">float</span> z;
<a name="l00042"></a>00042 <span class="keywordtype">float</span> w;
<a name="l00043"></a>00043
<a name="l00044"></a>00044 <span class="comment">// constructors/destructor</span>
<a name="l00045"></a>00045 <span class="keyword">public</span>:
<a name="l00046"></a>00046 <span class="keyword">inline</span> <a class="code" href="classCalQuaternion.html" title="The quaternion class.">CalQuaternion</a>() : x(0.0f), y(0.0f), z(0.0f), w(1.0f){};
<a name="l00047"></a>00047 <span class="keyword">inline</span> <a class="code" href="classCalQuaternion.html" title="The quaternion class.">CalQuaternion</a>(<span class="keyword">const</span> <a class="code" href="classCalQuaternion.html" title="The quaternion class.">CalQuaternion</a>& q): x(q.x), y(q.y), z(q.z), w(q.w) {};
<a name="l00048"></a>00048 <span class="keyword">inline</span> <a class="code" href="classCalQuaternion.html" title="The quaternion class.">CalQuaternion</a>(<span class="keywordtype">float</span> qx, <span class="keywordtype">float</span> qy, <span class="keywordtype">float</span> qz, <span class="keywordtype">float</span> qw): x(qx), y(qy), z(qz), w(qw) {};
<a name="l00049"></a>00049 <span class="keyword">inline</span> ~<a class="code" href="classCalQuaternion.html" title="The quaternion class.">CalQuaternion</a>() {};
<a name="l00050"></a>00050
<a name="l00051"></a>00051 <span class="comment">// member functions </span>
<a name="l00052"></a>00052 <span class="keyword">public</span>:
<a name="l00053"></a>00053 <span class="keyword">inline</span> <span class="keywordtype">float</span>& operator[](<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> index)
<a name="l00054"></a>00054 {
<a name="l00055"></a>00055 <span class="keywordflow">return</span> (&x)[index];
<a name="l00056"></a>00056 }
<a name="l00057"></a>00057
<a name="l00058"></a>00058 <span class="keyword">inline</span> <span class="keyword">const</span> <span class="keywordtype">float</span>& operator[](<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> index)<span class="keyword"> const</span>
<a name="l00059"></a>00059 <span class="keyword"> </span>{
<a name="l00060"></a>00060 <span class="keywordflow">return</span> (&x)[index];
<a name="l00061"></a>00061 }
<a name="l00062"></a>00062
<a name="l00063"></a>00063 <span class="keyword">inline</span> <span class="keywordtype">void</span> operator=(<span class="keyword">const</span> <a class="code" href="classCalQuaternion.html" title="The quaternion class.">CalQuaternion</a>& q)
<a name="l00064"></a>00064 {
<a name="l00065"></a>00065 x = q.x;
<a name="l00066"></a>00066 y = q.y;
<a name="l00067"></a>00067 z = q.z;
<a name="l00068"></a>00068 w = q.w;
<a name="l00069"></a>00069 }
<a name="l00070"></a>00070
<a name="l00071"></a>00071 <span class="keyword">inline</span> <span class="keywordtype">void</span> operator*=(<span class="keyword">const</span> <a class="code" href="classCalQuaternion.html" title="The quaternion class.">CalQuaternion</a>& q)
<a name="l00072"></a>00072 {
<a name="l00073"></a>00073 <span class="keywordtype">float</span> qx, qy, qz, qw;
<a name="l00074"></a>00074 qx = x;
<a name="l00075"></a>00075 qy = y;
<a name="l00076"></a>00076 qz = z;
<a name="l00077"></a>00077 qw = w;
<a name="l00078"></a>00078
<a name="l00079"></a>00079 x = qw * q.x + qx * q.w + qy * q.z - qz * q.y;
<a name="l00080"></a>00080 y = qw * q.y - qx * q.z + qy * q.w + qz * q.x;
<a name="l00081"></a>00081 z = qw * q.z + qx * q.y - qy * q.x + qz * q.w;
<a name="l00082"></a>00082 w = qw * q.w - qx * q.x - qy * q.y - qz * q.z;
<a name="l00083"></a>00083 }
<a name="l00084"></a>00084
<a name="l00085"></a>00085 <span class="keyword">inline</span> <span class="keywordtype">void</span> operator*=(<span class="keyword">const</span> <a class="code" href="classCalVector.html" title="The vector class.">CalVector</a>& v)
