[1378] | 1 | #ifndef NX_FOUNDATION_NxQuatT
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| 2 | #define NX_FOUNDATION_NxQuatT
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| 3 | /*----------------------------------------------------------------------------*\
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| 4 | |
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| 5 | | Public Interface to NovodeX Technology
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| 6 | |
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| 7 | | www.novodex.com
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| 8 | |
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| 9 | \*----------------------------------------------------------------------------*/
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| 10 | /** \addtogroup foundation
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| 11 | @{
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| 12 | */
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| 13 |
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| 14 | #include "Nxf.h"
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| 15 | #include "NxVec3.h"
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| 16 |
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| 17 | /**
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| 18 | \brief This is a quaternion class.
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| 19 |
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| 20 | */
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| 21 |
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| 22 | class NxQuat
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| 23 | {
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| 24 | public:
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| 25 | /**
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| 26 | \brief Default constructor, does not do any initialization.
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| 27 | */
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| 28 | NX_INLINE NxQuat();
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| 29 |
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| 30 | /**
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| 31 | \brief Copy constructor.
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| 32 | */
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| 33 | NX_INLINE NxQuat(const NxQuat&);
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| 34 |
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| 35 | /**
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| 36 | \brief copies xyz elements from v, and scalar from w (defaults to 0).
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| 37 | */
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| 38 | NX_INLINE NxQuat(const NxVec3& v, NxReal w = 0);
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| 39 |
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| 40 | /**
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| 41 | \brief creates from angle-axis representation.
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| 42 |
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| 43 | note that if Angle > 360 the resulting rotation is Angle mod 360.
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| 44 |
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| 45 | <b>Unit:</b> Degrees
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| 46 | */
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| 47 | NX_INLINE NxQuat(const NxReal angle, const NxVec3 & axis);
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| 48 |
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| 49 | /**
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| 50 | \brief Creates from orientation matrix.
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| 51 |
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| 52 | \param[in] m Rotation matrix to extract quaterion from.
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| 53 | */
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| 54 | NX_INLINE NxQuat(const class NxMat33 &m); /* defined in NxMat33.h */
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| 55 |
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| 56 |
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| 57 | /**
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| 58 | \brief Set the quaternion to the identity rotation.
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| 59 | */
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| 60 | NX_INLINE void id();
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| 61 |
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| 62 | /**
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| 63 | \brief Test if the quaterion is the identity rotation.
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| 64 | */
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| 65 | NX_INLINE bool isIdentityRotation() const;
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| 66 |
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| 67 | //setting:
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| 68 |
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| 69 | /**
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| 70 | \brief Set the members of the quaterion, in order WXYZ
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| 71 | */
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| 72 | NX_INLINE void setWXYZ(NxReal w, NxReal x, NxReal y, NxReal z);
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| 73 |
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| 74 | /**
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| 75 | \brief Set the members of the quaterion, in order XYZW
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| 76 | */
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| 77 | NX_INLINE void setXYZW(NxReal x, NxReal y, NxReal z, NxReal w);
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| 78 |
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| 79 | /**
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| 80 | \brief Set the members of the quaterion, in order WXYZ
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| 81 | */
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| 82 | NX_INLINE void setWXYZ(const NxReal *);
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| 83 |
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| 84 | /**
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| 85 | \brief Set the members of the quaterion, in order XYZW
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| 86 | */
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| 87 | NX_INLINE void setXYZW(const NxReal *);
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| 88 |
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| 89 | NX_INLINE NxQuat& operator= (const NxQuat&);
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| 90 |
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| 91 | /**
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| 92 | \brief Implicitly extends vector by a 0 w element.
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| 93 | */
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| 94 | NX_INLINE NxQuat& operator= (const NxVec3&);
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| 95 |
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| 96 | NX_INLINE void setx(const NxReal& d);
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| 97 | NX_INLINE void sety(const NxReal& d);
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| 98 | NX_INLINE void setz(const NxReal& d);
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| 99 | NX_INLINE void setw(const NxReal& d);
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| 100 |
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| 101 | NX_INLINE void getWXYZ(NxF32 *) const;
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| 102 | NX_INLINE void getXYZW(NxF32 *) const;
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| 103 |
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| 104 | NX_INLINE void getWXYZ(NxF64 *) const;
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| 105 | NX_INLINE void getXYZW(NxF64 *) const;
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| 106 |
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| 107 | /**
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| 108 | \brief returns true if all elems are finite (not NAN or INF, etc.)
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| 109 | */
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| 110 | NX_INLINE bool isFinite() const;
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| 111 |
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| 112 | /**
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| 113 | \brief sets to the quat [0,0,0,1]
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| 114 | */
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| 115 | NX_INLINE void zero();
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| 116 |
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| 117 | /**
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| 118 | \brief creates a random unit quaternion.
