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10<h1>OgreQuaternion.h</h1><a href="OgreQuaternion_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre>00001 <span class="comment">/*</span>
1100002 <span class="comment">-----------------------------------------------------------------------------</span>
1200003 <span class="comment">This source file is part of OGRE</span>
1300004 <span class="comment">    (Object-oriented Graphics Rendering Engine)</span>
1400005 <span class="comment">For the latest info, see http://www.ogre3d.org/</span>
1500006 <span class="comment"></span>
1600007 <span class="comment">Copyright (c) 2000-2005 The OGRE Team</span>
1700008 <span class="comment">Also see acknowledgements in Readme.html</span>
1800009 <span class="comment"></span>
1900010 <span class="comment">This program is free software; you can redistribute it and/or modify it under</span>
2000011 <span class="comment">the terms of the GNU Lesser General Public License as published by the Free Software</span>
2100012 <span class="comment">Foundation; either version 2 of the License, or (at your option) any later</span>
2200013 <span class="comment">version.</span>
2300014 <span class="comment"></span>
2400015 <span class="comment">This program is distributed in the hope that it will be useful, but WITHOUT</span>
2500016 <span class="comment">ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS</span>
2600017 <span class="comment">FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details.</span>
2700018 <span class="comment"></span>
2800019 <span class="comment">You should have received a copy of the GNU Lesser General Public License along with</span>
2900020 <span class="comment">this program; if not, write to the Free Software Foundation, Inc., 59 Temple</span>
3000021 <span class="comment">Place - Suite 330, Boston, MA 02111-1307, USA, or go to</span>
3100022 <span class="comment">http://www.gnu.org/copyleft/lesser.txt.</span>
3200023 <span class="comment">-----------------------------------------------------------------------------</span>
3300024 <span class="comment">*/</span>
3400025 <span class="comment">// NOTE THAT THIS FILE IS BASED ON MATERIAL FROM:</span>
3500026
3600027 <span class="comment">// Magic Software, Inc.</span>
3700028 <span class="comment">// http://www.geometrictools.com/</span>
3800029 <span class="comment">// Copyright (c) 2000, All Rights Reserved</span>
3900030 <span class="comment">//</span>
4000031 <span class="comment">// Source code from Magic Software is supplied under the terms of a license</span>
4100032 <span class="comment">// agreement and may not be copied or disclosed except in accordance with the</span>
4200033 <span class="comment">// terms of that agreement.  The various license agreements may be found at</span>
4300034 <span class="comment">// the Magic Software web site.  This file is subject to the license</span>
4400035 <span class="comment">//</span>
4500036 <span class="comment">// FREE SOURCE CODE</span>
4600037 <span class="comment">// http://www.geometrictools.com/License/WildMagic3License.pdf</span>
4700038
4800039 <span class="preprocessor">#ifndef __Quaternion_H__</span>
4900040 <span class="preprocessor"></span><span class="preprocessor">#define __Quaternion_H__</span>
5000041 <span class="preprocessor"></span>
5100042 <span class="preprocessor">#include "<a class="code" href="OgrePrerequisites_8h.html">OgrePrerequisites.h</a>"</span>
5200043 <span class="preprocessor">#include "<a class="code" href="OgreMath_8h.html">OgreMath.h</a>"</span>
5300044
5400045 <span class="keyword">namespace </span>Ogre {
5500046
56<a name="l00049"></a><a class="code" href="classOgre_1_1Quaternion.html">00049</a>     <span class="keyword">class </span><a class="code" href="OgrePlatform_8h.html#a16">_OgreExport</a> Quaternion
5700050     {
5800051     <span class="keyword">public</span>:
59<a name="l00052"></a><a class="code" href="classOgre_1_1Quaternion.html#Ogre_1_1Quaterniona0">00052</a>         <span class="keyword">inline</span> Quaternion (
6000053             <a class="code" href="namespaceOgre.html#a465">Real</a> fW = 1.0,
6100054             <a class="code" href="namespaceOgre.html#a465">Real</a> fX = 0.0, <a class="code" href="namespaceOgre.html#a465">Real</a> fY = 0.0, <a class="code" href="namespaceOgre.html#a465">Real</a> fZ = 0.0)
