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Object-Oriented Graphics Rendering Engine
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OgreQuaternion.h
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28 // This file is based on material originally from:
29 // Geometric Tools, LLC
30 // Copyright (c) 1998-2010
31 // Distributed under the Boost Software License, Version 1.0.
32 // http://www.boost.org/LICENSE_1_0.txt
33 // http://www.geometrictools.com/License/Boost/LICENSE_1_0.txt
34 
35 
36 #ifndef __Quaternion_H__
37 #define __Quaternion_H__
38 
39 #include "OgrePrerequisites.h"
40 #include "OgreMath.h"
41 
42 namespace Ogre {
43 
58  {
59  public:
61  inline Quaternion ()
62  : w(1), x(0), y(0), z(0)
63  {
64  }
66  inline Quaternion (
67  Real fW,
68  Real fX, Real fY, Real fZ)
69  : w(fW), x(fX), y(fY), z(fZ)
70  {
71  }
73  inline Quaternion(const Matrix3& rot)
74  {
75  this->FromRotationMatrix(rot);
76  }
78  inline Quaternion(const Radian& rfAngle, const Vector3& rkAxis)
79  {
80  this->FromAngleAxis(rfAngle, rkAxis);
81  }
83  inline Quaternion(const Vector3& xaxis, const Vector3& yaxis, const Vector3& zaxis)
84  {
85  this->FromAxes(xaxis, yaxis, zaxis);
86  }
88  inline Quaternion(const Vector3* akAxis)
89  {
90  this->FromAxes(akAxis);
91  }
93  inline Quaternion(Real* valptr)
94  {
95  memcpy(&w, valptr, sizeof(Real)*4);
96  }
97 
100  inline void swap(Quaternion& other)
101  {
102  std::swap(w, other.w);
103  std::swap(x, other.x);
104  std::swap(y, other.y);
105  std::swap(z, other.z);
106  }
107 
109  inline Real operator [] ( const size_t i ) const
110  {
111  assert( i < 4 );
112 
113  return *(&w+i);
114  }
115 
117  inline Real& operator [] ( const size_t i )
118  {
119  assert( i < 4 );
120 
121  return *(&w+i);
122  }
123 
125  inline Real* ptr()
126  {
127  return &w;
128  }
129 
131  inline const Real* ptr() const
132  {
133  return &w;
134  }
135 
136  void FromRotationMatrix (const Matrix3& kRot);
137  void ToRotationMatrix (Matrix3& kRot) const;
141  void FromAngleAxis (const Radian& rfAngle, const Vector3& rkAxis);
142  void ToAngleAxis (Radian& rfAngle, Vector3& rkAxis) const;
143  inline void ToAngleAxis (Degree& dAngle, Vector3& rkAxis) const {
144  Radian rAngle;
145  ToAngleAxis ( rAngle, rkAxis );
146  dAngle = rAngle;
147  }
151  void FromAxes (const Vector3* akAxis);
152  void FromAxes (const Vector3& xAxis, const Vector3& yAxis, const Vector3& zAxis);
154  void ToAxes (Vector3* akAxis) const;
155  void ToAxes (Vector3& xAxis, Vector3& yAxis, Vector3& zAxis) const;
156 
160  Vector3 xAxis(void) const;
161 
165  Vector3 yAxis(void) const;
166 
170  Vector3 zAxis(void) const;
171 
172  inline Quaternion& operator= (const Quaternion& rkQ)
173  {
174  w = rkQ.w;
175  x = rkQ.x;
176  y = rkQ.y;
177  z = rkQ.z;
178  return *this;
179  }
180  Quaternion operator+ (const Quaternion& rkQ) const;
181  Quaternion operator- (const Quaternion& rkQ) const;
182  Quaternion operator* (const Quaternion& rkQ) const;
183  Quaternion operator* (Real fScalar) const;
184  _OgreExport friend Quaternion operator* (Real fScalar,
185  const Quaternion& rkQ);
186  Quaternion operator- () const;
187  inline bool operator== (const Quaternion& rhs) const
188  {
189  return (rhs.x == x) && (rhs.y == y) &&
190  (rhs.z == z) && (rhs.w == w);
191  }
192  inline bool operator!= (const Quaternion& rhs) const
193  {
194  return !operator==(rhs);
195  }
196  // functions of a quaternion
198  Real Dot (const Quaternion& rkQ) const;
199  /* Returns the normal length of this quaternion.
200  @note This does <b>not</b> alter any values.