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| 119 | */
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| 120 | NX_INLINE void random();
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| 121 | /**
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| 122 | \brief creates from angle-axis representation.
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| 123 |
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| 124 | Note that if Angle > 360 the resulting rotation is Angle mod 360.
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| 125 |
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| 126 | <b>Unit:</b> Degrees
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| 127 | */
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| 128 | NX_INLINE void fromAngleAxis(NxReal angle, const NxVec3 & axis);
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| 129 |
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| 130 | /**
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| 131 | \brief Creates from angle-axis representation.
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| 132 |
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| 133 | Axis must be normalized!
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| 134 |
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| 135 | <b>Unit:</b> Radians
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| 136 | */
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| 137 | NX_INLINE void fromAngleAxisFast(NxReal AngleRadians, const NxVec3 & axis);
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| 138 |
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| 139 | /**
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| 140 | \brief Sets this to the opposite rotation of this.
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| 141 | */
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| 142 | NX_INLINE void invert();
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| 143 |
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| 144 | /**
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| 145 | \brief Fetches the Angle/axis given by the NxQuat.
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| 146 |
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| 147 | <b>Unit:</b> Degrees
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| 148 | */
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| 149 | NX_INLINE void getAngleAxis(NxReal& Angle, NxVec3 & axis) const;
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| 150 |
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| 151 | /**
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| 152 | \brief Gets the angle between this quat and the identity quaternion.
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| 153 |
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| 154 | <b>Unit:</b> Degrees
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| 155 | */
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| 156 | NX_INLINE NxReal getAngle() const;
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| 157 |
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| 158 | /**
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| 159 | \brief Gets the angle between this quat and the argument
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| 160 |
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| 161 | <b>Unit:</b> Degrees
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| 162 | */
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| 163 | NX_INLINE NxReal getAngle(const NxQuat &) const;
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| 164 |
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| 165 | /**
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| 166 | \brief This is the squared 4D vector length, should be 1 for unit quaternions.
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| 167 | */
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| 168 | NX_INLINE NxReal magnitudeSquared() const;
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| 169 |
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| 170 | /**
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| 171 | \brief returns the scalar product of this and other.
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| 172 | */
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| 173 | NX_INLINE NxReal dot(const NxQuat &other) const;
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| 174 |
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| 175 | //modifiers:
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| 176 | /**
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| 177 | \brief maps to the closest unit quaternion.
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| 178 | */
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| 179 | NX_INLINE void normalize();
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| 180 |
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| 181 | /*
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| 182 | \brief assigns its own conjugate to itself.
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| 183 |
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| 184 | \note for unit quaternions, this is the inverse.
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| 185 | */
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| 186 | NX_INLINE void conjugate();
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| 187 |
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| 188 | /**
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| 189 | this = a * b
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| 190 | */
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| 191 | NX_INLINE void multiply(const NxQuat& a, const NxQuat& b);
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| 192 |
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| 193 | /**
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| 194 | this = a * v
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| 195 | v is interpreted as quat [xyz0]
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| 196 | */
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| 197 | NX_INLINE void multiply(const NxQuat& a, const NxVec3& v);
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| 198 |
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| 199 | /**
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| 200 | this = slerp(t, a, b)
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| 201 | */
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| 202 | NX_INLINE void slerp(const NxReal t, const NxQuat& a, const NxQuat& b);
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| 203 |
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| 204 | /**
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| 205 | rotates passed vec by rot expressed by unit quaternion. overwrites arg ith the result.
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| 206 | */
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| 207 | NX_INLINE void rotate(NxVec3 &) const;
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| 208 |
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| 209 | /**
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| 210 | rotates passed vec by this (assumed unitary)
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| 211 | */
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| 212 | NX_INLINE const NxVec3 rot(const NxVec3 &) const;
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| 213 |
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| 214 | /**
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| 215 | inverse rotates passed vec by this (assumed unitary)
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| 216 | */
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| 217 | NX_INLINE const NxVec3 invRot(const NxVec3 &) const;
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| 218 |
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| 219 | /**
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| 220 | transform passed vec by this rotation (assumed unitary) and translation p
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| 221 | */
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| 222 | NX_INLINE const NxVec3 transform(const NxVec3 &v, const NxVec3 &p) const;
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| 223 |
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| 224 | /**
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| 225 | inverse rotates passed vec by this (assumed unitary)
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| 226 | */
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| 227 | NX_INLINE const NxVec3 invTransform(const NxVec3 &v, const NxVec3 &p) const;
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| 228 |
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| 229 |
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| 230 | /**
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| 231 | rotates passed vec by opposite of rot expressed by unit quaternion. overwrites arg ith the result.
