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<h1>FXQuatf.h</h1><div class="fragment"><pre>00001 <span class="comment">/********************************************************************************</span>
00002 <span class="comment">* *</span>
00003 <span class="comment">* S i n g l e - P r e c i s i o n Q u a t e r n i o n *</span>
00004 <span class="comment">* *</span>
00005 <span class="comment">*********************************************************************************</span>
00006 <span class="comment">* Copyright (C) 1994,2004 by Jeroen van der Zijp. All Rights Reserved. *</span>
00007 <span class="comment">*********************************************************************************</span>
00008 <span class="comment">* This library is free software; you can redistribute it and/or *</span>
00009 <span class="comment">* modify it under the terms of the GNU Lesser General Public *</span>
00010 <span class="comment">* License as published by the Free Software Foundation; either *</span>
00011 <span class="comment">* version 2.1 of the License, or (at your option) any later version. *</span>
00012 <span class="comment">* *</span>
00013 <span class="comment">* This library is distributed in the hope that it will be useful, *</span>
00014 <span class="comment">* but WITHOUT ANY WARRANTY; without even the implied warranty of *</span>
00015 <span class="comment">* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU *</span>
00016 <span class="comment">* Lesser General Public License for more details. *</span>
00017 <span class="comment">* *</span>
00018 <span class="comment">* You should have received a copy of the GNU Lesser General Public *</span>
00019 <span class="comment">* License along with this library; if not, write to the Free Software *</span>
00020 <span class="comment">* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. *</span>
00021 <span class="comment">*********************************************************************************</span>
00022 <span class="comment">* $Id: FXQuatf.h,v 1.5 2004/02/08 17:17:34 fox Exp $ *</span>
00023 <span class="comment">********************************************************************************/</span>
00024 <span class="preprocessor">#ifndef FXQUATF_H</span>
00025 <span class="preprocessor"></span><span class="preprocessor">#define FXQUATF_H</span>
00026 <span class="preprocessor"></span>
00027
00028 <span class="keyword">namespace </span>FX {
00029
00030 <span class="comment"></span>
00031 <span class="comment">/// Single-precision quaternion</span>
<a name="l00032"></a><a class="code" href="classFX_1_1FXQuatf.html">00032</a> <span class="comment"></span><span class="keyword">class </span>FXAPI FXQuatf : <span class="keyword">public</span> <a class="code" href="classFX_1_1FXVec4f.html">FXVec4f</a> {
00033 <span class="keyword">public</span>:
00034 <span class="comment"></span>
00035 <span class="comment"> /// Constructors</span>
<a name="l00036"></a><a class="code" href="classFX_1_1FXQuatf.html#a0">00036</a> <span class="comment"></span> FXQuatf(){}
00037 <span class="comment"></span>
00038 <span class="comment"> /// Copy constructor</span>
<a name="l00039"></a><a class="code" href="classFX_1_1FXQuatf.html#a1">00039</a> <span class="comment"></span> FXQuatf(<span class="keyword">const</span> FXQuatf& q):<a class="code" href="classFX_1_1FXVec4f.html">FXVec4f</a>(q){}
00040 <span class="comment"></span>
00041 <span class="comment"> /// Construct from components</span>
<a name="l00042"></a><a class="code" href="classFX_1_1FXQuatf.html#a2">00042</a> <span class="comment"></span> FXQuatf(FXfloat xx,FXfloat yy,FXfloat zz,FXfloat ww):<a class="code" href="classFX_1_1FXVec4f.html">FXVec4f</a>(xx,yy,zz,ww){}
00043
00044 <span class="comment">// Construct from array of floats</span>
00045 FXQuatf(<span class="keyword">const</span> FXfloat v[]):FXVec4f(v){}
00046 <span class="comment"></span>
00047 <span class="comment"> /// Construct from axis and angle</span>
00048 <span class="comment"></span> FXQuatf(<span class="keyword">const</span> FXVec3f& axis,FXfloat phi=0.0f);
00049 <span class="comment"></span>
00050 <span class="comment"> /// Construct from euler angles yaw (z), pitch (y), and roll (x)</span>
00051 <span class="comment"></span> FXQuatf(FXfloat roll,FXfloat pitch,FXfloat yaw);
00052 <span class="comment"></span>
00053 <span class="comment"> /// Adjust quaternion length</span>
00054 <span class="comment"></span> FXQuatf& adjust();
00055 <span class="comment"></span>
00056 <span class="comment"> /// Set quaternion from axis and angle</span>
00057 <span class="comment"></span> <span class="keywordtype">void</span> setAxisAngle(<span class="keyword">const</span> FXVec3f& axis,FXfloat phi=0.0f);
00058 <span class="comment"></span>
00059 <span class="comment"> /// Obtain axis and angle from quaternion</span>
00060 <span class="comment"></span> <span class="keywordtype">void</span> getAxisAngle(FXVec3f& axis,FXfloat& phi) <span class="keyword">const</span>;
00061 <span class="comment"></span>
00062 <span class="comment"> /// Set quaternion from yaw (z), pitch (y), and roll (x)</span>
00063 <span class="comment"></span> <span class="keywordtype">void</span> setRollPitchYaw(FXfloat roll,FXfloat pitch,FXfloat yaw);
00064 <span class="comment"></span>
00065 <span class="comment"> /// Obtain yaw, pitch, and roll from quaternion</span>
00066 <span class="comment"></span> <span class="keywordtype">void</span> getRollPitchYaw(FXfloat& roll,FXfloat& pitch,FXfloat& yaw) <span class="keyword">const</span>;
00067 <span class="comment"></span>
00068 <span class="comment"> /// Exponentiate quaternion</span>
00069 <span class="comment"></span> <span class="keyword">friend</span> FXAPI FXQuatf exp(<span class="keyword">const</span> FXQuatf& q);
00070 <span class="comment"></span>
00071 <span class="comment"> /// Take logarithm of quaternion</span>
00072 <span class="comment"></span> <span class="keyword">friend</span> FXAPI FXQuatf log(<span class="keyword">const</span> FXQuatf& q);
00073 <span class="comment"></span>
00074 <span class="comment"> /// Invert quaternion</span>
00075 <span class="comment"></span> <span class="keyword">friend</span> FXAPI FXQuatf invert(<span class="keyword">const</span> FXQuatf& q);
00076 <span class="comment"></span>
00077 <span class="comment"> /// Conjugate quaternion</span>
00078 <span class="comment"></span> <span class="keyword">friend</span> FXAPI FXQuatf conj(<span class="keyword">const</span> FXQuatf& q);
00079 <span class="comment"></span>
00080 <span class="comment"> /// Multiply quaternions</span>
00081 <span class="comment"></span> <span class="keyword">friend</span> FXAPI FXQuatf operator*(<span class="keyword">const</span> FXQuatf& p,<span class="keyword">const</span> FXQuatf& q);
00082 <span class="comment"></span>
00083 <span class="comment"> /// Construct quaternion from arc a->b on unit sphere</span>
00084 <span class="comment"></span> <span class="keyword">friend</span> FXAPI FXQuatf arc(<span class="keyword">const</span> FXVec3f& a,<span class="keyword">const</span> FXVec3f& b);
00085 <span class="comment"></span>
00086 <span class="comment"> /// Spherical lerp</span>
00087 <span class="comment"></span> <span class="keyword">friend</span> FXAPI FXQuatf lerp(<span class="keyword">const</span> FXQuatf& u,<span class="keyword">const</span> FXQuatf& v,FXfloat f);
00088 };
00089
00090
00091
00092 }
00093
00094 <span class="preprocessor">#endif</span>
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