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) 2000-2014 Torus Knot Software Ltd

Permission is hereby granted, free of charge, to any person obtaining a copy
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in the Software without restriction, including without limitation the rights
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copies of the Software, and to permit persons to whom the Software is
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The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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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 ()
            : w(1), x(0), y(0), z(0)
        {
        }
        inline Quaternion (
            Real fW,
            Real fX, Real fY, Real fZ)
            : 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;
        /* Returns the normal length of this quaternion.
            @note This does <b>not</b> alter any values.
        */
        Real Norm () const;
        Real normalise(void); 
        Quaternion Inverse () const;  
        Quaternion UnitInverse () const;  
        Quaternion Exp () const;
        Quaternion Log () const;

        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;
        
        inline bool orientationEquals( const Quaternion& other, Real tolerance = 1e-3 ) const
        {
            Real d = this->Dot(other);
            return 1 - d*d < tolerance;
        }
        
        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);

        static void Intermediate (const Quaternion& rkQ0,
            const Quaternion& rkQ1, const Quaternion& rkQ2,
            Quaternion& rka, Quaternion& rkB);

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

        static Quaternion nlerp(Real fT, const Quaternion& rkP, 
            const Quaternion& rkQ, bool shortestPath = false);

        static const Real msEpsilon;

        // 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