201  */
202  Real Norm () const;
204  Real normalise(void);
205  Quaternion Inverse () const;
206  Quaternion UnitInverse () const;
207  Quaternion Exp () const;
208  Quaternion Log () const;
209 
211  Vector3 operator* (const Vector3& rkVector) const;
212 
222  Radian getRoll(bool reprojectAxis = true) const;
232  Radian getPitch(bool reprojectAxis = true) const;
242  Radian getYaw(bool reprojectAxis = true) const;
244  bool equals(const Quaternion& rhs, const Radian& tolerance) const;
245 
258  static Quaternion Slerp (Real fT, const Quaternion& rkP,
259  const Quaternion& rkQ, bool shortestPath = false);
260 
265  static Quaternion SlerpExtraSpins (Real fT,
266  const Quaternion& rkP, const Quaternion& rkQ,
267  int iExtraSpins);
268 
270  static void Intermediate (const Quaternion& rkQ0,
271  const Quaternion& rkQ1, const Quaternion& rkQ2,
272  Quaternion& rka, Quaternion& rkB);
273 
275  static Quaternion Squad (Real fT, const Quaternion& rkP,
276  const Quaternion& rkA, const Quaternion& rkB,
277  const Quaternion& rkQ, bool shortestPath = false);
278 
293  static Quaternion nlerp(Real fT, const Quaternion& rkP,
294  const Quaternion& rkQ, bool shortestPath = false);
295 
297  static const Real msEpsilon;
298 
299  // special values
300  static const Quaternion ZERO;
301  static const Quaternion IDENTITY;
302 
303  Real w, x, y, z;
304 
306  inline bool isNaN() const
307  {
308  return Math::isNaN(x) || Math::isNaN(y) || Math::isNaN(z) || Math::isNaN(w);
309  }
310 
314  inline _OgreExport friend std::ostream& operator <<
315  ( std::ostream& o, const Quaternion& q )
316  {
317  o << "Quaternion(" << q.w << ", " << q.x << ", " << q.y << ", " << q.z << ")";
318  return o;
319  }
320 
321  };
325 }
326 
327 
328 
329 
330 #endif
Quaternion(const Radian &rfAngle, const Vector3 &rkAxis)
Construct a quaternion from an angle/axis.
Real * ptr()
Pointer accessor for direct copying.
void swap(Quaternion &other)
Exchange the contents of this quaternion with another.
float Real
Software floating point type.
#define _OgreExport
Definition: OgrePlatform.h:255
void ToAngleAxis(Degree &dAngle, Vector3 &rkAxis) const
A 3x3 matrix which can represent rotations around axes.
Definition: OgreMatrix3.h:68
Quaternion(const Matrix3 &rot)
Construct a quaternion from a rotation matrix.
bool isNaN() const
Check whether this quaternion contains valid values.
Quaternion(const Vector3 &xaxis, const Vector3 &yaxis, const Vector3 &zaxis)
Construct a quaternion from 3 orthonormal local axes.
Radian operator*(Real a, const Radian &b)
Definition: OgreMath.h:782
const Real * ptr() const
Pointer accessor for direct copying.
Implementation of a Quaternion, i.e.
Quaternion(Real *valptr)
Construct a quaternion from 4 manual w/x/y/z values.
Quaternion(const Vector3 *akAxis)
Construct a quaternion from 3 orthonormal local axes.
static const Quaternion IDENTITY
Quaternion()
Default constructor, initializes to identity rotation (aka 0°)
static const Quaternion ZERO
Wrapper class which indicates a given angle value is in Degrees.
Definition: OgreMath.h:100
void swap(Ogre::SmallVectorImpl< T > &LHS, Ogre::SmallVectorImpl< T > &RHS)
Implement std::swap in terms of SmallVector swap.
Standard 3-dimensional vector.
Definition: OgreVector3.h:50
Wrapper class which indicates a given angle value is in Radians.
Definition: OgreMath.h:49
static bool isNaN(Real f)
Definition: OgreMath.h:307
Quaternion(Real fW, Real fX, Real fY, Real fZ)
Construct from an explicit list of values.
bool operator==(STLAllocator< T, P > const &, STLAllocator< T2, P > const &)
determine equality, can memory from another allocator be released by this allocator, (ISO C++)
bool operator!=(STLAllocator< T, P > const &, STLAllocator< T2, P > const &)
determine equality, can memory from another allocator be released by this allocator, (ISO C++)
static const Real msEpsilon
Cutoff for sine near zero.