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| 232 | */
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| 233 | NX_INLINE void inverseRotate(NxVec3 &) const;
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| 234 |
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| 235 |
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| 236 |
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| 237 | /**
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| 238 | negates all the elements of the quat. q and -q represent the same rotation.
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| 239 | */
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| 240 | NX_INLINE void negate();
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| 241 | NX_INLINE NxQuat operator -() const;
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| 242 |
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| 243 | NX_INLINE NxQuat& operator*= (const NxQuat&);
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| 244 | NX_INLINE NxQuat& operator+= (const NxQuat&);
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| 245 | NX_INLINE NxQuat& operator-= (const NxQuat&);
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| 246 | NX_INLINE NxQuat& operator*= (const NxReal s);
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| 247 |
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| 248 | NxReal x,y,z,w;
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| 249 |
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| 250 | /** quaternion multiplication */
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| 251 | NX_INLINE NxQuat operator *(const NxQuat &) const;
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| 252 |
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| 253 | /** quaternion addition */
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| 254 | NX_INLINE NxQuat operator +(const NxQuat &) const;
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| 255 |
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| 256 | /** quaternion subtraction */
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| 257 | NX_INLINE NxQuat operator -(const NxQuat &) const;
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| 258 |
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| 259 | /** quaternion conjugate */
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| 260 | NX_INLINE NxQuat operator !() const;
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| 261 |
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| 262 | /*
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| 263 | ops we decided not to implement:
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| 264 | bool operator== (const NxQuat&) const;
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| 265 | NxVec3 operator^ (const NxQuat& r_h_s) const;//same as normal quat rot, but casts itself into a vector. (doesn't compute w term)
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| 266 | NxQuat operator* (const NxVec3& v) const;//implicitly extends vector by a 0 w element.
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| 267 | NxQuat operator* (const NxReal Scale) const;
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| 268 | */
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| 269 |
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| 270 | friend class NxMat33;
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| 271 | private:
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| 272 | NX_INLINE NxQuat(NxReal ix, NxReal iy, NxReal iz, NxReal iw);
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| 273 | };
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| 274 |
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| 275 |
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| 276 |
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| 277 |
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| 278 | NX_INLINE NxQuat::NxQuat()
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| 279 | {
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| 280 | //nothing
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| 281 | }
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| 282 |
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| 283 |
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| 284 | NX_INLINE NxQuat::NxQuat(const NxQuat& q) : x(q.x), y(q.y), z(q.z), w(q.w)
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| 285 | {
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| 286 | }
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| 287 |
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| 288 |
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| 289 | NX_INLINE NxQuat::NxQuat(const NxVec3& v, NxReal s) // copy constructor, assumes w=0
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| 290 | {
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| 291 | x = v.x;
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| 292 | y = v.y;
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| 293 | z = v.z;
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| 294 | w = s;
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| 295 | }
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| 296 |
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| 297 |
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| 298 | NX_INLINE NxQuat::NxQuat(const NxReal angle, const NxVec3 & axis) // creates a NxQuat from an Angle axis -- note that if Angle > 360 the resulting rotation is Angle mod 360
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| 299 | {
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| 300 | fromAngleAxis(angle,axis);
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| 301 | }
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| 302 |
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| 303 |
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| 304 | NX_INLINE void NxQuat::id()
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| 305 | {
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| 306 | x = NxReal(0);
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| 307 | y = NxReal(0);
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| 308 | z = NxReal(0);
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| 309 | w = NxReal(1);
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| 310 | }
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| 311 |
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| 312 | NX_INLINE bool NxQuat::isIdentityRotation() const
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| 313 | {
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| 314 | return x==0 && y==0 && z==0 && fabsf(w)==1;
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| 315 | }
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| 316 |
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| 317 |
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| 318 | NX_INLINE void NxQuat::setWXYZ(NxReal sw, NxReal sx, NxReal sy, NxReal sz)
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| 319 | {
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| 320 | x = sx;
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| 321 | y = sy;
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| 322 | z = sz;
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| 323 | w = sw;
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| 324 | }
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| 325 |
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| 326 |
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| 327 | NX_INLINE void NxQuat::setXYZW(NxReal sx, NxReal sy, NxReal sz, NxReal sw)
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| 328 | {
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| 329 | x = sx;
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| 330 | y = sy;
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| 331 | z = sz;
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| 332 | w = sw;
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| 333 | }
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| 334 |
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| 335 |
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| 336 | NX_INLINE void NxQuat::setWXYZ(const NxReal * d)
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| 337 | {
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| 338 | x = d[1];
