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00001 /******************************************************************************** 00002 * * 00003 * Q u a t e r n i o n D o u b l e - F u n c t i o n s * 00004 * * 00005 ********************************************************************************* 00006 * Copyright (C) 1994,2002 by Jeroen van der Zijp. All Rights Reserved. * 00007 ********************************************************************************* 00008 * This library is free software; you can redistribute it and/or * 00009 * modify it under the terms of the GNU Lesser General Public * 00010 * License as published by the Free Software Foundation; either * 00011 * version 2.1 of the License, or (at your option) any later version. * 00012 * * 00013 * This library is distributed in the hope that it will be useful, * 00014 * but WITHOUT ANY WARRANTY; without even the implied warranty of * 00015 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * 00016 * Lesser General Public License for more details. * 00017 * * 00018 * You should have received a copy of the GNU Lesser General Public * 00019 * License along with this library; if not, write to the Free Software * 00020 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. * 00021 ********************************************************************************* 00022 * $Id: FXDQuat.h,v 1.11 2002/03/12 07:11:30 fox Exp $ * 00023 ********************************************************************************/ 00024 #ifndef FXDQUAT_H 00025 #define FXDQUAT_H 00026 00027 namespace FX { 00028 00029 /// Quaternion (double-precision version) 00030 class FXAPI FXDQuat : public FXDHVec { 00031 public: 00032 00033 /// Default constructor 00034 FXDQuat(){} 00035 00036 /// Construct from axis and angle 00037 FXDQuat(const FXDVec& axis,FXdouble phi=0.0); 00038 00039 /// Construct from euler angles yaw (z), pitch (y), and roll (x) 00040 FXDQuat(FXdouble roll,FXdouble pitch,FXdouble yaw); 00041 00042 /// Construct from components 00043 FXDQuat(FXdouble x,FXdouble y,FXdouble z,FXdouble w):FXDHVec(x,y,z,w){} 00044 00045 /// Adjust quaternion length 00046 FXDQuat& adjust(); 00047 00048 /// Set quaternion from yaw (z), pitch (y), and roll (x) 00049 void setRollPitchYaw(FXdouble roll,FXdouble pitch,FXdouble yaw); 00050 00051 /// Obtain yaw, pitch, and roll 00052 void getRollPitchYaw(FXdouble& roll,FXdouble& pitch,FXdouble& yaw); 00053 00054 /// Exponentiate quaternion 00055 friend FXAPI FXDQuat exp(const FXDQuat& q); 00056 00057 /// Take logarithm of quaternion 00058 friend FXAPI FXDQuat log(const FXDQuat& q); 00059 00060 /// Invert quaternion 00061 friend FXAPI FXDQuat invert(const FXDQuat& q); 00062 00063 /// Conjugate quaternion 00064 friend FXAPI FXDQuat conj(const FXDQuat& q); 00065 00066 /// Multiply quaternions 00067 friend FXAPI FXDQuat operator*(const FXDQuat& p,const FXDQuat& q); 00068 00069 /// Construct quaternion from arc a->b on unit sphere 00070 friend FXAPI FXDQuat arc(const FXDVec& a,const FXDVec& b); 00071 00072 /// Spherical lerp 00073 friend FXAPI FXDQuat lerp(const FXDQuat& u,const FXDQuat& v,FXdouble f); 00074 }; 00075 00076 } 00077 00078 #endif