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Diffstat (limited to 'intern/moto/include/MT_Quaternion.h')
-rw-r--r-- | intern/moto/include/MT_Quaternion.h | 112 |
1 files changed, 112 insertions, 0 deletions
diff --git a/intern/moto/include/MT_Quaternion.h b/intern/moto/include/MT_Quaternion.h new file mode 100644 index 00000000000..577df2e9fa5 --- /dev/null +++ b/intern/moto/include/MT_Quaternion.h @@ -0,0 +1,112 @@ +/** + * $Id$ + * ***** BEGIN GPL/BL DUAL LICENSE BLOCK ***** + * + * This program is free software; you can redistribute it and/or + * modify it under the terms of the GNU General Public License + * as published by the Free Software Foundation; either version 2 + * of the License, or (at your option) any later version. The Blender + * Foundation also sells licenses for use in proprietary software under + * the Blender License. See http://www.blender.org/BL/ for information + * about this. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program; if not, write to the Free Software Foundation, + * Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV. + * All rights reserved. + * + * The Original Code is: all of this file. + * + * Contributor(s): none yet. + * + * ***** END GPL/BL DUAL LICENSE BLOCK ***** + */ + +/* + + * Copyright (c) 2000 Gino van den Bergen <gino@acm.org> + * + * Permission to use, copy, modify, distribute and sell this software + * and its documentation for any purpose is hereby granted without fee, + * provided that the above copyright notice appear in all copies and + * that both that copyright notice and this permission notice appear + * in supporting documentation. Gino van den Bergen makes no + * representations about the suitability of this software for any + * purpose. It is provided "as is" without express or implied warranty. + * + */ + +#ifndef MT_QUATERNION_H +#define MT_QUATERNION_H + +#include <MT_assert.h> + +#include "MT_Vector3.h" +#include "MT_Vector4.h" + +class MT_Quaternion : public MT_Vector4 { +public: + MT_Quaternion() {} + MT_Quaternion(const MT_Vector4& v) : MT_Vector4(v) {} + MT_Quaternion(const float v[4]) : MT_Vector4(v) {} + MT_Quaternion(const double v[4]) : MT_Vector4(v) {} + MT_Quaternion(MT_Scalar x, MT_Scalar y, MT_Scalar z, MT_Scalar w) : + MT_Vector4(x, y, z, w) {} + MT_Quaternion(const MT_Vector3& axis, MT_Scalar angle) { + setRotation(axis, angle); + } + MT_Quaternion(MT_Scalar yaw, MT_Scalar pitch, MT_Scalar roll) { + setEuler(yaw, pitch, roll); + } + + void setRotation(const MT_Vector3& axis, MT_Scalar angle) { + MT_Scalar d = axis.length(); + MT_assert(!MT_fuzzyZero(d)); + MT_Scalar s = sin(angle * MT_Scalar(0.5)) / d; + setValue(axis[0] * s, axis[1] * s, axis[2] * s, + cos(angle * MT_Scalar(0.5))); + } + + void setEuler(MT_Scalar yaw, MT_Scalar pitch, MT_Scalar roll) { + MT_Scalar cosYaw = cos(yaw * MT_Scalar(0.5)); + MT_Scalar sinYaw = sin(yaw * MT_Scalar(0.5)); + MT_Scalar cosPitch = cos(pitch * MT_Scalar(0.5)); + MT_Scalar sinPitch = sin(pitch * MT_Scalar(0.5)); + MT_Scalar cosRoll = cos(roll * MT_Scalar(0.5)); + MT_Scalar sinRoll = sin(roll * MT_Scalar(0.5)); + setValue(cosRoll * sinPitch * cosYaw + sinRoll * cosPitch * sinYaw, + cosRoll * cosPitch * sinYaw - sinRoll * sinPitch * cosYaw, + sinRoll * cosPitch * cosYaw - cosRoll * sinPitch * sinYaw, + cosRoll * cosPitch * cosYaw + sinRoll * sinPitch * sinYaw); + } + + MT_Quaternion& operator*=(const MT_Quaternion& q); + + void conjugate(); + MT_Quaternion conjugate() const; + + void invert(); + MT_Quaternion inverse() const; + + static MT_Quaternion random(); +}; + +MT_Quaternion operator*(const MT_Quaternion& q1, const MT_Quaternion& q2); +MT_Quaternion operator*(const MT_Quaternion& q, const MT_Vector3& w); +MT_Quaternion operator*(const MT_Vector3& w, const MT_Quaternion& q); + +#ifdef GEN_INLINED +#include "MT_Quaternion.inl" +#endif + +#endif + + + |