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OgreQuaternion.h

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00001 /*
00002 -----------------------------------------------------------------------------
00003 This source file is part of OGRE
00004     (Object-oriented Graphics Rendering Engine)
00005 For the latest info, see http://www.ogre3d.org/
00006 
00007 Copyright © 2000-2002 The OGRE Team
00008 Also see acknowledgements in Readme.html
00009 
00010 This program is free software; you can redistribute it and/or modify it under
00011 the terms of the GNU Lesser General Public License as published by the Free Software
00012 Foundation; either version 2 of the License, or (at your option) any later
00013 version.
00014 
00015 This program is distributed in the hope that it will be useful, but WITHOUT
00016 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
00017 FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details.
00018 
00019 You should have received a copy of the GNU Lesser General Public License along with
00020 this program; if not, write to the Free Software Foundation, Inc., 59 Temple
00021 Place - Suite 330, Boston, MA 02111-1307, USA, or go to
00022 http://www.gnu.org/copyleft/lesser.txt.
00023 -----------------------------------------------------------------------------
00024 */
00025 // NOTE THAT THIS FILE IS BASED ON MATERIAL FROM:
00026 
00027 // Magic Software, Inc.
00028 // http://www.magic-software.com
00029 // Copyright (c) 2000, All Rights Reserved
00030 //
00031 // Source code from Magic Software is supplied under the terms of a license
00032 // agreement and may not be copied or disclosed except in accordance with the
00033 // terms of that agreement.  The various license agreements may be found at
00034 // the Magic Software web site.  This file is subject to the license
00035 //
00036 // FREE SOURCE CODE
00037 // http://www.magic-software.com/License/free.pdf
00038 
00039 #ifndef __Quaternion_H__
00040 #define __Quaternion_H__
00041 
00042 #include "OgrePrerequisites.h"
00043 #include "OgreMath.h"
00044 
00045 namespace Ogre {
00046 
00049     class _OgreExport Quaternion
00050     {
00051     public:
00052         inline Quaternion (
00053             Real fW = 1.0,
00054             Real fX = 0.0, Real fY = 0.0, Real fZ = 0.0)
00055         {
00056             w = fW;
00057             x = fX;
00058             y = fY;
00059             z = fZ;
00060         }
00061         inline Quaternion (const Quaternion& rkQ)
00062         {
00063             w = rkQ.w;
00064             x = rkQ.x;
00065             y = rkQ.y;
00066             z = rkQ.z;
00067         }
00069         inline Quaternion(const Matrix3& rot)
00070         {
00071             this->FromRotationMatrix(rot);
00072         }
00074         inline Quaternion(const Radian& rfAngle, const Vector3& rkAxis)
00075         {
00076             this->FromAngleAxis(rfAngle, rkAxis);
00077         }
00078 #ifndef OGRE_FORCE_ANGLE_TYPES
00079         inline Quaternion(const Real& rfAngle, const Vector3& rkAxis)
00080         {
00081             this->FromAngleAxis(rfAngle, rkAxis);
00082         }
00083 #endif//OGRE_FORCE_ANGLE_TYPES
00084 
00085         inline Quaternion(const Vector3& xAxis, const Vector3& yAxis, const Vector3& zAxis)
00086         {
00087             this->FromAxes(xAxis, yAxis, zAxis);
00088         }
00090         inline Quaternion(Vector3* akAxis)
00091         {
00092             this->FromAxes(akAxis);
00093         }
00094 
00095         void FromRotationMatrix (const Matrix3& kRot);
00096         void ToRotationMatrix (Matrix3& kRot) const;
00097         void FromAngleAxis (const Radian& rfAngle, const Vector3& rkAxis);
00098         void ToAngleAxis (Radian& rfAngle, Vector3& rkAxis) const;
00099         inline void ToAngleAxis (Degree& dAngle, Vector3& rkAxis) const {
00100             Radian rAngle;
00101             ToAngleAxis ( rAngle, rkAxis );
00102             dAngle = rAngle;
00103         }
00104 #ifndef OGRE_FORCE_ANGLE_TYPES
00105         inline void FromAngleAxis (const Real& rfAngle, const Vector3& rkAxis) {