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| 339 | y = d[2];
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| 340 | z = d[3];
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| 341 | w = d[0];
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| 342 | }
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| 343 |
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| 344 |
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| 345 | NX_INLINE void NxQuat::setXYZW(const NxReal * d)
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| 346 | {
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| 347 | x = d[0];
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| 348 | y = d[1];
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| 349 | z = d[2];
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| 350 | w = d[3];
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| 351 | }
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| 352 |
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| 353 |
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| 354 | NX_INLINE void NxQuat::getWXYZ(NxF32 *d) const
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| 355 | {
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| 356 | d[1] = (NxF32)x;
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| 357 | d[2] = (NxF32)y;
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| 358 | d[3] = (NxF32)z;
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| 359 | d[0] = (NxF32)w;
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| 360 | }
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| 361 |
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| 362 |
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| 363 | NX_INLINE void NxQuat::getXYZW(NxF32 *d) const
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| 364 | {
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| 365 | d[0] = (NxF32)x;
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| 366 | d[1] = (NxF32)y;
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| 367 | d[2] = (NxF32)z;
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| 368 | d[3] = (NxF32)w;
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| 369 | }
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| 370 |
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| 371 |
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| 372 | NX_INLINE void NxQuat::getWXYZ(NxF64 *d) const
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| 373 | {
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| 374 | d[1] = (NxF64)x;
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| 375 | d[2] = (NxF64)y;
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| 376 | d[3] = (NxF64)z;
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| 377 | d[0] = (NxF64)w;
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| 378 | }
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| 379 |
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| 380 |
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| 381 | NX_INLINE void NxQuat::getXYZW(NxF64 *d) const
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| 382 | {
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| 383 | d[0] = (NxF64)x;
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| 384 | d[1] = (NxF64)y;
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| 385 | d[2] = (NxF64)z;
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| 386 | d[3] = (NxF64)w;
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| 387 | }
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| 388 |
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| 389 | //const methods
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| 390 |
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| 391 | NX_INLINE bool NxQuat::isFinite() const
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| 392 | {
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| 393 | return NxMath::isFinite(x)
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| 394 | && NxMath::isFinite(y)
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| 395 | && NxMath::isFinite(z)
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| 396 | && NxMath::isFinite(w);
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| 397 | }
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| 398 |
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| 399 |
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| 400 |
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| 401 | NX_INLINE void NxQuat::zero()
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| 402 | {
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| 403 | x = NxReal(0.0);
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| 404 | y = NxReal(0.0);
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| 405 | z = NxReal(0.0);
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| 406 | w = NxReal(1.0);
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| 407 | }
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| 408 |
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| 409 |
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| 410 | NX_INLINE void NxQuat::negate()
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| 411 | {
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| 412 | x = -x;
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| 413 | y = -y;
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| 414 | z = -z;
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| 415 | w = -w;
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| 416 | }
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| 417 |
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| 418 | NX_INLINE NxQuat NxQuat::operator-() const
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| 419 | {
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| 420 | return NxQuat(-x,-y,-z,-w);
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| 421 | }
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| 422 |
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| 423 |
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| 424 | NX_INLINE void NxQuat::random()
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| 425 | {
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| 426 | x = NxMath::rand(NxReal(0.0),NxReal(1.0));
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| 427 | y = NxMath::rand(NxReal(0.0),NxReal(1.0));
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| 428 | z = NxMath::rand(NxReal(0.0),NxReal(1.0));
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| 429 | w = NxMath::rand(NxReal(0.0),NxReal(1.0));
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| 430 | normalize();
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| 431 | }
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| 432 |
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| 433 |
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| 434 | NX_INLINE void NxQuat::fromAngleAxis(NxReal Angle, const NxVec3 & axis) // set the NxQuat by Angle-axis (see AA constructor)
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| 435 | {
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| 436 | x = axis.x;
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| 437 | y = axis.y;
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| 438 | z = axis.z;
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| 439 |
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| 440 | // required: Normalize the axis
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| 441 |
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| 442 | const NxReal i_length = NxReal(1.0) / NxMath::sqrt( x*x + y*y + z*z );
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| 443 |
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| 444 | x = x * i_length;
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| 445 | y = y * i_length;
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| 446 | z = z * i_length;
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| 447 |
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| 448 | // now make a clQuaternionernion out of it
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| 449 | NxReal Half = NxMath::degToRad(Angle * NxReal(0.5));
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| 450 |
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| 451 | w = NxMath::cos(Half);//this used to be w/o deg to rad.