<a name="l00086"></a>00086 {
<a name="l00087"></a>00087 <span class="keywordtype">float</span> qx, qy, qz, qw;
<a name="l00088"></a>00088 qx = x;
<a name="l00089"></a>00089 qy = y;
<a name="l00090"></a>00090 qz = z;
<a name="l00091"></a>00091 qw = w;
<a name="l00092"></a>00092
<a name="l00093"></a>00093 x = qw * v.x + qy * v.z - qz * v.y;
<a name="l00094"></a>00094 y = qw * v.y - qx * v.z + qz * v.x;
<a name="l00095"></a>00095 z = qw * v.z + qx * v.y - qy * v.x;
<a name="l00096"></a>00096 w = - qx * v.x - qy * v.y - qz * v.z;
<a name="l00097"></a>00097 }
<a name="l00098"></a>00098
<a name="l00099"></a>00099 <span class="keyword">inline</span> <span class="keywordtype">bool</span> operator==(<span class="keyword">const</span> <a class="code" href="classCalQuaternion.html" title="The quaternion class.">CalQuaternion</a>& rhs)<span class="keyword"> const</span>
<a name="l00100"></a>00100 <span class="keyword"> </span>{
<a name="l00101"></a>00101 <span class="keywordflow">return</span> x == rhs.x &&
<a name="l00102"></a>00102 y == rhs.y &&
<a name="l00103"></a>00103 z == rhs.z &&
<a name="l00104"></a>00104 w == rhs.w;
<a name="l00105"></a>00105 }
<a name="l00106"></a>00106
<a name="l00107"></a>00107 <span class="keyword">inline</span> <span class="keywordtype">bool</span> operator!=(<span class="keyword">const</span> <a class="code" href="classCalQuaternion.html" title="The quaternion class.">CalQuaternion</a>& rhs)<span class="keyword"> const</span>
<a name="l00108"></a>00108 <span class="keyword"> </span>{
<a name="l00109"></a>00109 <span class="keywordflow">return</span> !operator==(rhs);
<a name="l00110"></a>00110 }
<a name="l00111"></a>00111 <span class="comment">/* </span>
<a name="l00112"></a>00112 <span class="comment"> static inline CalQuaternion operator*(const CalQuaternion& q, const CalQuaternion& r)</span>
<a name="l00113"></a>00113 <span class="comment"> {</span>
<a name="l00114"></a>00114 <span class="comment"> return CalQuaternion(</span>
<a name="l00115"></a>00115 <span class="comment"> r.w * q.x + r.x * q.w + r.y * q.z - r.z * q.y,</span>
<a name="l00116"></a>00116 <span class="comment"> r.w * q.y - r.x * q.z + r.y * q.w + r.z * q.x,</span>
<a name="l00117"></a>00117 <span class="comment"> r.w * q.z + r.x * q.y - r.y * q.x + r.z * q.w,</span>
<a name="l00118"></a>00118 <span class="comment"> r.w * q.w - r.x * q.x - r.y * q.y - r.z * q.z</span>
<a name="l00119"></a>00119 <span class="comment"> );</span>
<a name="l00120"></a>00120 <span class="comment"> }</span>
<a name="l00121"></a>00121 <span class="comment">*/</span>
<a name="l00122"></a>00122 <span class="keyword">inline</span> <span class="keywordtype">void</span> blend(<span class="keywordtype">float</span> d, <span class="keyword">const</span> <a class="code" href="classCalQuaternion.html" title="The quaternion class.">CalQuaternion</a>& q)
<a name="l00123"></a>00123 {
<a name="l00124"></a>00124 <span class="keywordtype">float</span> norm;
<a name="l00125"></a>00125 norm = x * q.x + y * q.y + z * q.z + w * q.w;
<a name="l00126"></a>00126
<a name="l00127"></a>00127 <span class="keywordtype">bool</span> bFlip;
<a name="l00128"></a>00128 bFlip = <span class="keyword">false</span>;
<a name="l00129"></a>00129
<a name="l00130"></a>00130 <span class="keywordflow">if</span>(norm < 0.0f)
<a name="l00131"></a>00131 {
<a name="l00132"></a>00132 norm = -norm;
<a name="l00133"></a>00133 bFlip = <span class="keyword">true</span>;
<a name="l00134"></a>00134 }
<a name="l00135"></a>00135
<a name="l00136"></a>00136 <span class="keywordtype">float</span> inv_d;
<a name="l00137"></a>00137 <span class="keywordflow">if</span>(1.0f - norm < 0.000001f)
<a name="l00138"></a>00138 {
<a name="l00139"></a>00139 inv_d = 1.0f - d;
