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
|
/*
* Copyright (C) 2002 Terence M. Welsh
* Ported to Linux by Tugrul Galatali <tugrul@galatali.com>
*
* rsMath is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License version 2 as
* published by the Free Software Foundation.
*
* rsMath 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 this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef RSQUAT_H
#define RSQUAT_H
#include "rsVec.h"
class rsQuat;
class rsVec;
class rsQuat {
public:
float q[4];
rsQuat ();
rsQuat (float x, float y, float z, float w);
~rsQuat ();
void set (float x, float y, float z, float w); // x, y, z, w
void copy (rsQuat); // Copy another quaternion
void make (float a, float x, float y, float z); // angle, axis
void make (float a, const rsVec & v);
void normalize ();
void preMult (rsQuat & postQuat); // Multiply this quaternion by
// the passed quaternion
// (this * passed)
void postMult (rsQuat & preQuat); // Multiply the passed quaternion
// by this quaternion
// (passed * this)
void toMat (float *); // Convert quaternion to array of 16 floats
void fromMat (float *); // Convert array of 16 floats to quaternion
void fromEuler (float, float, float); // Convert from hpr angles
void slerp (rsQuat, rsQuat, float); // Interpolate first quaternion
// to second using float from 0.0
// to 1.0
float &operator [] (int i) {
return q[i];
} const float &operator [] (int i)const {
return q[i];
}};
#endif // RSQUAT_H
|
