00001 /**************************************************************************** 00002 00003 quaternion.h - A quaternion class 00004 00005 GLUI User Interface Toolkit (LGPL) 00006 Copyright (c) 1998 Paul Rademacher 00007 00008 --------------------------------------------------------------------- 00009 00010 WWW: http://sourceforge.net/projects/glui/ 00011 Forums: http://sourceforge.net/forum/?group_id=92496 00012 00013 This library is free software; you can redistribute it and/or 00014 modify it under the terms of the GNU Lesser General Public 00015 License as published by the Free Software Foundation; either 00016 version 2.1 of the License, or (at your option) any later version. 00017 00018 This library is distributed in the hope that it will be useful, 00019 but WITHOUT ANY WARRANTY; without even the implied warranty of 00020 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 00021 Lesser General Public License for more details. 00022 00023 You should have received a copy of the GNU Lesser General Public 00024 License along with this library; if not, write to the Free Software 00025 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA 00026 00027 *****************************************************************************/ 00028 00029 #ifndef GLUI_QUATERNION_H 00030 #define GLUI_QUATERNION_H 00031 00032 #include "algebra3.h" 00033 #include <cstdio> 00034 00035 /* this line defines a new type: pointer to a function which returns a */ 00036 /* float and takes as argument a float */ 00037 typedef float (*V_FCT_PTR)(float); 00038 00039 /**************************************************************** 00040 * Quaternion * 00041 ****************************************************************/ 00042 00043 class quat 00044 { 00045 /*protected: */ 00046 public: 00047 00048 vec3 v; /* vector component */ 00049 float s; /* scalar component */ 00050 00051 /*public: */ 00052 00053 /* Constructors */ 00054 00055 quat(); 00056 quat(float x, float y, float z, float w); 00057 quat(const vec3 &v, float s); 00058 quat(float s, const vec3 &v); 00059 quat(const float *d); /* copy from four-element float array */ 00060 quat(const double *f); /* copy from four-element double array */ 00061 quat(const quat &q); /* copy from other quat */ 00062 00063 /* Assignment operators */ 00064 00065 quat &operator = (const quat &v); /* assignment of a quat */ 00066 quat &operator += (const quat &v); /* incrementation by a quat */ 00067 quat &operator -= (const quat &v); /* decrementation by a quat */ 00068 quat &operator *= (float d); /* multiplication by a constant */ 00069 quat &operator /= (float d); /* division by a constant */ 00070 00071 /* special functions */ 00072 00073 float length() const; /* length of a quat */ 00074 float length2() const; /* squared length of a quat */ 00075 quat &normalize(); /* normalize a quat */ 00076 quat &apply(V_FCT_PTR fct); /* apply a func. to each component */ 00077 vec3 xform(const vec3 &v ); /* q*v*q-1 */ 00078 mat4 to_mat4() const; 00079 void set_angle(float f); /* set rot angle (degrees) */ 00080 void scale_angle(float f); /* scale rot angle (degrees) */ 00081 float get_angle() const; /* set rot angle (degrees) */ 00082 vec3 get_axis() const; /* get axis */ 00083 00084 void print( FILE *file, const char *name ) const; /* print to a file */ 00085 00086 float &operator [] (int i); /* indexing */ 00087 const float &operator [] (int i) const; /* indexing */ 00088 00089 void set(float x, float y, float z); /* set quat */ 00090 void set(const vec3 &v, float s); /* set quat */ 00091 00092 /* friends */ 00093 00094 friend quat operator - (const quat &v); /* -q1 */ 00095 friend quat operator + (const quat &a, const quat &b); /* q1 + q2 */ 00096 friend quat operator - (const quat &a, const quat &b); /* q1 - q2 */ 00097 friend quat operator * (const quat &a, float d); /* q1 * 3.0 */ 00098 friend quat operator * (float d, const quat &a); /* 3.0 * q1 */ 00099 friend quat operator * (const quat &a, const quat &b); /* q1 * q2 */ 00100 friend quat operator / (const quat &a, float d); /* q1 / 3.0 */ 00101 friend int operator == (const quat &a, const quat &b); /* q1 == q2 ? */ 00102 friend int operator != (const quat &a, const quat &b); /* q1 != q2 ? */ 00103 friend void swap(quat &a, quat &b); /* swap q1 &q2 */ 00104 /*friend quat min(const quat &a, const quat &b); -- min(q1, q2) */ 00105 /*friend quat max(const quat &a, const quat &b); -- max(q1, q2) */ 00106 friend quat prod(const quat &a, const quat &b); /* term by term mult*/ 00107 }; 00108 00109 /* Utility functions */ 00110 00111 quat quat_identity(); /* Returns quaternion identity element */ 00112 quat quat_slerp(const quat &from, const quat &to, float t); 00113 00114 #endif
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