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00001 /******************************************************************************** 00002 * * 00003 * D o u b l e - P r e c i s i o n Q u a t e r n i o n * 00004 * * 00005 ********************************************************************************* 00006 * Copyright (C) 1994,2009 by Jeroen van der Zijp. All Rights Reserved. * 00007 ********************************************************************************* 00008 * This library is free software; you can redistribute it and/or modify * 00009 * it under the terms of the GNU Lesser General Public License as published by * 00010 * the Free Software Foundation; either version 3 of the License, or * 00011 * (at your option) any later version. * 00012 * * 00013 * This library is distributed in the hope that it will be useful, * 00014 * but WITHOUT ANY WARRANTY; without even the implied warranty of * 00015 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * 00016 * GNU Lesser General Public License for more details. * 00017 * * 00018 * You should have received a copy of the GNU Lesser General Public License * 00019 * along with this program. If not, see <http://www.gnu.org/licenses/> * 00020 ********************************************************************************* 00021 * $Id: FXQuatd.h,v 1.20 2009/01/26 09:40:22 fox Exp $ * 00022 ********************************************************************************/ 00023 #ifndef FXQUATD_H 00024 #define FXQUATD_H 00025 00026 00027 namespace FX { 00028 00029 00030 class FXMat3d; 00031 00032 00033 /// Double-precision quaternion 00034 class FXAPI FXQuatd : public FXVec4d { 00035 public: 00036 00037 /// Default constructor; value is not initialized 00038 FXQuatd(){} 00039 00040 /// Copy constructor 00041 FXQuatd(const FXQuatd& q):FXVec4d(q){} 00042 00043 /// Construct from components 00044 FXQuatd(FXdouble xx,FXdouble yy,FXdouble zz,FXdouble ww):FXVec4d(xx,yy,zz,ww){} 00045 00046 /// Construct from array of doubles 00047 FXQuatd(const FXdouble v[]):FXVec4d(v){} 00048 00049 /// Construct from axis and angle 00050 FXQuatd(const FXVec3d& axis,FXdouble phi=0.0); 00051 00052 /// Construct from euler angles yaw (z), pitch (y), and roll (x) 00053 FXQuatd(FXdouble roll,FXdouble pitch,FXdouble yaw); 00054 00055 /// Construct quaternion from two unit vectors 00056 FXQuatd(const FXVec3d& fr,const FXVec3d& to); 00057 00058 /// Construct quaternion from three axes 00059 FXQuatd(const FXVec3d& ex,const FXVec3d& ey,const FXVec3d& ez); 00060 00061 /// Construct quaternion from 3x3 matrix 00062 FXQuatd(const FXMat3d& mat); 00063 00064 /// Adjust quaternion length 00065 FXQuatd& adjust(); 00066 00067 /// Set quaternion from axis and angle 00068 void setAxisAngle(const FXVec3d& axis,FXdouble phi=0.0); 00069 00070 /// Obtain axis and angle from quaternion 00071 void getAxisAngle(FXVec3d& axis,FXdouble& phi) const; 00072 00073 /// Set quaternion from roll (x), pitch (y), yaw (z) 00074 void setRollPitchYaw(FXdouble roll,FXdouble pitch,FXdouble yaw); 00075 void getRollPitchYaw(FXdouble& roll,FXdouble& pitch,FXdouble& yaw) const; 00076 00077 /// Set quaternion from yaw (z), pitch (y), roll (x) 00078 void setYawPitchRoll(FXdouble yaw,FXdouble pitch,FXdouble roll); 00079 void getYawPitchRoll(FXdouble& yaw,FXdouble& pitch,FXdouble& roll) const; 00080 00081 /// Set quaternion from roll (x), yaw (z), pitch (y) 00082 void setRollYawPitch(FXdouble roll,FXdouble yaw,FXdouble pitch); 00083 void getRollYawPitch(FXdouble& roll,FXdouble& yaw,FXdouble& pitch) const; 00084 00085 /// Set quaternion from pitch (y), roll (x),yaw (z) 00086 void setPitchRollYaw(FXdouble pitch,FXdouble roll,FXdouble yaw); 00087 void getPitchRollYaw(FXdouble& pitch,FXdouble& roll,FXdouble& yaw) const; 00088 00089 /// Set quaternion from pitch (y), yaw (z), roll (x) 00090 void setPitchYawRoll(FXdouble pitch,FXdouble yaw,FXdouble roll); 00091 void getPitchYawRoll(FXdouble& pitch,FXdouble& yaw,FXdouble& roll) const; 00092 00093 /// Set quaternion from yaw (z), roll (x), pitch (y) 00094 void setYawRollPitch(FXdouble yaw,FXdouble roll,FXdouble pitch); 00095 void getYawRollPitch(FXdouble& yaw,FXdouble& roll,FXdouble& pitch) const; 00096 00097 /// Set quaternion from axes 00098 void setAxes(const FXVec3d& ex,const FXVec3d& ey,const FXVec3d& ez); 00099 00100 /// Get quaternion axes 00101 void getAxes(FXVec3d& ex,FXVec3d& ey,FXVec3d& ez) const; 00102 00103 /// Obtain local x axis 00104 FXVec3d getXAxis() const; 00105 00106 /// Obtain local y axis 00107 FXVec3d getYAxis() const; 00108 00109 /// Obtain local z axis 00110 FXVec3d getZAxis() const; 00111 00112 /// Exponentiate quaternion 00113 FXQuatd exp() const; 00114 00115 /// Take logarithm of quaternion 00116 FXQuatd log() const; 00117 00118 /// Invert quaternion 00119 FXQuatd invert() const; 00120 00121 /// Invert unit quaternion 00122 FXQuatd unitinvert() const; 00123 00124 /// Conjugate quaternion 00125 FXQuatd conj() const; 00126 00127 /// Construct quaternion from arc a->b on unit sphere 00128 FXQuatd& arc(const FXVec3d& a,const FXVec3d& b); 00129 00130 /// Spherical lerp 00131 FXQuatd& lerp(const FXQuatd& u,const FXQuatd& v,FXdouble f); 00132 00133 /// Multiply quaternions 00134 FXQuatd operator*(const FXQuatd& q) const; 00135 00136 /// Rotation of a vector by a quaternion 00137 FXVec3d operator*(const FXVec3d& v) const; 00138 }; 00139 00140 00141 } 00142 00143 #endif
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