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100 lines
3.3 KiB
100 lines
3.3 KiB
/*==LICENSE==* |
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CyanWorlds.com Engine - MMOG client, server and tools |
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Copyright (C) 2011 Cyan Worlds, Inc. |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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You can contact Cyan Worlds, Inc. by email legal@cyan.com |
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or by snail mail at: |
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Cyan Worlds, Inc. |
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14617 N Newport Hwy |
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Mead, WA 99021 |
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*==LICENSE==*/ |
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#ifndef HSQUAT_inc |
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#define HSQUAT_inc |
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#include "hsGeometry3.h" |
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struct hsMatrix44; |
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// |
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// Quaternion class. |
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// For conversion to and from euler angles, see hsEuler.cpp,h. |
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// |
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class hsQuat { |
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public: |
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hsScalar fX,fY,fZ,fW; |
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// Constructors |
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hsQuat(){} |
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hsQuat(hsScalar X, hsScalar Y, hsScalar Z, hsScalar W) : |
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fX(X), fY(Y), fZ(Z), fW(W) {} |
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hsQuat(const hsQuat& a) { fX = a.fX; fY = a.fY; fZ = a.fZ; fW = a.fW; } |
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hsQuat(hsScalar af[4]) { fX = af[0]; fY = af[1]; fZ = af[2]; fW = af[3]; } |
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hsQuat(hsScalar rad, const hsVector3* axis); |
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static hsQuat QuatFromMatrix44(const hsMatrix44& mat); |
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hsQuat& SetFromMatrix44(const hsMatrix44& mat); |
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void SetFromMatrix(const hsMatrix44 *mat); |
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void SetFromSlerp(const hsQuat &q1, const hsQuat &q2, hsScalar t, int spin=0); |
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void Set(hsScalar X, hsScalar Y, hsScalar Z, hsScalar W) |
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{ fX = X; fY = Y; fZ = Z; fW = W; } |
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void GetAngleAxis(hsScalar *rad, hsVector3 *axis) const; |
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void SetAngleAxis(const hsScalar rad, const hsVector3 &axis); |
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hsPoint3 Rotate(const hsScalarTriple* v); |
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// Access operators |
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hsScalar& operator[](int i) { return (&fX)[i]; } |
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const hsScalar& operator[](int i) const { return (&fX)[i]; } |
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// Unary operators |
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hsQuat operator-() const { return(hsQuat(-fX,-fY,-fZ,-fW)); } |
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hsQuat operator+() const { return *this; } |
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// Comparison |
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int operator==(const hsQuat& a) const |
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{ return (fX==a.fX && fY==a.fY && fZ==a.fZ && fW==a.fW); } |
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void Identity() { fX = fY = fZ = (hsScalar)0.0; fW = (hsScalar) 1.0; } |
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int IsIdentity() const |
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{ return (fX==0.0 && fY==0.0 && fZ==0.0 && fW==1.0); } |
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void Normalize(); |
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void NormalizeIfNeeded(); |
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void MakeMatrix(hsMatrix44 *mat) const; |
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hsScalar Magnitude(); |
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hsScalar MagnitudeSquared(); |
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hsQuat Conjugate() const |
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{ return hsQuat(-fX,-fY,-fZ,fW); } |
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hsQuat Inverse(); |
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// Binary operators |
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hsQuat operator-(const hsQuat&) const; |
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hsQuat operator+(const hsQuat&) const; |
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hsQuat operator*(const hsQuat&) const; |
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hsQuat operator*(hsScalar f) const |
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{ return hsQuat(fX*f,fY*f,fZ*f,fW*f); } |
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hsQuat operator/(hsScalar f) const |
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{ return hsQuat(fX/f,fY/f,fZ/f,fW/f); } |
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hsQuat operator/(const hsQuat&) const; |
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hsScalar Dot(const hsQuat &q2) const |
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{ return (fX*q2.fX + fY*q2.fY + fZ*q2.fZ + fW*q2.fW); } |
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// I/O |
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void Read(hsStream *stream); |
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void Write(hsStream *stream); |
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}; |
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#endif
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