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 00044 namespace Ogre { 00045 00048 class _OgreExport Quaternion 00049 { 00050 public: 00051 inline Quaternion ( 00052 Real fW = 1.0, 00053 Real fX = 0.0, Real fY = 0.0, Real fZ = 0.0) 00054 { 00055 w = fW; 00056 x = fX; 00057 y = fY; 00058 z = fZ; 00059 } 00060 inline Quaternion (const Quaternion& rkQ) 00061 { 00062 w = rkQ.w; 00063 x = rkQ.x; 00064 y = rkQ.y; 00065 z = rkQ.z; 00066 } 00067 00068 void FromRotationMatrix (const Matrix3& kRot); 00069 void ToRotationMatrix (Matrix3& kRot) const; 00070 void FromAngleAxis (const Real& rfAngle, const Vector3& rkAxis); 00071 void ToAngleAxis (Real& rfAngle, Vector3& rkAxis) const; 00072 void FromAxes (const Vector3* akAxis); 00073 void FromAxes (const Vector3& xAxis, const Vector3& yAxis, const Vector3& zAxis); 00074 void ToAxes (Vector3* akAxis) const; 00075 void ToAxes (Vector3& xAxis, Vector3& yAxis, Vector3& zAxis) const; 00077 Vector3 xAxis(void); 00079 Vector3 yAxis(void); 00081 Vector3 zAxis(void); 00082 00083 inline Quaternion& operator= (const Quaternion& rkQ) 00084 { 00085 w = rkQ.w; 00086 x = rkQ.x; 00087 y = rkQ.y; 00088 z = rkQ.z; 00089 return *this; 00090 } 00091 Quaternion operator+ (const Quaternion& rkQ) const; 00092 Quaternion operator- (const Quaternion& rkQ) const; 00093 Quaternion operator* (const Quaternion& rkQ) const; 00094 Quaternion operator* (Real fScalar) const; 00095 friend Quaternion operator* (Real fScalar, 00096 const Quaternion& rkQ); 00097 Quaternion operator- () const; 00098 bool operator== (const Quaternion& rhs) const; 00099 00100 // functions of a quaternion 00101 Real Dot (const Quaternion& rkQ) const; // dot product 00102 Real Norm () const; // squared-length 00104 Real normalise(void); 00105 Quaternion Inverse () const; // apply to non-zero quaternion 00106 Quaternion UnitInverse () const; // apply to unit-length quaternion 00107 Quaternion Exp () const; 00108 Quaternion Log () const; 00109 00110 // rotation of a vector by a quaternion 00111 Vector3 operator* (const Vector3& rkVector) const; 00112 00113 // spherical linear interpolation 00114 static Quaternion Slerp (Real fT, const Quaternion& rkP, 00115 const Quaternion& rkQ, bool shortestPath = false); 00116 00117 static Quaternion SlerpExtraSpins (Real fT, 00118 const Quaternion& rkP, const Quaternion& rkQ, 00119 int iExtraSpins); 00120 00121 // setup for spherical quadratic interpolation 00122 static void Intermediate (const Quaternion& rkQ0, 00123 const Quaternion& rkQ1, const Quaternion& rkQ2, 00124 Quaternion& rka, Quaternion& rkB); 00125 00126 // spherical quadratic interpolation 00127 static Quaternion Squad (Real fT, const Quaternion& rkP, 00128 const Quaternion& rkA, const Quaternion& rkB, 00129 const Quaternion& rkQ, bool shortestPath = false); 00130 00131 // cutoff for sine near zero 00132 static const Real ms_fEpsilon; 00133 00134 // special values 00135 static const Quaternion ZERO; 00136 static const Quaternion IDENTITY; 00137 00138 Real w, x, y, z; 00139 00142 inline _OgreExport friend std::ostream& operator << 00143 ( std::ostream& o, const Quaternion& q ) 00144 { 00145 o << "Quaternion(" << q.x << ", " << q.y << ", " << q.z << ", " << q.w << ")"; 00146 return o; 00147 } 00148 00149 }; 00150 00151 } 00152 00153 00154 00155 00156 #endif
Copyright © 2002-2003 by The OGRE Team
Last modified Wed Jan 21 00:10:23 2004