OgreQuaternion.h

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/*
-----------------------------------------------------------------------------
This source file is part of OGRE
    (Object-oriented Graphics Rendering Engine)
For the latest info, see http://www.ogre3d.org/

Copyright (c) 2000-2011 Torus Knot Software Ltd

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// This file is based on material originally from:
// Geometric Tools, LLC
// Copyright (c) 1998-2010
// Distributed under the Boost Software License, Version 1.0.
// http://www.boost.org/LICENSE_1_0.txt
// http://www.geometrictools.com/License/Boost/LICENSE_1_0.txt


#ifndef __Quaternion_H__
#define __Quaternion_H__

#include "OgrePrerequisites.h"
#include "OgreMath.h"

namespace Ogre {

    class _OgreExport Quaternion
    {
    public:
        inline Quaternion (
            Real fW = 1.0,
            Real fX = 0.0, Real fY = 0.0, Real fZ = 0.0)
        {
            w = fW;
            x = fX;
            y = fY;
            z = fZ;
        }
        inline Quaternion(const Matrix3& rot)
        {
            this->FromRotationMatrix(rot);
        }
        inline Quaternion(const Radian& rfAngle, const Vector3& rkAxis)
        {
            this->FromAngleAxis(rfAngle, rkAxis);
        }
        inline Quaternion(const Vector3& xaxis, const Vector3& yaxis, const Vector3& zaxis)
        {
            this->FromAxes(xaxis, yaxis, zaxis);
        }
        inline Quaternion(const Vector3* akAxis)
        {
            this->FromAxes(akAxis);
        }
        inline Quaternion(Real* valptr)
        {
            memcpy(&w, valptr, sizeof(Real)*4);
        }

        inline void swap(Quaternion& other)
        {
            std::swap(w, other.w);
            std::swap(x, other.x);
            std::swap(y, other.y);
            std::swap(z, other.z);
        }

        inline Real operator [] ( const size_t i ) const
        {
            assert( i < 4 );

            return *(&w+i);
        }

        inline Real& operator [] ( const size_t i )
        {
            assert( i < 4 );

            return *(&w+i);
        }

        inline Real* ptr()
        {
            return &w;
        }

        inline const Real* ptr() const
        {
            return &w;
        }

        void FromRotationMatrix (const Matrix3& kRot);
        void ToRotationMatrix (Matrix3& kRot) const;
        void FromAngleAxis (const Radian& rfAngle, const Vector3& rkAxis);
        void ToAngleAxis (Radian& rfAngle, Vector3& rkAxis) const;
        inline void ToAngleAxis (Degree& dAngle, Vector3& rkAxis) const {
            Radian rAngle;
            ToAngleAxis ( rAngle, rkAxis );
            dAngle = rAngle;
        }
        void FromAxes (const Vector3* akAxis);
        void FromAxes (const Vector3& xAxis, const Vector3& yAxis, const Vector3& zAxis);
        void ToAxes (Vector3* akAxis) const;
        void ToAxes (Vector3& xAxis, Vector3& yAxis, Vector3& zAxis) const;
        Vector3 xAxis(void) const;
        Vector3 yAxis(void) const;
        Vector3 zAxis(void) const;

        inline Quaternion& operator= (const Quaternion& rkQ)
        {
            w = rkQ.w;
            x = rkQ.x;
            y = rkQ.y;
            z = rkQ.z;
            return *this;
        }
        Quaternion operator+ (const Quaternion& rkQ) const;
        Quaternion operator- (const Quaternion& rkQ) const;
        Quaternion operator* (const Quaternion& rkQ) const;
        Quaternion operator* (Real fScalar) const;
        _OgreExport friend Quaternion operator* (Real fScalar,
            const Quaternion& rkQ);
        Quaternion operator- () const;
        inline bool operator== (const Quaternion& rhs) const
        {
            return (rhs.x == x) && (rhs.y == y) &&
                (rhs.z == z) && (rhs.w == w);
        }
        inline bool operator!= (const Quaternion& rhs) const
        {
            return !operator==(rhs);
        }
        // functions of a quaternion
        Real Dot (const Quaternion& rkQ) const;  // dot product
        Real Norm () const;  // squared-length
        Real normalise(void); 
        Quaternion Inverse () const;  // apply to non-zero quaternion
        Quaternion UnitInverse () const;  // apply to unit-length quaternion
        Quaternion Exp () const;
        Quaternion Log () const;

        // rotation of a vector by a quaternion
        Vector3 operator* (const Vector3& rkVector) const;

        Radian getRoll(bool reprojectAxis = true) const;
        Radian getPitch(bool reprojectAxis = true) const;
        Radian getYaw(bool reprojectAxis = true) const;     
        bool equals(const Quaternion& rhs, const Radian& tolerance) const;
        
        // spherical linear interpolation
        static Quaternion Slerp (Real fT, const Quaternion& rkP,
            const Quaternion& rkQ, bool shortestPath = false);

        static Quaternion SlerpExtraSpins (Real fT,
            const Quaternion& rkP, const Quaternion& rkQ,
            int iExtraSpins);

        // setup for spherical quadratic interpolation
        static void Intermediate (const Quaternion& rkQ0,
            const Quaternion& rkQ1, const Quaternion& rkQ2,
            Quaternion& rka, Quaternion& rkB);

        // spherical quadratic interpolation
        static Quaternion Squad (Real fT, const Quaternion& rkP,
            const Quaternion& rkA, const Quaternion& rkB,
            const Quaternion& rkQ, bool shortestPath = false);

        // normalised linear interpolation - faster but less accurate (non-constant rotation velocity)
        static Quaternion nlerp(Real fT, const Quaternion& rkP, 
            const Quaternion& rkQ, bool shortestPath = false);

        // cutoff for sine near zero
        static const Real ms_fEpsilon;

        // special values
        static const Quaternion ZERO;
        static const Quaternion IDENTITY;

        Real w, x, y, z;

        inline bool isNaN() const
        {
            return Math::isNaN(x) || Math::isNaN(y) || Math::isNaN(z) || Math::isNaN(w);
        }

        inline _OgreExport friend std::ostream& operator <<
            ( std::ostream& o, const Quaternion& q )
        {
            o << "Quaternion(" << q.w << ", " << q.x << ", " << q.y << ", " << q.z << ")";
            return o;
        }

    };
}




#endif