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quaternion.h
Go to the documentation of this file.
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/*
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** ClanLib SDK
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** Copyright (c) 1997-2011 The ClanLib Team
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**
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** This software is provided 'as-is', without any express or implied
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** warranty. In no event will the authors be held liable for any damages
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** arising from the use of this software.
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**
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** Permission is granted to anyone to use this software for any purpose,
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** including commercial applications, and to alter it and redistribute it
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** freely, subject to the following restrictions:
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**
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** 1. The origin of this software must not be misrepresented; you must not
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** claim that you wrote the original software. If you use this software
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** in a product, an acknowledgment in the product documentation would be
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** appreciated but is not required.
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** 2. Altered source versions must be plainly marked as such, and must not be
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** misrepresented as being the original software.
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** 3. This notice may not be removed or altered from any source distribution.
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**
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** Note: Some of the libraries ClanLib may link to may have additional
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** requirements or restrictions.
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**
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** File Author(s):
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**
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** Mark Page
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*/
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#pragma once
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#include "../api_core.h"
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#include "
vec3.h
"
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#include "
angle.h
"
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template
<
typename
Type>
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class
CL_Quaternionx
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{
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public
:
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Type
w
;
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union
{ Type
i
; Type
x
; };
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union
{ Type
j
; Type
y
; };
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union
{ Type
k
; Type
z
; };
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CL_Quaternionx
() :
w
(1),
i
(0),
j
(0),
k
(0) { }
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CL_Quaternionx
(Type real, Type
i
, Type
j
, Type
k
) :
w
(real), i(i), j(j), k(k) { }
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CL_Quaternionx
(Type real,
const
CL_Vec3<Type>
&imag) :
w
(real),
i
(imag.
x
),
j
(imag.
y
),
k
(imag.
z
) { }
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CL_Quaternionx
(
const
CL_Quaternionx<Type>
©) :
w
(copy.
w
),
i
(copy.
i
),
j
(copy.
j
),
k
(copy.
k
) { }
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CL_Quaternionx
(Type euler_x, Type euler_y, Type euler_z,
CL_AngleUnit
unit,
CL_EulerOrder
order);
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CL_Quaternionx
(
const
CL_Vec3<Type>
&euler,
CL_AngleUnit
unit,
CL_EulerOrder
order);
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CL_Quaternionx
(
const
CL_Angle
&euler_x,
const
CL_Angle
&euler_y,
const
CL_Angle
&euler_z,
CL_EulerOrder
order);
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static
CL_Quaternionx<Type>
axis_angle
(
const
CL_Angle
&angle,
const
CL_Vec3f
&axis);
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static
CL_Quaternionx<Type>
multiply
(
const
CL_Quaternionx<Type>
&quaternion_1,
const
CL_Quaternionx<Type>
&quaternion_2);
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static
CL_Quaternionx<Type>
lerp
(
const
CL_Quaternionx<Type>
&quaternion_initial,
const
CL_Quaternionx<Type>
&quaternion_final, Type lerp_time);
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static
CL_Quaternionx<Type>
slerp
(
const
CL_Quaternionx<Type>
&quaternion_initial,
const
CL_Quaternionx<Type>
&quaternion_final, Type slerp_time);
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public
:
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CL_Mat4<Type>
to_matrix
()
const
;
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90
Type
magnitude
()
const
;
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public
:
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void
set
(Type euler_x, Type euler_y, Type euler_z,
CL_AngleUnit
unit,
CL_EulerOrder
order);
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void
set
(
const
CL_Vec3<Type>
&euler,
CL_AngleUnit
unit,
CL_EulerOrder
order);
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void
set
(
const
CL_Angle
&euler_x,
const
CL_Angle
&euler_y,
const
CL_Angle
&euler_z,
CL_EulerOrder
order);
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CL_Quaternionx<Type>
&
multiply
(
const
CL_Mat4<Type>
&matrix);
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CL_Quaternionx<Type>
&
multiply
(
const
CL_Quaternionx<Type>
&quaternion);
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CL_Quaternionx<Type>
&
rotate
(
const
CL_Angle
&angle,
const
CL_Vec3f
&axis);
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CL_Quaternionx<Type>
&
rotate
(
const
CL_Angle
&euler_x,
const
CL_Angle
&euler_y,
const
CL_Angle
&euler_z,
CL_EulerOrder
order);
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CL_Quaternionx<Type>
&
normalize
();
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CL_Quaternionx<Type>
&
inverse
();
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CL_Vec3<Type>
rotate_vector
(
const
CL_Vec3<Type>
&v);
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CL_Vec4<Type>
rotate_vector
(
const
CL_Vec4<Type>
&v);
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public
:
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CL_Quaternionx<Type>
operator *
(
const
CL_Quaternionx<Type>
&mult)
const
{
CL_Quaternionx<Type>
result = mult; result.
multiply
(*
this
);
return
result; }
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};
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class
CL_Quaternionf
:
public
CL_Quaternionx
<float>
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{
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public
:
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CL_Quaternionf
() :
CL_Quaternionx
<float>() { }
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CL_Quaternionf
(
const
CL_Quaternionx<float>
©) :
CL_Quaternionx
<float>(copy) { }
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CL_Quaternionf
(
float
real,
float
i
,
float
j
,
float
k
) :
CL_Quaternionx
<float>(real, i, j, k) { }
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CL_Quaternionf
(
float
real,
const
CL_Vec3<float>
&imag) :
CL_Quaternionx
<float>(real, imag) { }
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CL_Quaternionf
(
float
euler_x,
float
euler_y,
float
euler_z,
CL_AngleUnit
unit,
CL_EulerOrder
order) :
CL_Quaternionx
<float>(euler_x, euler_y, euler_z, unit, order) { }
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CL_Quaternionf
(
const
CL_Vec3<float>
&euler,
CL_AngleUnit
unit,
CL_EulerOrder
order) :
CL_Quaternionx
<float>(euler, unit, order) { }
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CL_Quaternionf
(
const
CL_Angle
&euler_x,
const
CL_Angle
&euler_y,
const
CL_Angle
&euler_z,
CL_EulerOrder
order) :
CL_Quaternionx
<float>(euler_x, euler_y, euler_z, order) { }
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};
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class
CL_Quaterniond
:
public
CL_Quaternionx
<double>
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{
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public
:
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CL_Quaterniond
() :
CL_Quaternionx
<double>() { }
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CL_Quaterniond
(
const
CL_Quaternionx<double>
©) :
CL_Quaternionx
<double>(copy) { }
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CL_Quaterniond
(
double
real,
double
i
,
double
j
,
double
k
) :
CL_Quaternionx
<double>(real, i, j, k) { }
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CL_Quaterniond
(
double
real,
const
CL_Vec3<double>
&imag) :
CL_Quaternionx
<double>(real, imag) { }
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CL_Quaterniond
(
double
euler_x,
double
euler_y,
double
euler_z,
CL_AngleUnit
unit,
CL_EulerOrder
order) :
CL_Quaternionx
<double>(euler_x, euler_y, euler_z, unit, order) { }
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CL_Quaterniond
(
const
CL_Vec3<double>
&euler,
CL_AngleUnit
unit,
CL_EulerOrder
order) :
CL_Quaternionx
<double>(euler, unit, order) { }
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CL_Quaterniond
(
const
CL_Angle
&euler_x,
const
CL_Angle
&euler_y,
const
CL_Angle
&euler_z,
CL_EulerOrder
order) :
CL_Quaternionx
<double>(euler_x, euler_y, euler_z, order) { }
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};
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