98 lines
3.7 KiB
Text
98 lines
3.7 KiB
Text
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/**************************************************************************
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quaternion.h
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A quaternion class
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---------------------------------------------------------------------
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Feb 1998, Paul Rademacher (rademach@cs.unc.edu)
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**************************************************************************/
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#ifndef _QUATERNION_H_
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#define _QUATERNION_H_
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#include "algebra3.h"
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#include <stdio.h>
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#include <stdlib.h>
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/* this line defines a new type: pointer to a function which returns a */
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/* float and takes as argument a float */
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typedef float (*V_FCT_PTR)(float);
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/****************************************************************
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* Quaternion *
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****************************************************************/
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class quat
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{
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/*protected: */
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public:
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vec3 v; /* vector component */
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float s; /* scalar component */
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/*public: */
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/* Constructors */
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quat(void);
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quat(const float x, const float y, const float z, const float w);
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quat( vec3 v, float s );
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quat( float s, vec3 v );
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quat(const float *d ); /* copy from four-element float array */
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quat(const double *f ); /* copy from four-element double array */
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quat(const quat &q ); /* copy from other quat */
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/* Assignment operators */
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quat &operator = ( const quat &v ); /* assignment of a quat */
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quat &operator += ( const quat &v ); /* incrementation by a quat */
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quat &operator -= ( const quat &v ); /* decrementation by a quat */
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quat &operator *= ( const float d ); /* multiplication by a constant */
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quat &operator /= ( const float d ); /* division by a constant */
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float &operator [] ( int i); /* indexing */
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/* special functions */
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float length(void); /* length of a quat */
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float length2(void); /* squared length of a quat */
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quat &normalize(void); /* normalize a quat */
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quat &apply(V_FCT_PTR fct); /* apply a func. to each component */
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void set( float x, float y, float z ); /* set quat */
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void set( vec3 v, float s ); /* set quat */
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void print( FILE *file, char *name ); /* print quat to a file */
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vec3 xform( const vec3 &v ); /* q*v*q-1 */
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mat4 to_mat4( void );
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void set_angle( float f ); /* set rot angle (degrees) */
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void scale_angle( float f ); /* scale rot angle (degrees) */
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float get_angle( void ); /* set rot angle (degrees) */
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vec3 get_axis( void ); /* get axis */
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/* friends */
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friend quat operator - (const quat &v); /* -q1 */
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friend quat operator + (const quat &a, const quat &b); /* q1 + q2 */
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friend quat operator - (const quat &a, const quat &b); /* q1 - q2 */
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friend quat operator * (const quat &a, const float d); /* q1 * 3.0 */
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friend quat operator * (const float d, const quat &a); /* 3.0 * q1 */
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friend quat operator * (const quat &a, const quat &b); /* q1 * q2 */
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friend quat operator / (const quat &a, const float d); /* q1 / 3.0 */
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friend int operator == (const quat &a, const quat &b); /* q1 == q2 ? */
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friend int operator != (const quat &a, const quat &b); /* q1 != q2 ? */
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friend void swap(quat &a, quat &b); /* swap q1 &q2 */
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/*friend quat min(const quat &a, const quat &b); -- min(q1, q2) */
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/*friend quat max(const quat &a, const quat &b); -- max(q1, q2) */
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friend quat prod(const quat &a, const quat &b); /* term by term mult */
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};
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/* Utility functions */
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quat quat_identity( void ); /* Returns quaternion identity element */
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quat quat_slerp( quat from, quat to, float t );
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#endif
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