WFMath 0.3.11
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00001 // quaternion.h (based on the Quaternion class from eris) 00002 // 00003 // The WorldForge Project 00004 // Copyright (C) 2002 The WorldForge Project 00005 // 00006 // This program is free software; you can redistribute it and/or modify 00007 // it under the terms of the GNU General Public License as published by 00008 // the Free Software Foundation; either version 2 of the License, or 00009 // (at your option) any later version. 00010 // 00011 // This program is distributed in the hope that it will be useful, 00012 // but WITHOUT ANY WARRANTY; without even the implied warranty of 00013 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00014 // GNU General Public License for more details. 00015 // 00016 // You should have received a copy of the GNU General Public License 00017 // along with this program; if not, write to the Free Software 00018 // Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. 00019 // 00020 // For information about WorldForge and its authors, please contact 00021 // the Worldforge Web Site at http://www.worldforge.org. 00022 // 00023 00024 // Author: Ron Steinke 00025 00026 #ifndef WFMATH_QUATERNION_H 00027 #define WFMATH_QUATERNION_H 00028 00029 #include <wfmath/vector.h> 00030 #include <wfmath/rotmatrix.h> 00031 00032 namespace WFMath { 00033 00035 00039 class Quaternion 00040 { 00041 public: 00043 Quaternion () : m_valid(false) {} 00045 00048 Quaternion (CoordType w_in, CoordType x_in, CoordType y_in, CoordType z_in); 00050 Quaternion (int axis, CoordType angle) {rotation(axis, angle);} 00052 Quaternion (const Vector<3>& axis, CoordType angle) {rotation(axis, angle);} 00054 00057 explicit Quaternion (const Vector<3>& axis) {rotation(axis);} // angle == axis.mag() 00059 Quaternion (const Quaternion& p) : m_w(p.m_w), m_vec(p.m_vec), 00060 m_valid(p.m_valid), m_age(p.m_age) {} 00062 explicit Quaternion (const AtlasInType& a) {fromAtlas(a);} 00063 00064 ~Quaternion() {} 00065 00066 friend std::ostream& operator<<(std::ostream& os, const Quaternion& p); 00067 friend std::istream& operator>>(std::istream& is, Quaternion& p); 00068 00070 AtlasOutType toAtlas() const; 00072 void fromAtlas(const AtlasInType& a); 00073 00074 Quaternion& operator= (const Quaternion& rhs) 00075 {m_w = rhs.m_w; m_vec = rhs.m_vec; m_valid = rhs.m_valid; m_age = rhs.m_age; return *this;} 00076 00077 // This regards q and -1*q as equal, since they give the 00078 // same RotMatrix<3> 00079 bool isEqualTo(const Quaternion &q, double epsilon = WFMATH_EPSILON) const; 00080 00081 bool operator== (const Quaternion& rhs) const {return isEqualTo(rhs);} 00082 bool operator!= (const Quaternion& rhs) const {return !isEqualTo(rhs);} 00083 00084 bool isValid() const {return m_valid;} 00085 00087 Quaternion& identity() {m_w = 1; m_vec.zero(); m_valid = true; m_age = 0; return *this;} // Set to null rotation 00088 00089 // Operators 00090 00092 Quaternion& operator*= (const Quaternion& rhs); 00094 Quaternion& operator/= (const Quaternion& rhs); 00096 Quaternion operator* (const Quaternion& rhs) const { 00097 Quaternion out(*this); 00098 out *= rhs; 00099 return out; 00100 } 00102 Quaternion operator/ (const Quaternion& rhs) const { 00103 Quaternion out(*this); 00104 out /= rhs; 00105 return out; 00106 } 00107 00108 // Functions 00109 00110 // Returns "not_flip", similar to RotMatrix<>.toEuler() 00112 00121 bool fromRotMatrix(const RotMatrix<3>& m); 00122 00124 Quaternion inverse() const; 00125 00127 Quaternion& rotate(const RotMatrix<3>&); 00128 00130 Quaternion& rotate(const Quaternion& q) {return operator*=(q);} 00131 00133 Quaternion& rotation(int axis, CoordType angle); 00135 Quaternion& rotation(const Vector<3>& axis, CoordType angle); 00137 00140 Quaternion& rotation(const Vector<3>& axis); // angle == axis.mag() 00141 00143 Quaternion& rotation(const Vector<3>& from, const Vector<3>& to); 00144 00145 // documented elsewhere 00146 template<const int dim> 00147 friend Vector<dim>& Vector<dim>::rotate(const Quaternion& q); 00148 template<const int dim> 00149 friend RotMatrix<dim>& RotMatrix<dim>::fromQuaternion(const Quaternion& q, 00150 const bool not_flip); 00151 00153 CoordType scalar() const {return m_w;} 00155 const Vector<3>& vector() const {return m_vec;} 00156 00158 void normalize(); 00160 unsigned age() const {return m_age;} 00161 00162 private: 00163 Quaternion(bool valid) : m_valid(valid), m_age(1) {} 00164 void checkNormalization() {if(m_age >= WFMATH_MAX_NORM_AGE && m_valid) normalize();} 00165 CoordType m_w; 00166 Vector<3> m_vec; 00167 bool m_valid; 00168 unsigned m_age; 00169 }; 00170 00171 } // namespace WFMath 00172 00173 #endif // WFMATH_QUATERNION_H