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| 452 | const NxReal sin_theta_over_two = NxMath::sin(Half );
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| 453 | x = x * sin_theta_over_two;
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| 454 | y = y * sin_theta_over_two;
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| 455 | z = z * sin_theta_over_two;
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| 456 | }
|
---|
| 457 |
|
---|
| 458 | NX_INLINE void NxQuat::fromAngleAxisFast(NxReal AngleRadians, const NxVec3 & axis)
|
---|
| 459 | {
|
---|
| 460 | NxReal s;
|
---|
| 461 | NxMath::sinCos(AngleRadians * 0.5f, s, w);
|
---|
| 462 | x = axis.x * s;
|
---|
| 463 | y = axis.y * s;
|
---|
| 464 | z = axis.z * s;
|
---|
| 465 | }
|
---|
| 466 |
|
---|
| 467 | NX_INLINE void NxQuat::invert()
|
---|
| 468 | {
|
---|
| 469 | x = -x;
|
---|
| 470 | y = -y;
|
---|
| 471 | z = -z;
|
---|
| 472 | }
|
---|
| 473 |
|
---|
| 474 | NX_INLINE void NxQuat::setx(const NxReal& d)
|
---|
| 475 | {
|
---|
| 476 | x = d;
|
---|
| 477 | }
|
---|
| 478 |
|
---|
| 479 |
|
---|
| 480 | NX_INLINE void NxQuat::sety(const NxReal& d)
|
---|
| 481 | {
|
---|
| 482 | y = d;
|
---|
| 483 | }
|
---|
| 484 |
|
---|
| 485 |
|
---|
| 486 | NX_INLINE void NxQuat::setz(const NxReal& d)
|
---|
| 487 | {
|
---|
| 488 | z = d;
|
---|
| 489 | }
|
---|
| 490 |
|
---|
| 491 |
|
---|
| 492 | NX_INLINE void NxQuat::setw(const NxReal& d)
|
---|
| 493 | {
|
---|
| 494 | w = d;
|
---|
| 495 | }
|
---|
| 496 |
|
---|
| 497 |
|
---|
| 498 | NX_INLINE void NxQuat::getAngleAxis(NxReal& angle, NxVec3 & axis) const
|
---|
| 499 | {
|
---|
| 500 | //return axis and angle of rotation of quaternion
|
---|
| 501 | angle = NxMath::acos(w) * NxReal(2.0); //this is getAngle()
|
---|
| 502 | NxReal sa = NxMath::sqrt(NxReal(1.0) - w*w);
|
---|
| 503 | if (sa)
|
---|
| 504 | {
|
---|
| 505 | axis.set(x/sa,y/sa,z/sa);
|
---|
| 506 | angle = NxMath::radToDeg(angle);
|
---|
| 507 | }
|
---|
| 508 | else
|
---|
| 509 | axis.zero();
|
---|
| 510 |
|
---|
| 511 | }
|
---|
| 512 |
|
---|
| 513 |
|
---|
| 514 |
|
---|
| 515 | NX_INLINE NxReal NxQuat::getAngle() const
|
---|
| 516 | {
|
---|
| 517 | return NxMath::acos(w) * NxReal(2.0);
|
---|
| 518 | }
|
---|
| 519 |
|
---|
| 520 |
|
---|
| 521 |
|
---|
| 522 | NX_INLINE NxReal NxQuat::getAngle(const NxQuat & q) const
|
---|
| 523 | {
|
---|
| 524 | return NxMath::acos(dot(q)) * NxReal(2.0);
|
---|
| 525 | }
|
---|
| 526 |
|
---|
| 527 |
|
---|
| 528 | NX_INLINE NxReal NxQuat::magnitudeSquared() const
|
---|
| 529 |
|
---|
| 530 | //modifiers:
|
---|
| 531 | {
|
---|
| 532 | return x*x + y*y + z*z + w*w;
|
---|
| 533 | }
|
---|
| 534 |
|
---|
| 535 |
|
---|
| 536 | NX_INLINE NxReal NxQuat::dot(const NxQuat &v) const
|
---|
| 537 | {
|
---|
| 538 | return x * v.x + y * v.y + z * v.z + w * v.w;
|
---|
| 539 | }
|
---|
| 540 |
|
---|
| 541 |
|
---|
| 542 | NX_INLINE void NxQuat::normalize() // convert this NxQuat to a unit clQuaternionernion
|
---|
| 543 | {
|
---|
| 544 | const NxReal mag = NxMath::sqrt(magnitudeSquared());
|
---|
| 545 | if (mag)
|
---|
| 546 | {
|
---|
| 547 | const NxReal imag = NxReal(1.0) / mag;
|
---|
| 548 |
|
---|
| 549 | x *= imag;
|
---|
| 550 | y *= imag;
|
---|
| 551 | z *= imag;
|
---|
| 552 | w *= imag;
