You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
119 lines
3.5 KiB
119 lines
3.5 KiB
4 years ago
|
#ifndef GFXQUAT_INCLUDED // -*- C++ -*-
|
||
|
|
#define GFXQUAT_INCLUDED
|
||
|
|
#if !defined(__GNUC__)
|
||
|
|
# pragma once
|
||
|
|
#endif
|
||
|
|
|
||
|
|
/************************************************************************
|
||
|
|
|
||
|
|
Quaternion class
|
||
|
|
|
||
|
|
$Id: quat.h 440 2005-02-23 05:14:13Z garland $
|
||
|
|
|
||
|
|
************************************************************************/
|
||
|
|
|
||
|
|
#include "mat4.h"
|
||
|
|
|
||
|
|
namespace gfx
|
||
|
|
{
|
||
|
|
|
||
|
|
class Quat
|
||
|
|
{
|
||
|
|
private:
|
||
|
|
Vec3 v; // Vector component
|
||
|
|
double s; // Scalar component
|
||
|
|
|
||
|
|
public:
|
||
|
|
Quat() { v=0.0; s=1.0; }
|
||
|
|
Quat(double x, double y, double z, double w) { v[0]=x;v[1]=y;v[2]=z; s=w; }
|
||
|
|
Quat(const Vec3& a, double b) { v=a; s=b; }
|
||
|
|
Quat(const Quat& q) { *this=q; }
|
||
|
|
|
||
|
|
// Access methods
|
||
|
|
const Vec3& vector() const { return v; }
|
||
|
|
Vec3& vector() { return v; }
|
||
|
|
double scalar() const { return s; }
|
||
|
|
double& scalar() { return s; }
|
||
|
|
|
||
|
|
// Assignment and in-place arithmetic methods
|
||
|
|
Quat& operator=(const Quat& q);
|
||
|
|
Quat& operator+=(const Quat& q);
|
||
|
|
Quat& operator-=(const Quat& q);
|
||
|
|
Quat& operator=(double d);
|
||
|
|
Quat& operator*=(double d);
|
||
|
|
Quat& operator/=(double d);
|
||
|
|
|
||
|
|
// Construction of standard quaternions
|
||
|
|
static Quat ident();
|
||
|
|
};
|
||
|
|
|
||
|
|
////////////////////////////////////////////////////////////////////////
|
||
|
|
//
|
||
|
|
// Implementation of Quat methods
|
||
|
|
//
|
||
|
|
|
||
|
|
inline Quat& Quat::operator=(const Quat& q) { v=q.v; s=q.s; return *this; }
|
||
|
|
inline Quat& Quat::operator+=(const Quat& q) { v+=q.v; s+=q.s; return *this; }
|
||
|
|
inline Quat& Quat::operator-=(const Quat& q) { v-=q.v; s-=q.s; return *this; }
|
||
|
|
|
||
|
|
inline Quat& Quat::operator=(double d) { v=d; s=d; return *this; }
|
||
|
|
inline Quat& Quat::operator*=(double d) { v*=d; s*=d; return *this; }
|
||
|
|
inline Quat& Quat::operator/=(double d) { v/=d; s/=d; return *this; }
|
||
|
|
|
||
|
|
inline Quat Quat::ident() { return Quat(0, 0, 0, 1); }
|
||
|
|
|
||
|
|
////////////////////////////////////////////////////////////////////////
|
||
|
|
//
|
||
|
|
// Standard arithmetic operators on quaternions
|
||
|
|
//
|
||
|
|
|
||
|
|
inline Quat operator+(const Quat& q, const Quat& r)
|
||
|
|
{ return Quat(q.vector()+r.vector(), q.scalar()+r.scalar()); }
|
||
|
|
|
||
|
|
inline Quat operator*(const Quat& q, const Quat& r)
|
||
|
|
{
|
||
|
|
return Quat(cross(q.vector(),r.vector()) +
|
||
|
|
r.scalar()*q.vector() +
|
||
|
|
q.scalar()*r.vector(),
|
||
|
|
q.scalar()*r.scalar() - q.vector()*r.vector());
|
||
|
|
}
|
||
|
|
|
||
|
|
inline Quat operator*(const Quat& q, double s)
|
||
|
|
{ return Quat(q.vector()*s, q.scalar()*s); }
|
||
|
|
inline Quat operator*(double s, const Quat& q)
|
||
|
|
{ return Quat(q.vector()*s, q.scalar()*s); }
|
||
|
|
|
||
|
|
inline Quat operator/(const Quat& q, double s)
|
||
|
|
{ return Quat(q.vector()/s, q.scalar()/s); }
|
||
|
|
|
||
|
|
inline std::ostream &operator<<(std::ostream &out, const Quat& q)
|
||
|
|
{ return out << q.vector() << " " << q.scalar(); }
|
||
|
|
|
||
|
|
inline std::istream &operator>>(std::istream &in, Quat& q)
|
||
|
|
{ return in >> q.vector() >> q.scalar(); }
|
||
|
|
|
||
|
|
|
||
|
|
////////////////////////////////////////////////////////////////////////
|
||
|
|
//
|
||
|
|
// Standard functions on quaternions
|
||
|
|
//
|
||
|
|
|
||
|
|
inline double norm(const Quat& q)
|
||
|
|
{ return q.scalar()*q.scalar() + q.vector()*q.vector(); }
|
||
|
|
|
||
|
|
inline Quat conjugate(const Quat& q) { return Quat(-q.vector(), q.scalar()); }
|
||
|
|
inline Quat inverse(const Quat& q) { return conjugate(q)/norm(q); }
|
||
|
|
inline Quat& unitize(Quat& q) { q /= sqrt(norm(q)); return q; }
|
||
|
|
|
||
|
|
extern Quat exp(const Quat& q);
|
||
|
|
extern Quat log(const Quat& q);
|
||
|
|
extern Quat axis_to_quat(const Vec3& a, double phi);
|
||
|
|
extern Mat4 quat_to_matrix(const Quat& q);
|
||
|
|
extern Mat4 unit_quat_to_matrix(const Quat& q);
|
||
|
|
extern Quat slerp(const Quat& from, const Quat& to, double t);
|
||
|
|
|
||
|
|
} // namespace gfx
|
||
|
|
|
||
|
|
// GFXQUAT_INCLUDED
|
||
|
|
#endif
|