1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
|
/* Copyright (C) 2009 Wildfire Games.
* This file is part of 0 A.D.
*
* 0 A.D. is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 2 of the License, or
* (at your option) any later version.
*
* 0 A.D. is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with 0 A.D. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef INCLUDED_QUATERNION
#define INCLUDED_QUATERNION
#include "Matrix3D.h"
#include "Vector3D.h"
class CQuaternion
{
public:
CVector3D m_V;
float m_W;
public:
CQuaternion();
CQuaternion(float x, float y, float z, float w);
CQuaternion operator + (const CQuaternion &quat) const;
CQuaternion &operator += (const CQuaternion &quat);
CQuaternion operator - (const CQuaternion &quat) const;
CQuaternion &operator -= (const CQuaternion &quat);
CQuaternion operator * (const CQuaternion &quat) const;
CQuaternion &operator *= (const CQuaternion &quat);
CQuaternion operator * (float factor) const;
float Dot(const CQuaternion& quat) const;
void FromEulerAngles (float x, float y, float z);
CVector3D ToEulerAngles();
// Convert the quaternion to matrix
CMatrix3D ToMatrix() const;
void ToMatrix(CMatrix3D& result) const;
// Sphere interpolation
void Slerp(const CQuaternion& from, const CQuaternion& to, float ratio);
// Normalised linear interpolation
void Nlerp(const CQuaternion& from, const CQuaternion& to, float ratio);
// Create a quaternion from axis/angle representation of a rotation
void FromAxisAngle(const CVector3D& axis, float angle);
// Convert the quaternion to axis/angle representation of a rotation
void ToAxisAngle(CVector3D& axis, float& angle);
// Normalize this quaternion
void Normalize();
// Rotate a vector by this quaternion. Assumes the quaternion is normalised.
CVector3D Rotate(const CVector3D& vec) const;
// Calculate q^-1. Assumes the quaternion is normalised.
CQuaternion GetInverse() const;
};
#endif
|