|
---|
| 553 | }
|
---|
| 554 | }
|
---|
| 555 |
|
---|
| 556 |
|
---|
| 557 | NX_INLINE void NxQuat::conjugate() // convert this NxQuat to a unit clQuaternionernion
|
---|
| 558 | {
|
---|
| 559 | x = -x;
|
---|
| 560 | y = -y;
|
---|
| 561 | z = -z;
|
---|
| 562 | }
|
---|
| 563 |
|
---|
| 564 |
|
---|
| 565 | NX_INLINE void NxQuat::multiply(const NxQuat& left, const NxQuat& right) // this = a * b
|
---|
| 566 | {
|
---|
| 567 | NxReal a,b,c,d;
|
---|
| 568 |
|
---|
| 569 | a =left.w*right.w - left.x*right.x - left.y*right.y - left.z*right.z;
|
---|
| 570 | b =left.w*right.x + right.w*left.x + left.y*right.z - right.y*left.z;
|
---|
| 571 | c =left.w*right.y + right.w*left.y + left.z*right.x - right.z*left.x;
|
---|
| 572 | d =left.w*right.z + right.w*left.z + left.x*right.y - right.x*left.y;
|
---|
| 573 |
|
---|
| 574 | w = a;
|
---|
| 575 | x = b;
|
---|
| 576 | y = c;
|
---|
| 577 | z = d;
|
---|
| 578 | }
|
---|
| 579 |
|
---|
| 580 |
|
---|
| 581 | NX_INLINE void NxQuat::multiply(const NxQuat& left, const NxVec3& right) // this = a * b
|
---|
| 582 | {
|
---|
| 583 | NxReal a,b,c,d;
|
---|
| 584 |
|
---|
| 585 | a = - left.x*right.x - left.y*right.y - left.z *right.z;
|
---|
| 586 | b = left.w*right.x + left.y*right.z - right.y*left.z;
|
---|
| 587 | c = left.w*right.y + left.z*right.x - right.z*left.x;
|
---|
| 588 | d = left.w*right.z + left.x*right.y - right.x*left.y;
|
---|
| 589 |
|
---|
| 590 | w = a;
|
---|
| 591 | x = b;
|
---|
| 592 | y = c;
|
---|
| 593 | z = d;
|
---|
| 594 | }
|
---|
| 595 |
|
---|
| 596 | NX_INLINE void NxQuat::slerp(const NxReal t, const NxQuat& left, const NxQuat& right) // this = slerp(t, a, b)
|
---|
| 597 | {
|
---|
| 598 | const NxReal quatEpsilon = (NxReal(1.0e-8f));
|
---|
| 599 |
|
---|
| 600 | *this = left;
|
---|
| 601 |
|
---|
| 602 | NxReal cosine =
|
---|
| 603 | x * right.x +
|
---|
| 604 | y * right.y +
|
---|
| 605 | z * right.z +
|
---|
| 606 | w * right.w; //this is left.dot(right)
|
---|
| 607 |
|
---|
| 608 | NxReal sign = NxReal(1);
|
---|
| 609 | if (cosine < 0)
|
---|
| 610 | {
|
---|
| 611 | cosine = - cosine;
|
---|
| 612 | sign = NxReal(-1);
|
---|
| 613 | }
|
---|
| 614 |
|
---|
| 615 | NxReal Sin = NxReal(1) - cosine*cosine;
|
---|
| 616 |
|
---|
| 617 | if(Sin>=quatEpsilon*quatEpsilon)
|
---|
| 618 | {
|
---|
| 619 | Sin = NxMath::sqrt(Sin);
|
---|
| 620 | const NxReal angle = NxMath::atan2(Sin, cosine);
|
---|
| 621 | const NxReal i_sin_angle = NxReal(1) / Sin;
|
---|
| 622 |
|
---|
| 623 |
|
---|
| 624 |
|
---|
| 625 | NxReal lower_weight = NxMath::sin(angle*(NxReal(1)-t)) * i_sin_angle;
|
---|
| 626 | NxReal upper_weight = NxMath::sin(angle * t) * i_sin_angle * sign;
|
---|
| 627 |
|
---|
| 628 | w = (w * (lower_weight)) + (right.w * (upper_weight));
|
---|
| 629 | x = (x * (lower_weight)) + (right.x * (upper_weight));
|
---|
| 630 | y = (y * (lower_weight)) + (right.y * (upper_weight));
|
---|
| 631 | z = (z * (lower_weight)) + (right.z * (upper_weight));
|
---|
| 632 | }
|
---|
| 633 | }
|
---|
| 634 |
|
---|
| 635 |
|
---|
| 636 | NX_INLINE void NxQuat::rotate(NxVec3 & v) const //rotates passed vec by rot expressed by quaternion. overwrites arg ith the result.
|
---|
| 637 | {
|
---|
| 638 | //NxReal msq = NxReal(1.0)/magnitudeSquared(); //assume unit quat!
