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FXQuat.h

00001 /********************************************************************************
00002 *                                                                               *
00003 *                    Q u a t e r n i o n   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: FXQuat.h,v 1.13 2002/03/12 07:11:30 fox Exp $                            *
00023 ********************************************************************************/
00024 #ifndef FXQUAT_H
00025 #define FXQUAT_H
00026 
00027 namespace FX {
00028 
00029 
00030 /// Quaternion (single-precision version)
00031 class FXAPI FXQuat : public FXHVec {
00032 public:
00033 
00034   /// Constructors
00035   FXQuat(){}
00036 
00037   /// Construct from axis and angle
00038   FXQuat(const FXVec& axis,FXfloat phi=0.0);
00039 
00040   /// Construct from euler angles yaw (z), pitch (y), and roll (x)
00041   FXQuat(FXfloat roll,FXfloat pitch,FXfloat yaw);
00042 
00043   /// Construct from components
00044   FXQuat(FXfloat x,FXfloat y,FXfloat z,FXfloat w):FXHVec(x,y,z,w){}
00045 
00046   /// Adjust quaternion length
00047   FXQuat& adjust();
00048 
00049   /// Set quaternion from yaw (z), pitch (y), and roll (x)
00050   void setRollPitchYaw(FXfloat roll,FXfloat pitch,FXfloat yaw);
00051 
00052   /// Obtain yaw, pitch, and roll
00053   void getRollPitchYaw(FXfloat& roll,FXfloat& pitch,FXfloat& yaw);
00054 
00055   /// Exponentiate quaternion
00056   friend FXAPI FXQuat exp(const FXQuat& q);
00057 
00058   /// Take logarithm of quaternion
00059   friend FXAPI FXQuat log(const FXQuat& q);
00060 
00061   /// Invert quaternion
00062   friend FXAPI FXQuat invert(const FXQuat& q);
00063 
00064   /// Conjugate quaternion
00065   friend FXAPI FXQuat conj(const FXQuat& q);
00066 
00067   /// Multiply quaternions
00068   friend FXAPI FXQuat operator*(const FXQuat& p,const FXQuat& q);
00069 
00070   /// Construct quaternion from arc a->b on unit sphere
00071   friend FXAPI FXQuat arc(const FXVec& a,const FXVec& b);
00072 
00073   /// Spherical lerp
00074   friend FXAPI FXQuat lerp(const FXQuat& u,const FXQuat& v,FXfloat f);
00075   };
00076 
00077 }
00078 
00079 #endif