115 lines
4.8 KiB
C
115 lines
4.8 KiB
C
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/****************************************************************************
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quaternion.h - A quaternion class
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GLUI User Interface Toolkit (LGPL)
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Copyright (c) 1998 Paul Rademacher
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---------------------------------------------------------------------
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WWW: http://sourceforge.net/projects/glui/
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Forums: http://sourceforge.net/forum/?group_id=92496
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*****************************************************************************/
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#ifndef GLUI_QUATERNION_H
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#define GLUI_QUATERNION_H
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#include "algebra3.h"
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#include <cstdio>
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/* this line defines a new type: pointer to a function which returns a */
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/* float and takes as argument a float */
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typedef float (*V_FCT_PTR)(float);
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/****************************************************************
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* Quaternion *
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****************************************************************/
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class quat
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{
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/*protected: */
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public:
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vec3 v; /* vector component */
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float s; /* scalar component */
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/*public: */
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/* Constructors */
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quat();
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quat(float x, float y, float z, float w);
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quat(const vec3 &v, float s);
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quat(float s, const vec3 &v);
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quat(const float *d); /* copy from four-element float array */
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quat(const double *f); /* copy from four-element double array */
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quat(const quat &q); /* copy from other quat */
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/* Assignment operators */
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quat &operator = (const quat &v); /* assignment of a quat */
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quat &operator += (const quat &v); /* incrementation by a quat */
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quat &operator -= (const quat &v); /* decrementation by a quat */
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quat &operator *= (float d); /* multiplication by a constant */
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quat &operator /= (float d); /* division by a constant */
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/* special functions */
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float length() const; /* length of a quat */
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float length2() const; /* squared length of a quat */
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quat &normalize(); /* normalize a quat */
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quat &apply(V_FCT_PTR fct); /* apply a func. to each component */
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vec3 xform(const vec3 &v ); /* q*v*q-1 */
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mat4 to_mat4() const;
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void set_angle(float f); /* set rot angle (degrees) */
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void scale_angle(float f); /* scale rot angle (degrees) */
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float get_angle() const; /* set rot angle (degrees) */
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vec3 get_axis() const; /* get axis */
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void print( FILE *file, const char *name ) const; /* print to a file */
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float &operator [] (int i); /* indexing */
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const float &operator [] (int i) const; /* indexing */
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void set(float x, float y, float z); /* set quat */
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void set(const vec3 &v, float s); /* set quat */
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/* friends */
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friend quat operator - (const quat &v); /* -q1 */
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friend quat operator + (const quat &a, const quat &b); /* q1 + q2 */
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friend quat operator - (const quat &a, const quat &b); /* q1 - q2 */
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friend quat operator * (const quat &a, float d); /* q1 * 3.0 */
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friend quat operator * (float d, const quat &a); /* 3.0 * q1 */
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friend quat operator * (const quat &a, const quat &b); /* q1 * q2 */
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friend quat operator / (const quat &a, float d); /* q1 / 3.0 */
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friend int operator == (const quat &a, const quat &b); /* q1 == q2 ? */
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friend int operator != (const quat &a, const quat &b); /* q1 != q2 ? */
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friend void swap(quat &a, quat &b); /* swap q1 &q2 */
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/*friend quat min(const quat &a, const quat &b); -- min(q1, q2) */
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/*friend quat max(const quat &a, const quat &b); -- max(q1, q2) */
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friend quat prod(const quat &a, const quat &b); /* term by term mult*/
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};
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/* Utility functions */
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quat quat_identity(); /* Returns quaternion identity element */
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quat quat_slerp(const quat &from, const quat &to, float t);
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#endif
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