|
---|
| 639 | NxQuat myInverse;
|
---|
| 640 | myInverse.x = -x;//*msq;
|
---|
| 641 | myInverse.y = -y;//*msq;
|
---|
| 642 | myInverse.z = -z;//*msq;
|
---|
| 643 | myInverse.w = w;//*msq;
|
---|
| 644 |
|
---|
| 645 | //v = ((*this) * v) ^ myInverse;
|
---|
| 646 |
|
---|
| 647 | NxQuat left;
|
---|
| 648 | left.multiply(*this,v);
|
---|
| 649 | v.x =left.w*myInverse.x + myInverse.w*left.x + left.y*myInverse.z - myInverse.y*left.z;
|
---|
| 650 | v.y =left.w*myInverse.y + myInverse.w*left.y + left.z*myInverse.x - myInverse.z*left.x;
|
---|
| 651 | v.z =left.w*myInverse.z + myInverse.w*left.z + left.x*myInverse.y - myInverse.x*left.y;
|
---|
| 652 | }
|
---|
| 653 |
|
---|
| 654 |
|
---|
| 655 | NX_INLINE void NxQuat::inverseRotate(NxVec3 & v) const //rotates passed vec by opposite of rot expressed by quaternion. overwrites arg ith the result.
|
---|
| 656 | {
|
---|
| 657 | //NxReal msq = NxReal(1.0)/magnitudeSquared(); //assume unit quat!
|
---|
| 658 | NxQuat myInverse;
|
---|
| 659 | myInverse.x = -x;//*msq;
|
---|
| 660 | myInverse.y = -y;//*msq;
|
---|
| 661 | myInverse.z = -z;//*msq;
|
---|
| 662 | myInverse.w = w;//*msq;
|
---|
| 663 |
|
---|
| 664 | //v = (myInverse * v) ^ (*this);
|
---|
| 665 | NxQuat left;
|
---|
| 666 | left.multiply(myInverse,v);
|
---|
| 667 | v.x =left.w*x + w*left.x + left.y*z - y*left.z;
|
---|
| 668 | v.y =left.w*y + w*left.y + left.z*x - z*left.x;
|
---|
| 669 | v.z =left.w*z + w*left.z + left.x*y - x*left.y;
|
---|
| 670 | }
|
---|
| 671 |
|
---|
| 672 |
|
---|
| 673 | NX_INLINE NxQuat& NxQuat::operator= (const NxQuat& q)
|
---|
| 674 | {
|
---|
| 675 | x = q.x;
|
---|
| 676 | y = q.y;
|
---|
| 677 | z = q.z;
|
---|
| 678 | w = q.w;
|
---|
| 679 | return *this;
|
---|
| 680 | }
|
---|
| 681 |
|
---|
| 682 | #if 0
|
---|
| 683 | NX_INLINE NxQuat& NxQuat::operator= (const NxVec3& v) //implicitly extends vector by a 0 w element.
|
---|
| 684 | {
|
---|
| 685 | x = v.x;
|
---|
| 686 | y = v.y;
|
---|
| 687 | z = v.z;
|
---|
| 688 | w = NxReal(1.0);
|
---|
| 689 | return *this;
|
---|
| 690 | }
|
---|
| 691 | #endif
|
---|
| 692 |
|
---|
| 693 | NX_INLINE NxQuat& NxQuat::operator*= (const NxQuat& q)
|
---|
| 694 | {
|
---|
| 695 | NxReal xx[4]; //working Quaternion
|
---|
| 696 | xx[0] = w*q.w - q.x*x - y*q.y - q.z*z;
|
---|
| 697 | xx[1] = w*q.x + q.w*x + y*q.z - q.y*z;
|
---|
| 698 | xx[2] = w*q.y + q.w*y + z*q.x - q.z*x;
|
---|
| 699 | z=w*q.z + q.w*z + x*q.y - q.x*y;
|
---|
| 700 |
|
---|
| 701 | w = xx[0];
|
---|
| 702 | x = xx[1];
|
---|
| 703 | y = xx[2];
|
---|
| 704 | return *this;
|
---|
| 705 | }
|
---|
| 706 |
|
---|
| 707 |
|
---|
| 708 | NX_INLINE NxQuat& NxQuat::operator+= (const NxQuat& q)
|
---|
| 709 | {
|
---|
| 710 | x+=q.x;
|
---|
| 711 | y+=q.y;
|
---|
| 712 | z+=q.z;
|
---|
| 713 | w+=q.w;
|
---|
| 714 | return *this;
|
---|
| 715 | }
|
---|
| 716 |
|
---|
| 717 |
|