00106             FromAngleAxis ( Angle(rfAngle), rkAxis );
00107         }
00108         inline void ToAngleAxis (Real& rfAngle, Vector3& rkAxis) const {
00109             Radian r;
00110             ToAngleAxis ( r, rkAxis );
00111             rfAngle = r.valueAngleUnits();
00112         }
00113 #endif//OGRE_FORCE_ANGLE_TYPES
00114         void FromAxes (const Vector3* akAxis);
00115         void FromAxes (const Vector3& xAxis, const Vector3& yAxis, const Vector3& zAxis);
00116         void ToAxes (Vector3* akAxis) const;
00117         void ToAxes (Vector3& xAxis, Vector3& yAxis, Vector3& zAxis) const;
00119         Vector3 xAxis(void) const;
00121         Vector3 yAxis(void) const;
00123         Vector3 zAxis(void) const;
00124 
00125         inline Quaternion& operator= (const Quaternion& rkQ)
00126         {
00127             w = rkQ.w;
00128             x = rkQ.x;
00129             y = rkQ.y;
00130             z = rkQ.z;
00131             return *this;
00132         }
00133         Quaternion operator+ (const Quaternion& rkQ) const;
00134         Quaternion operator- (const Quaternion& rkQ) const;
00135         Quaternion operator* (const Quaternion& rkQ) const;
00136         Quaternion operator* (Real fScalar) const;
00137         _OgreExport friend Quaternion operator* (Real fScalar,
00138             const Quaternion& rkQ);
00139         Quaternion operator- () const;
00140         inline bool operator== (const Quaternion& rhs) const
00141         {
00142             return (rhs.x == x) && (rhs.y == y) &&
00143                 (rhs.z == z) && (rhs.w == w);
00144         }
00145 
00146         // functions of a quaternion
00147         Real Dot (const Quaternion& rkQ) const;  // dot product
00148         Real Norm () const;  // squared-length
00150         Real normalise(void); 
00151         Quaternion Inverse () const;  // apply to non-zero quaternion
00152         Quaternion UnitInverse () const;  // apply to unit-length quaternion
00153         Quaternion Exp () const;
00154         Quaternion Log () const;
00155 
00156         // rotation of a vector by a quaternion
00157         Vector3 operator* (const Vector3& rkVector) const;
00158 
00160         Radian getRoll(void) const;
00162         Radian getPitch(void) const;
00164         Radian getYaw(void) const;      
00165         // spherical linear interpolation
00166         static Quaternion Slerp (Real fT, const Quaternion& rkP,
00167             const Quaternion& rkQ, bool shortestPath = false);
00168 
00169         static Quaternion SlerpExtraSpins (Real fT,
00170             const Quaternion& rkP, const Quaternion& rkQ,
00171             int iExtraSpins);
00172 
00173         // setup for spherical quadratic interpolation
00174         static void Intermediate (const Quaternion& rkQ0,
00175             const Quaternion& rkQ1, const Quaternion& rkQ2,
00176             Quaternion& rka, Quaternion& rkB);
00177 
00178         // spherical quadratic interpolation
00179         static Quaternion Squad (Real fT, const Quaternion& rkP,
00180             const Quaternion& rkA, const Quaternion& rkB,
00181             const Quaternion& rkQ, bool shortestPath = false);
00182 
00183         // normalised linear interpolation - faster but less accurate (non-constant rotation velocity)
00184         static Quaternion nlerp(Real fT, const Quaternion& rkP, 
00185             const Quaternion& rkQ, bool shortestPath = false);
00186 
00187         // cutoff for sine near zero
00188         static const Real ms_fEpsilon;
00189 
00190         // special values
00191         static const Quaternion ZERO;
00192         static const Quaternion IDENTITY;
00193 
00194         Real w, x, y, z;
00195 
00198         inline _OgreExport friend std::ostream& operator <<
00199             ( std::ostream& o, const Quaternion& q )
00200         {
00201             o << "Quaternion(" << q.x << ", " << q.y << ", " << q.z << ", " << q.w << ")";
00202             return o;
00203         }
00204 
00205     };
00206 
00207 }
00208 
00209 
00210 
00211 
00212 #endif 

Copyright © 2002-2003 by The OGRE Team
Last modified Sun Nov 28 19:48:41 2004