|
|
|
|
/*==LICENSE==*
|
|
|
|
|
|
|
|
|
|
CyanWorlds.com Engine - MMOG client, server and tools
|
|
|
|
|
Copyright (C) 2011 Cyan Worlds, Inc.
|
|
|
|
|
|
|
|
|
|
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/>.
|
|
|
|
|
|
|
|
|
|
Additional permissions under GNU GPL version 3 section 7
|
|
|
|
|
|
|
|
|
|
If you modify this Program, or any covered work, by linking or
|
|
|
|
|
combining it with any of RAD Game Tools Bink SDK, Autodesk 3ds Max SDK,
|
|
|
|
|
NVIDIA PhysX SDK, Microsoft DirectX SDK, OpenSSL library, Independent
|
|
|
|
|
JPEG Group JPEG library, Microsoft Windows Media SDK, or Apple QuickTime SDK
|
|
|
|
|
(or a modified version of those libraries),
|
|
|
|
|
containing parts covered by the terms of the Bink SDK EULA, 3ds Max EULA,
|
|
|
|
|
PhysX SDK EULA, DirectX SDK EULA, OpenSSL and SSLeay licenses, IJG
|
|
|
|
|
JPEG Library README, Windows Media SDK EULA, or QuickTime SDK EULA, the
|
|
|
|
|
licensors of this Program grant you additional
|
|
|
|
|
permission to convey the resulting work. Corresponding Source for a
|
|
|
|
|
non-source form of such a combination shall include the source code for
|
|
|
|
|
the parts of OpenSSL and IJG JPEG Library used as well as that of the covered
|
|
|
|
|
work.
|
|
|
|
|
|
|
|
|
|
You can contact Cyan Worlds, Inc. by email legal@cyan.com
|
|
|
|
|
or by snail mail at:
|
|
|
|
|
Cyan Worlds, Inc.
|
|
|
|
|
14617 N Newport Hwy
|
|
|
|
|
Mead, WA 99021
|
|
|
|
|
|
|
|
|
|
*==LICENSE==*/
|
|
|
|
|
#ifndef HSQUAT_inc
|
|
|
|
|
#define HSQUAT_inc
|
|
|
|
|
|
|
|
|
|
#include "hsGeometry3.h"
|
|
|
|
|
|
|
|
|
|
struct hsMatrix44;
|
|
|
|
|
|
|
|
|
|
//
|
|
|
|
|
// Quaternion class.
|
|
|
|
|
// For conversion to and from euler angles, see hsEuler.cpp,h.
|
|
|
|
|
//
|
|
|
|
|
class hsQuat {
|
|
|
|
|
|
|
|
|
|
public:
|
|
|
|
|
hsScalar fX,fY,fZ,fW;
|
|
|
|
|
|
|
|
|
|
// Constructors
|
|
|
|
|
hsQuat(){}
|
|
|
|
|
hsQuat(hsScalar X, hsScalar Y, hsScalar Z, hsScalar W) :
|
|
|
|
|
fX(X), fY(Y), fZ(Z), fW(W) {}
|
|
|
|
|
hsQuat(const hsQuat& a) { fX = a.fX; fY = a.fY; fZ = a.fZ; fW = a.fW; }
|
|
|
|
|
hsQuat(hsScalar af[4]) { fX = af[0]; fY = af[1]; fZ = af[2]; fW = af[3]; }
|
|
|
|
|
hsQuat(hsScalar rad, const hsVector3* axis);
|
|
|
|
|
|
|
|
|
|
static hsQuat QuatFromMatrix44(const hsMatrix44& mat);
|
|
|
|
|
hsQuat& SetFromMatrix44(const hsMatrix44& mat);
|
|
|
|
|
void SetFromMatrix(const hsMatrix44 *mat);
|
|
|
|
|
void SetFromSlerp(const hsQuat &q1, const hsQuat &q2, hsScalar t, int spin=0);
|
|
|
|
|
void Set(hsScalar X, hsScalar Y, hsScalar Z, hsScalar W)
|
|
|
|
|
{ fX = X; fY = Y; fZ = Z; fW = W; }
|
|
|
|
|
void GetAngleAxis(hsScalar *rad, hsVector3 *axis) const;
|
|
|
|
|
void SetAngleAxis(const hsScalar rad, const hsVector3 &axis);
|
|
|
|
|
hsPoint3 Rotate(const hsScalarTriple* v);
|
|
|
|
|
|
|
|
|
|
// Access operators
|
|
|
|
|
hsScalar& operator[](int i) { return (&fX)[i]; }
|
|
|
|
|
const hsScalar& operator[](int i) const { return (&fX)[i]; }
|
|
|
|
|
|
|
|
|
|
// Unary operators
|
|
|
|
|
hsQuat operator-() const { return(hsQuat(-fX,-fY,-fZ,-fW)); }
|
|
|
|
|
hsQuat operator+() const { return *this; }
|
|
|
|
|
|
|
|
|
|
// Comparison
|
|
|
|
|
int operator==(const hsQuat& a) const
|
|
|
|
|
{ return (fX==a.fX && fY==a.fY && fZ==a.fZ && fW==a.fW); }
|
|
|
|
|
void Identity() { fX = fY = fZ = (hsScalar)0.0; fW = (hsScalar) 1.0; }
|
|
|
|
|
int IsIdentity() const
|
|
|
|
|
{ return (fX==0.0 && fY==0.0 && fZ==0.0 && fW==1.0); }
|
|
|
|
|
void Normalize();
|
|
|
|
|
void NormalizeIfNeeded();
|
|
|
|
|
void MakeMatrix(hsMatrix44 *mat) const;
|
|
|
|
|
hsScalar Magnitude();
|
|
|
|
|
hsScalar MagnitudeSquared();
|
|
|
|
|
hsQuat Conjugate() const
|
|
|
|
|
{ return hsQuat(-fX,-fY,-fZ,fW); }
|
|
|
|
|
hsQuat Inverse();
|
|
|
|
|
// Binary operators
|
|
|
|
|
hsQuat operator-(const hsQuat&) const;
|
|
|
|
|
hsQuat operator+(const hsQuat&) const;
|
|
|
|
|
hsQuat operator*(const hsQuat&) const;
|
|
|
|
|
hsQuat operator*(hsScalar f) const
|
|
|
|
|
{ return hsQuat(fX*f,fY*f,fZ*f,fW*f); }
|
|
|
|
|
hsQuat operator/(hsScalar f) const
|
|
|
|
|
{ return hsQuat(fX/f,fY/f,fZ/f,fW/f); }
|
|
|
|
|
hsQuat operator/(const hsQuat&) const;
|
|
|
|
|
|
|
|
|
|
hsScalar Dot(const hsQuat &q2) const
|
|
|
|
|
{ return (fX*q2.fX + fY*q2.fY + fZ*q2.fZ + fW*q2.fW); }
|
|
|
|
|
|
|
|
|
|
// I/O
|
|
|
|
|
void Read(hsStream *stream);
|
|
|
|
|
void Write(hsStream *stream);
|
|
|
|
|
|
|
|
|
|
};
|
|
|
|
|
#endif
|