---|
| 718 | NX_INLINE NxQuat& NxQuat::operator-= (const NxQuat& q)
|
---|
| 719 | {
|
---|
| 720 | x-=q.x;
|
---|
| 721 | y-=q.y;
|
---|
| 722 | z-=q.z;
|
---|
| 723 | w-=q.w;
|
---|
| 724 | return *this;
|
---|
| 725 | }
|
---|
| 726 |
|
---|
| 727 |
|
---|
| 728 | NX_INLINE NxQuat& NxQuat::operator*= (const NxReal s)
|
---|
| 729 | {
|
---|
| 730 | x*=s;
|
---|
| 731 | y*=s;
|
---|
| 732 | z*=s;
|
---|
| 733 | w*=s;
|
---|
| 734 | return *this;
|
---|
| 735 | }
|
---|
| 736 |
|
---|
| 737 | NX_INLINE NxQuat::NxQuat(NxReal ix, NxReal iy, NxReal iz, NxReal iw)
|
---|
| 738 | {
|
---|
| 739 | x = ix;
|
---|
| 740 | y = iy;
|
---|
| 741 | z = iz;
|
---|
| 742 | w = iw;
|
---|
| 743 | }
|
---|
| 744 |
|
---|
| 745 | NX_INLINE NxQuat NxQuat::operator*(const NxQuat &q) const
|
---|
| 746 | {
|
---|
| 747 | return NxQuat(w*q.x + q.w*x + y*q.z - q.y*z,
|
---|
| 748 | w*q.y + q.w*y + z*q.x - q.z*x,
|
---|
| 749 | w*q.z + q.w*z + x*q.y - q.x*y,
|
---|
| 750 | w*q.w - x*q.x - y*q.y - z*q.z);
|
---|
| 751 | }
|
---|
| 752 |
|
---|
| 753 | NX_INLINE NxQuat NxQuat::operator+(const NxQuat &q) const
|
---|
| 754 | {
|
---|
| 755 | return NxQuat(x+q.x,y+q.y,z+q.z,w+q.w);
|
---|
| 756 | }
|
---|
| 757 |
|
---|
| 758 | NX_INLINE NxQuat NxQuat::operator-(const NxQuat &q) const
|
---|
| 759 | {
|
---|
| 760 | return NxQuat(x-q.x,y-q.y,z-q.z,w-q.w);
|
---|
| 761 | }
|
---|
| 762 |
|
---|
| 763 | NX_INLINE NxQuat NxQuat::operator!() const
|
---|
| 764 | {
|
---|
| 765 | return NxQuat(-x,-y,-z,w);
|
---|
| 766 | }
|
---|
| 767 |
|
---|
| 768 |
|
---|
| 769 |
|
---|
| 770 | NX_INLINE const NxVec3 NxQuat::rot(const NxVec3 &v) const
|
---|
| 771 | {
|
---|
| 772 | NxVec3 qv(x,y,z);
|
---|
| 773 |
|
---|
| 774 | return (v*(w*w-0.5f) + (qv^v)*w + qv*(qv|v))*2;
|
---|
| 775 | }
|
---|
| 776 |
|
---|
| 777 | NX_INLINE const NxVec3 NxQuat::invRot(const NxVec3 &v) const
|
---|
| 778 | {
|
---|
| 779 | NxVec3 qv(x,y,z);
|
---|
| 780 |
|
---|
| 781 | return (v*(w*w-0.5f) - (qv^v)*w + qv*(qv|v))*2;
|
---|
| 782 | }
|
---|
| 783 |
|
---|
| 784 |
|
---|
| 785 |
|
---|
| 786 | NX_INLINE const NxVec3 NxQuat::transform(const NxVec3 &v, const NxVec3 &p) const
|
---|
| 787 | {
|
---|
| 788 | return rot(v)+p;
|
---|
| 789 | }
|
---|
| 790 |
|
---|
| 791 | NX_INLINE const NxVec3 NxQuat::invTransform(const NxVec3 &v, const NxVec3 &p) const
|
---|
| 792 | {
|
---|
| 793 | return invRot(v-p);
|
---|
| 794 | }
|
---|
| 795 |
|
---|
| 796 | /** @} */
|
---|
| 797 | #endif
|
---|
| 798 |
|
---|
| 799 |
|
---|
| 800 | //AGCOPYRIGHTBEGIN
|
---|
| 801 | ///////////////////////////////////////////////////////////////////////////
|
---|
| 802 | // Copyright © 2005 AGEIA Technologies.
|
---|
| 803 | // All rights reserved. www.ageia.com
|
---|
| 804 | ///////////////////////////////////////////////////////////////////////////
|
---|
| 805 | //AGCOPYRIGHTEND
|
---|
| 806 |
|
---|