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/*
* ***** BEGIN GPL 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.
*
* 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., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, 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 LICENSE BLOCK *****
*/
/** \file moto/include/MT_Quaternion.h
* \ingroup moto
*/
/*
* 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 xx, MT_Scalar yy, MT_Scalar zz, MT_Scalar ww) :
MT_Vector4(xx, yy, zz, ww) {}
MT_Quaternion(const MT_Vector3& axis, MT_Scalar mt_angle) {
setRotation(axis, mt_angle);
}
MT_Quaternion(MT_Scalar yaw, MT_Scalar pitch, MT_Scalar roll) {
setEuler(yaw, pitch, roll);
}
void setRotation(const MT_Vector3& axis, MT_Scalar mt_angle) {
MT_Scalar d = axis.length();
MT_assert(!MT_fuzzyZero(d));
MT_Scalar s = sin(mt_angle * MT_Scalar(0.5)) / d;
setValue(axis[0] * s, axis[1] * s, axis[2] * s,
cos(mt_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;
MT_Scalar angle(const MT_Quaternion& q) const;
MT_Quaternion slerp(const MT_Quaternion& q, const MT_Scalar& t) 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
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