6200055         {
6300056             w = fW;
6400057             x = fX;
6500058             y = fY;
6600059             z = fZ;
6700060         }
68<a name="l00061"></a><a class="code" href="classOgre_1_1Quaternion.html#Ogre_1_1Quaterniona1">00061</a>         <span class="keyword">inline</span> Quaternion (<span class="keyword">const</span> Quaternion&amp; rkQ)
6900062         {
7000063             w = rkQ.<a class="code" href="classOgre_1_1Quaternion.html#Ogre_1_1Quaterniono0">w</a>;
7100064             x = rkQ.<a class="code" href="classOgre_1_1Quaternion.html#Ogre_1_1Quaterniono1">x</a>;
7200065             y = rkQ.<a class="code" href="classOgre_1_1Quaternion.html#Ogre_1_1Quaterniono2">y</a>;
7300066             z = rkQ.<a class="code" href="classOgre_1_1Quaternion.html#Ogre_1_1Quaterniono3">z</a>;
7400067         }
75<a name="l00069"></a><a class="code" href="classOgre_1_1Quaternion.html#Ogre_1_1Quaterniona2">00069</a>         <span class="keyword">inline</span> Quaternion(<span class="keyword">const</span> <a class="code" href="classOgre_1_1Matrix3.html">Matrix3</a>&amp; rot)
7600070         {
7700071             this-&gt;FromRotationMatrix(rot);
7800072         }
79<a name="l00074"></a><a class="code" href="classOgre_1_1Quaternion.html#Ogre_1_1Quaterniona3">00074</a>         <span class="keyword">inline</span> Quaternion(<span class="keyword">const</span> <a class="code" href="classOgre_1_1Radian.html">Radian</a>&amp; rfAngle, <span class="keyword">const</span> <a class="code" href="classOgre_1_1Vector3.html">Vector3</a>&amp; rkAxis)
8000075         {
8100076             this-&gt;FromAngleAxis(rfAngle, rkAxis);
8200077         }
8300078 <span class="preprocessor">#ifndef OGRE_FORCE_ANGLE_TYPES</span>
8400079 <span class="preprocessor"></span>        <span class="keyword">inline</span> Quaternion(<span class="keyword">const</span> <a class="code" href="namespaceOgre.html#a465">Real</a>&amp; rfAngle, <span class="keyword">const</span> <a class="code" href="classOgre_1_1Vector3.html">Vector3</a>&amp; rkAxis)
8500080         {
8600081             this-&gt;FromAngleAxis(rfAngle, rkAxis);
8700082         }
8800083 <span class="preprocessor">#endif//OGRE_FORCE_ANGLE_TYPES</span>
8900084 <span class="preprocessor"></span>
90<a name="l00085"></a><a class="code" href="classOgre_1_1Quaternion.html#Ogre_1_1Quaterniona4">00085</a>         <span class="keyword">inline</span> Quaternion(<span class="keyword">const</span> <a class="code" href="classOgre_1_1Vector3.html">Vector3</a>&amp; xaxis, <span class="keyword">const</span> <a class="code" href="classOgre_1_1Vector3.html">Vector3</a>&amp; yaxis, <span class="keyword">const</span> <a class="code" href="classOgre_1_1Vector3.html">Vector3</a>&amp; zaxis)
9100086         {
9200087             this-&gt;FromAxes(xaxis, yaxis, zaxis);
9300088         }
94<a name="l00090"></a><a class="code" href="classOgre_1_1Quaternion.html#Ogre_1_1Quaterniona5">00090</a>         <span class="keyword">inline</span> Quaternion(<span class="keyword">const</span> <a class="code" href="classOgre_1_1Vector3.html">Vector3</a>* akAxis)
9500091         {
9600092             this-&gt;FromAxes(akAxis);
9700093         }
98<a name="l00095"></a><a class="code" href="classOgre_1_1Quaternion.html#Ogre_1_1Quaterniona6">00095</a>         <span class="keyword">inline</span> Quaternion(<a class="code" href="namespaceOgre.html#a465">Real</a>* valptr)
9900096         {
10000097             memcpy(val, valptr, <span class="keyword">sizeof</span>(<a class="code" href="namespaceOgre.html#a465">Real</a>)*4);
10100098         }
10200099
10300100         <span class="keywordtype">void</span> FromRotationMatrix (<span class="keyword">const</span> <a class="code" href="classOgre_1_1Matrix3.html">Matrix3</a>&amp; kRot);
10400101         <span class="keywordtype">void</span> ToRotationMatrix (<a class="code" href="classOgre_1_1Matrix3.html">Matrix3</a>&amp; kRot) <span class="keyword">const</span>;
10500102         <span class="keywordtype">void</span> FromAngleAxis (<span class="keyword">const</span> <a class="code" href="classOgre_1_1Radian.html">Radian</a>&amp; rfAngle, <span class="keyword">const</span> <a class="code" href="classOgre_1_1Vector3.html">Vector3</a>&amp; rkAxis);
