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// Geometric Tools, LLC
// Copyright (c) 1998-2014
// 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
//
// File Version: 5.0.3 (2015/11/27)
#ifndef WM5HQUATERNION_H
#define WM5HQUATERNION_H
#include "Wm5MathematicsLIB.h"
#include "Wm5Float4.h"
#include "Wm5HMatrix.h"
namespace Wm5
{
class WM5_MATHEMATICS_ITEM HQuaternion
{
public:
// A quaternion is q = w + x*i + y*j + z*k where (w,x,y,z) is not
// necessarily a unit-length vector in 4D.
// Construction.
HQuaternion (); // uninitialized
HQuaternion (float w, float x, float y, float z);
HQuaternion (const HQuaternion& q);
// HQuaternion for the input rotation matrix.
HQuaternion (const HMatrix& rot);
// HQuaternion for the rotation of the axis-angle pair.
HQuaternion (const AVector& axis, float angle);
// Coordinate access as an array: 0 = w, 1 = x, 2 = y, 3 = z.
inline operator const float* () const;
inline operator float* ();
inline const float& operator[] (int i) const;
inline float& operator[] (int i);
inline float W () const;
inline float& W ();
inline float X () const;
inline float& X ();
inline float Y () const;
inline float& Y ();
inline float Z () const;
inline float& Z ();
// Assignment.
HQuaternion& operator= (const HQuaternion& q);
// Comparison (for use by STL containers).
bool operator== (const HQuaternion& q) const;
bool operator!= (const HQuaternion& q) const;
bool operator< (const HQuaternion& q) const;
bool operator<= (const HQuaternion& q) const;
bool operator> (const HQuaternion& q) const;
bool operator>= (const HQuaternion& q) const;
// Arithmetic operations.
HQuaternion operator+ (const HQuaternion& q) const;
HQuaternion operator- (const HQuaternion& q) const;
HQuaternion operator* (const HQuaternion& q) const;
HQuaternion operator* (float scalar) const;
HQuaternion operator/ (float scalar) const;
HQuaternion operator- () const;
WM5_MATHEMATICS_ITEM
friend HQuaternion operator* (float scalar, const HQuaternion& q);
// Arithmetic updates.
HQuaternion& operator+= (const HQuaternion& q);
HQuaternion& operator-= (const HQuaternion& q);
HQuaternion& operator*= (float scalar);
HQuaternion& operator/= (float scalar);
// Conversion between quaternions, matrices, and axis-angle.
void FromRotationMatrix (const HMatrix& rot);
void ToRotationMatrix (HMatrix& rot) const;
void FromAxisAngle (const AVector& axis, float angle);
void ToAxisAngle (AVector& axis, float& angle) const;
// Functions of a quaternion.
float Length () const; // length of 4-tuple
float SquaredLength () const; // squared length of 4-tuple
float Dot (const HQuaternion& q) const; // dot product of 4-tuples
float Normalize (const float epsilon = 0.0f);
HQuaternion Inverse () const; // apply to non-zero quaternion
HQuaternion Conjugate () const; // negate x, y, and z terms
HQuaternion Exp () const; // apply to quaternion with w = 0
HQuaternion Log () const; // apply to unit-length quaternion
// Rotation of a vector by a quaternion.
AVector Rotate (const AVector& vec) const;
// Spherical linear interpolation.
HQuaternion& Slerp (float t, const HQuaternion& p, const HQuaternion& q);
// Intermediate terms for spherical quadratic interpolation.
HQuaternion& Intermediate (const HQuaternion& q0, const HQuaternion& q1,
const HQuaternion& q2);
// Spherical quadratic interpolation.
HQuaternion& Squad (float t, const HQuaternion& q0, const HQuaternion& a0,
const HQuaternion& a1, const HQuaternion& q1);
// Special quaternions.
static const HQuaternion ZERO;
static const HQuaternion IDENTITY;
private:
// Order of storage is (w,x,y,z).
float mTuple[4];
};
#include "Wm5HQuaternion.inl"
}
#endif
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