<a name="l00140"></a>00140 }
<a name="l00141"></a>00141 <span class="keywordflow">else</span>
<a name="l00142"></a>00142 {
<a name="l00143"></a>00143 <span class="keywordtype">float</span> theta;
<a name="l00144"></a>00144 theta = (float) acos(norm);
<a name="l00145"></a>00145
<a name="l00146"></a>00146 <span class="keywordtype">float</span> s;
<a name="l00147"></a>00147 s = (float) (1.0f / sin(theta));
<a name="l00148"></a>00148
<a name="l00149"></a>00149 inv_d = (float) sin((1.0f - d) * theta) * s;
<a name="l00150"></a>00150 d = (float) sin(d * theta) * s;
<a name="l00151"></a>00151 }
<a name="l00152"></a>00152
<a name="l00153"></a>00153 <span class="keywordflow">if</span>(bFlip)
<a name="l00154"></a>00154 {
<a name="l00155"></a>00155 d = -d;
<a name="l00156"></a>00156 }
<a name="l00157"></a>00157
<a name="l00158"></a>00158 x = inv_d * x + d * q.x;
<a name="l00159"></a>00159 y = inv_d * y + d * q.y;
<a name="l00160"></a>00160 z = inv_d * z + d * q.z;
<a name="l00161"></a>00161 w = inv_d * w + d * q.w;
<a name="l00162"></a>00162 }
<a name="l00163"></a>00163
<a name="l00164"></a>00164 <span class="keyword">inline</span> <span class="keywordtype">void</span> clear()
<a name="l00165"></a>00165 {
<a name="l00166"></a>00166 x = 0.0f;
<a name="l00167"></a>00167 y = 0.0f;
<a name="l00168"></a>00168 z = 0.0f;
<a name="l00169"></a>00169 w = 1.0f;
<a name="l00170"></a>00170 }
<a name="l00171"></a>00171 <span class="keyword">inline</span> <span class="keywordtype">void</span> conjugate()
<a name="l00172"></a>00172 {
<a name="l00173"></a>00173 x = -x;
<a name="l00174"></a>00174 y = -y;
<a name="l00175"></a>00175 z = -z;
<a name="l00176"></a>00176 }
<a name="l00177"></a>00177
<a name="l00178"></a>00178 <span class="keyword">inline</span> <span class="keywordtype">void</span> invert()
<a name="l00179"></a>00179 {
<a name="l00180"></a>00180 conjugate();
<a name="l00181"></a>00181 <span class="keyword">const</span> <span class="keywordtype">float</span> norm = (x*x) + (y*y) + (z*z) + (w*w);
<a name="l00182"></a>00182
<a name="l00183"></a>00183 <span class="keywordflow">if</span> (norm == 0.0f) <span class="keywordflow">return</span>;
<a name="l00184"></a>00184
<a name="l00185"></a>00185 <span class="keyword">const</span> <span class="keywordtype">float</span> inv_norm = 1 / norm;
<a name="l00186"></a>00186 x *= inv_norm;
<a name="l00187"></a>00187 y *= inv_norm;
<a name="l00188"></a>00188 z *= inv_norm;
<a name="l00189"></a>00189 w *= inv_norm;
<a name="l00190"></a>00190 }
<a name="l00191"></a>00191
<a name="l00192"></a>00192 <span class="keyword">inline</span> <span class="keywordtype">void</span> <span class="keyword">set</span>(<span class="keywordtype">float</span> qx, <span class="keywordtype">float</span> qy, <span class="keywordtype">float</span> qz, <span class="keywordtype">float</span> qw)
<a name="l00193"></a>00193 {
<a name="l00194"></a>00194 x = qx;
<a name="l00195"></a>00195 y = qy;
<a name="l00196"></a>00196 z = qz;
<a name="l00197"></a>00197 w = qw;
<a name="l00198"></a>00198 }
<a name="l00199"></a>00199 <span class="comment">/* </span>
<a name="l00200"></a>00200 <span class="comment"> static inline CalQuaternion shortestArc( const CalVector& from, const CalVector& to )</span>
<a name="l00201"></a>00201 <span class="comment"> {</span>
<a name="l00202"></a>00202 <span class="comment"> CalVector cross = from % to; //Compute vector cross product</span>
<a name="l00203"></a>00203 <span class="comment"> float dot = from * to ; //Compute dot product</span>
<a name="l00204"></a>00204 <span class="comment"> </span>
<a name="l00205"></a>00205 <span class="comment"> dot = (float) sqrt( 2*(dot+1) ) ; //We will use this equation twice</span>
<a name="l00206"></a>00206 <span class="comment"> </span>