10600103         <span class="keywordtype">void</span> ToAngleAxis (<a class="code" href="classOgre_1_1Radian.html">Radian</a>&amp; rfAngle, <a class="code" href="classOgre_1_1Vector3.html">Vector3</a>&amp; rkAxis) <span class="keyword">const</span>;
107<a name="l00104"></a><a class="code" href="classOgre_1_1Quaternion.html#Ogre_1_1Quaterniona11">00104</a>         <span class="keyword">inline</span> <span class="keywordtype">void</span> ToAngleAxis (<a class="code" href="classOgre_1_1Degree.html">Degree</a>&amp; dAngle, <a class="code" href="classOgre_1_1Vector3.html">Vector3</a>&amp; rkAxis)<span class="keyword"> const </span>{
10800105             <a class="code" href="classOgre_1_1Radian.html">Radian</a> rAngle;
10900106             ToAngleAxis ( rAngle, rkAxis );
11000107             dAngle = rAngle;
11100108         }
11200109 <span class="preprocessor">#ifndef OGRE_FORCE_ANGLE_TYPES</span>
11300110 <span class="preprocessor"></span>        <span class="keyword">inline</span> <span class="keywordtype">void</span> FromAngleAxis (<span class="keyword">const</span> <a class="code" href="namespaceOgre.html#a465">Real</a>&amp; rfAngle, <span class="keyword">const</span> <a class="code" href="classOgre_1_1Vector3.html">Vector3</a>&amp; rkAxis) {
11400111             FromAngleAxis ( <a class="code" href="classOgre_1_1Angle.html">Angle</a>(rfAngle), rkAxis );
11500112         }
11600113         <span class="keyword">inline</span> <span class="keywordtype">void</span> ToAngleAxis (Real&amp; rfAngle, Vector3&amp; rkAxis)<span class="keyword"> const </span>{
11700114             Radian r;
11800115             ToAngleAxis ( r, rkAxis );
11900116             rfAngle = r.valueAngleUnits();
12000117         }
12100118 <span class="preprocessor">#endif//OGRE_FORCE_ANGLE_TYPES</span>
12200119 <span class="preprocessor"></span>        <span class="keywordtype">void</span> FromAxes (<span class="keyword">const</span> Vector3* akAxis);
12300120         <span class="keywordtype">void</span> FromAxes (<span class="keyword">const</span> Vector3&amp; xAxis, <span class="keyword">const</span> Vector3&amp; yAxis, <span class="keyword">const</span> Vector3&amp; zAxis);
12400121         <span class="keywordtype">void</span> ToAxes (Vector3* akAxis) <span class="keyword">const</span>;
12500122         <span class="keywordtype">void</span> ToAxes (Vector3&amp; xAxis, Vector3&amp; yAxis, Vector3&amp; zAxis) <span class="keyword">const</span>;
12600124         Vector3 xAxis(<span class="keywordtype">void</span>) <span class="keyword">const</span>;
12700126         Vector3 yAxis(<span class="keywordtype">void</span>) <span class="keyword">const</span>;
12800128         Vector3 zAxis(<span class="keywordtype">void</span>) <span class="keyword">const</span>;
12900129
130<a name="l00130"></a><a class="code" href="classOgre_1_1Quaternion.html#Ogre_1_1Quaterniona19">00130</a>         <span class="keyword">inline</span> Quaternion&amp; operator= (<span class="keyword">const</span> Quaternion&amp; rkQ)
13100131         {
13200132             w = rkQ.<a class="code" href="classOgre_1_1Quaternion.html#Ogre_1_1Quaterniono0">w</a>;
13300133             x = rkQ.<a class="code" href="classOgre_1_1Quaternion.html#Ogre_1_1Quaterniono1">x</a>;
13400134             y = rkQ.<a class="code" href="classOgre_1_1Quaternion.html#Ogre_1_1Quaterniono2">y</a>;
13500135             z = rkQ.<a class="code" href="classOgre_1_1Quaternion.html#Ogre_1_1Quaterniono3">z</a>;
13600136             <span class="keywordflow">return</span> *<span class="keyword">this</span>;
13700137         }
13800138         Quaternion operator+ (<span class="keyword">const</span> Quaternion&amp; rkQ) <span class="keyword">const</span>;
13900139         Quaternion operator- (<span class="keyword">const</span> Quaternion&amp; rkQ) <span class="keyword">const</span>;
14000140         Quaternion <a class="code" href="namespaceOgre.html#a617">operator* </a>(<span class="keyword">const</span> Quaternion&amp; rkQ) <span class="keyword">const</span>;
14100141         Quaternion <a class="code" href="namespaceOgre.html#a617">operator* </a>(<a class="code" href="namespaceOgre.html#a465">Real</a> fScalar) <span class="keyword">const</span>;
14200142         <a class="code" href="class__OgreExport.html">_OgreExport</a> <span class="keyword">friend</span> Quaternion <a class="code" href="namespaceOgre.html#a617">operator* </a>(<a class="code" href="namespaceOgre.html#a465">Real</a> fScalar,
