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/* ScummVM - Graphic Adventure Engine
*
* ScummVM is the legal property of its developers, whose names
* are too numerous to list here. Please refer to the COPYRIGHT
* file distributed with this source distribution.
*
* This program 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 3 of the License, or
* (at your option) any later version.
*
* This program 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, see <http://www.gnu.org/licenses/>.
*
*/
#ifndef TETRAEDGE_TE_TE_QUATERNION_H
#define TETRAEDGE_TE_TE_QUATERNION_H
#include "math/quat.h"
#include "tetraedge/te/te_vector3f32.h"
#include "tetraedge/te/te_matrix4x4.h"
namespace Tetraedge {
class TeQuaternion: public Math::Quaternion {
public:
TeQuaternion();
TeQuaternion(const Math::Quaternion &q) : Math::Quaternion(q) {};
TeQuaternion(float a, float b, float c, float d) : Math::Quaternion(a, b, c, d) {};
static TeQuaternion fromAxisAndAngle(const TeVector3f32 &axis, float angle) {
TeQuaternion ret;
float f = sinf(angle * 0.5);
ret.x() = axis.x() * f;
ret.y() = axis.y() * f;
ret.z() = axis.z() * f;
ret.w() = cosf(angle * 0.5);
return ret;
}
static TeQuaternion fromEuler(const TeVector3f32 &euler) {
TeQuaternion rot;
rot.x() = sinf(euler.x() / 2.0);
rot.y() = 0.0;
rot.z() = 0.0;
rot.w() = cosf(euler.x() / 2.0);
TeQuaternion retval = rot;
rot.x() = 0.0;
rot.y() = sinf(euler.y() / 2.0);
rot.z() = 0.0;
rot.w() = cosf(euler.y() / 2.0);
retval *= rot;
rot.x() = 0.0;
rot.y() = 0.0;
rot.z() = sinf(euler.z() / 2.0);
rot.w() = cosf(euler.z() / 2.0);
retval *= rot;
return retval;
}
TeMatrix4x4 toTeMatrix() const {
const TeMatrix4x4 retval = toMatrix();
return retval.transpose();
}
static void deserialize(Common::ReadStream &stream, TeQuaternion &dest) {
dest.x() = stream.readFloatLE();
dest.y() = stream.readFloatLE();
dest.z() = stream.readFloatLE();
dest.w() = stream.readFloatLE();
}
static void serialize(Common::WriteStream &stream, const TeQuaternion &src) {
stream.writeFloatLE(src.x());
stream.writeFloatLE(src.y());
stream.writeFloatLE(src.z());
stream.writeFloatLE(src.w());
}
Common::String dump() const;
};
} // end namespace Tetraedge
#endif // TETRAEDGE_TE_TE_QUATERNION_H
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