<a name="l00207"></a>00207 <span class="comment"> cross /= dot ; //Get the x, y, z components</span>
<a name="l00208"></a>00208 <span class="comment"> </span>
<a name="l00209"></a>00209 <span class="comment"> //Return with the w component (Note that w is inverted because Cal3D has</span>
<a name="l00210"></a>00210 <span class="comment"> // left-handed rotations )</span>
<a name="l00211"></a>00211 <span class="comment"> return CalQuaternion( cross[0], cross[1], cross[2], -dot/2 ) ; </span>
<a name="l00212"></a>00212 <span class="comment"> </span>
<a name="l00213"></a>00213 <span class="comment"> }</span>
<a name="l00214"></a>00214 <span class="comment"></span>
<a name="l00215"></a>00215 <span class="comment"> */</span>
<a name="l00216"></a>00216 };
<a name="l00217"></a>00217
<a name="l00218"></a>00218
<a name="l00219"></a>00219 <span class="keyword">static</span> <span class="keyword">inline</span> <a class="code" href="classCalQuaternion.html" title="The quaternion class.">CalQuaternion</a> operator*(<span class="keyword">const</span> <a class="code" href="classCalQuaternion.html" title="The quaternion class.">CalQuaternion</a>& q, <span class="keyword">const</span> <a class="code" href="classCalQuaternion.html" title="The quaternion class.">CalQuaternion</a>& r)
<a name="l00220"></a>00220 {
<a name="l00221"></a>00221 <span class="keywordflow">return</span> <a class="code" href="classCalQuaternion.html" title="The quaternion class.">CalQuaternion</a>(
<a name="l00222"></a>00222 r.w * q.x + r.x * q.w + r.y * q.z - r.z * q.y,
<a name="l00223"></a>00223 r.w * q.y - r.x * q.z + r.y * q.w + r.z * q.x,
<a name="l00224"></a>00224 r.w * q.z + r.x * q.y - r.y * q.x + r.z * q.w,
<a name="l00225"></a>00225 r.w * q.w - r.x * q.x - r.y * q.y - r.z * q.z
<a name="l00226"></a>00226 );
<a name="l00227"></a>00227 }
<a name="l00228"></a>00228
<a name="l00229"></a>00229 <span class="keyword">static</span> <span class="keyword">inline</span> <a class="code" href="classCalQuaternion.html" title="The quaternion class.">CalQuaternion</a> shortestArc( <span class="keyword">const</span> <a class="code" href="classCalVector.html" title="The vector class.">CalVector</a>& from, <span class="keyword">const</span> <a class="code" href="classCalVector.html" title="The vector class.">CalVector</a>& to )
<a name="l00230"></a>00230 {
<a name="l00231"></a>00231 <a class="code" href="classCalVector.html" title="The vector class.">CalVector</a> cross = from % to; <span class="comment">//Compute vector cross product</span>
<a name="l00232"></a>00232 <span class="keywordtype">float</span> dot = from * to ; <span class="comment">//Compute dot product</span>
<a name="l00233"></a>00233
<a name="l00234"></a>00234 dot = (float) sqrt( 2*(dot+1) ) ; <span class="comment">//We will use this equation twice</span>
<a name="l00235"></a>00235
<a name="l00236"></a>00236 cross /= dot ; <span class="comment">//Get the x, y, z components</span>
<a name="l00237"></a>00237
<a name="l00238"></a>00238 <span class="comment">//Return with the w component (Note that w is inverted because Cal3D has</span>
<a name="l00239"></a>00239 <span class="comment">// left-handed rotations )</span>
<a name="l00240"></a>00240 <span class="keywordflow">return</span> <a class="code" href="classCalQuaternion.html" title="The quaternion class.">CalQuaternion</a>( cross[0], cross[1], cross[2], -dot/2 ) ;
<a name="l00241"></a>00241
<a name="l00242"></a>00242 }
<a name="l00243"></a>00243
<a name="l00244"></a>00244
<a name="l00245"></a>00245 <span class="preprocessor">#endif</span>
<a name="l00246"></a>00246 <span class="preprocessor"></span>
<a name="l00247"></a>00247 <span class="comment">//****************************************************************************//</span>
</pre></div></div>
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