14300143             <span class="keyword">const</span> Quaternion&amp; rkQ);
14400144         Quaternion operator- () <span class="keyword">const</span>;
145<a name="l00145"></a><a class="code" href="classOgre_1_1Quaternion.html#Ogre_1_1Quaterniona25">00145</a>         <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="namespaceOgre.html#a623">operator== </a>(<span class="keyword">const</span> Quaternion&amp; rhs)<span class="keyword"> const</span>
14600146 <span class="keyword">        </span>{
14700147             <span class="keywordflow">return</span> (rhs.<a class="code" href="classOgre_1_1Quaternion.html#Ogre_1_1Quaterniono1">x</a> == x) &amp;&amp; (rhs.<a class="code" href="classOgre_1_1Quaternion.html#Ogre_1_1Quaterniono2">y</a> == y) &amp;&amp;
14800148                 (rhs.<a class="code" href="classOgre_1_1Quaternion.html#Ogre_1_1Quaterniono3">z</a> == z) &amp;&amp; (rhs.<a class="code" href="classOgre_1_1Quaternion.html#Ogre_1_1Quaterniono0">w</a> == w);
14900149         }
150<a name="l00150"></a><a class="code" href="classOgre_1_1Quaternion.html#Ogre_1_1Quaterniona26">00150</a>         <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="namespaceOgre.html#a624">operator!= </a>(<span class="keyword">const</span> Quaternion&amp; rhs)<span class="keyword"> const</span>
15100151 <span class="keyword">        </span>{
15200152             <span class="keywordflow">return</span> !<a class="code" href="namespaceOgre.html#a623">operator==</a>(rhs);
15300153         }
15400154         <span class="comment">// functions of a quaternion</span>
15500155         <a class="code" href="namespaceOgre.html#a465">Real</a> Dot (<span class="keyword">const</span> Quaternion&amp; rkQ) <span class="keyword">const</span>;  <span class="comment">// dot product</span>
15600156         <a class="code" href="namespaceOgre.html#a465">Real</a> Norm () <span class="keyword">const</span>;  <span class="comment">// squared-length</span>
15700158 <span class="comment"></span>        <a class="code" href="namespaceOgre.html#a465">Real</a> normalise(<span class="keywordtype">void</span>);
15800159         Quaternion Inverse () <span class="keyword">const</span>;  <span class="comment">// apply to non-zero quaternion</span>
15900160         Quaternion UnitInverse () <span class="keyword">const</span>;  <span class="comment">// apply to unit-length quaternion</span>
16000161         Quaternion Exp () <span class="keyword">const</span>;
16100162         Quaternion <a class="code" href="classOgre_1_1Log.html">Log</a> () <span class="keyword">const</span>;
16200163
16300164         <span class="comment">// rotation of a vector by a quaternion</span>
16400165         <a class="code" href="classOgre_1_1Vector3.html">Vector3</a> <a class="code" href="namespaceOgre.html#a617">operator* </a>(<span class="keyword">const</span> <a class="code" href="classOgre_1_1Vector3.html">Vector3</a>&amp; rkVector) <span class="keyword">const</span>;
16500166
16600168         <a class="code" href="classOgre_1_1Radian.html">Radian</a> getRoll(<span class="keywordtype">void</span>) <span class="keyword">const</span>;
16700170         <a class="code" href="classOgre_1_1Radian.html">Radian</a> getPitch(<span class="keywordtype">void</span>) <span class="keyword">const</span>;
16800172         <a class="code" href="classOgre_1_1Radian.html">Radian</a> getYaw(<span class="keywordtype">void</span>) <span class="keyword">const</span>;     
16900174         <span class="keywordtype">bool</span> equals(<span class="keyword">const</span> Quaternion&amp; rhs, <span class="keyword">const</span> <a class="code" href="classOgre_1_1Radian.html">Radian</a>&amp; tolerance) <span class="keyword">const</span>;
17000175         
17100176         <span class="comment">// spherical linear interpolation</span>
17200177         <span class="keyword">static</span> Quaternion Slerp (<a class="code" href="namespaceOgre.html#a465">Real</a> fT, <span class="keyword">const</span> Quaternion&amp; rkP,
17300178             <span class="keyword">const</span> Quaternion&amp; rkQ, <span class="keywordtype">bool</span> shortestPath = <span class="keyword">false</span>);
17400179
17500180         <span class="keyword">static</span> Quaternion SlerpExtraSpins (<a class="code" href="namespaceOgre.html#a465">Real</a> fT,
17600181             <span class="keyword">const</span> Quaternion&amp; rkP, <span class="keyword">const</span> Quaternion&amp; rkQ,
17700182             <span class="keywordtype">int</span> iExtraSpins);
17800183
17900184         <span class="comment">// setup for spherical quadratic interpolation</span>
18000185         <span class="keyword">static</span> <span class="keywordtype">void</span> Intermediate (<span class="keyword">const</span> Quaternion&amp; rkQ0,
18100186             <span class="keyword">const</span> Quaternion&amp; rkQ1, <span class="keyword">const</span> Quaternion&amp; rkQ2,
18200187             Quaternion&amp; rka, Quaternion&amp; rkB);
18300188
18400189         <span class="comment">// spherical quadratic interpolation</span>
18500190         <span class="keyword">static</span> Quaternion Squad (<a class="code" href="namespaceOgre.html#a465">Real</a> fT, <span class="keyword">const</span> Quaternion&amp; rkP,
18600191             <span class="keyword">const</span> Quaternion&amp; rkA, <span class="keyword">const</span> Quaternion&amp; rkB,
18700192             <span class="keyword">const</span> Quaternion&amp; rkQ, <span class="keywordtype">bool</span> shortestPath = <span class="keyword">false</span>);
18800193
18900194         <span class="comment">// normalised linear interpolation - faster but less accurate (non-constant rotation velocity)</span>
19000195         <span class="keyword">static</span> Quaternion nlerp(<a class="code" href="namespaceOgre.html#a465">Real</a> fT, <span class="keyword">const</span> Quaternion&amp; rkP,
19100196             <span class="keyword">const</span> Quaternion&amp; rkQ, <span class="keywordtype">bool</span> shortestPath = <span class="keyword">false</span>);
19200197
19300198         <span class="comment">// cutoff for sine near zero</span>
194<a name="l00199"></a><a class="code" href="classOgre_1_1Quaternion.html#Ogre_1_1Quaternions0">00199</a>         <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="namespaceOgre.html#a465">Real</a> ms_fEpsilon;
19500200
19600201         <span class="comment">// special values</span>
197<a name="l00202"></a><a class="code" href="classOgre_1_1Quaternion.html#Ogre_1_1Quaternions1">00202</a>         <span class="keyword">static</span> <span class="keyword">const</span> Quaternion ZERO;
198<a name="l00203"></a><a class="code" href="classOgre_1_1Quaternion.html#Ogre_1_1Quaternions2">00203</a>         <span class="keyword">static</span> <span class="keyword">const</span> Quaternion IDENTITY;
19900204
20000205         <span class="keyword">union</span>
20100206 <span class="keyword">        </span>{
20200207             <span class="keyword">struct </span>{
203<a name="l00208"></a><a class="code" href="classOgre_1_1Quaternion.html#Ogre_1_1Quaterniono3">00208</a>                 <a class="code" href="namespaceOgre.html#a465">Real</a> w, x, y, z;
20400209             };
205<a name="l00210"></a><a class="code" href="classOgre_1_1Quaternion.html#Ogre_1_1Quaterniono4">00210</a>             <a class="code" href="namespaceOgre.html#a465">Real</a> val[4];
20600211         };
20700212
20800216         <span class="keyword">inline</span> <a class="code" href="class__OgreExport.html">_OgreExport</a> <span class="keyword">friend</span> std::ostream&amp; <span class="keyword">operator</span> &lt;&lt;
209<a name="l00217"></a><a class="code" href="classOgre_1_1Quaternion.html#Ogre_1_1Quaternionn1">00217</a>             ( std::ostream&amp; o, <span class="keyword">const</span> Quaternion&amp; q )
21000218         {
21100219             o &lt;&lt; <span class="stringliteral">"Quaternion("</span> &lt;&lt; q.w &lt;&lt; <span class="stringliteral">", "</span> &lt;&lt; q.x &lt;&lt; <span class="stringliteral">", "</span> &lt;&lt; q.y &lt;&lt; <span class="stringliteral">", "</span> &lt;&lt; q.z &lt;&lt; <span class="stringliteral">")"</span>;
21200220             <span class="keywordflow">return</span> o;
21300221         }
21400222
21500223     };
21600224
21700225 }
21800226
21900227
22000228
22100229
22200230 <span class="preprocessor">#endif </span>
223</pre></div><hr>
224<p>
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234
235Last modified Sun Mar 12 14:37:47 2006
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