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<h1>quaternion.h</h1><a href="quaternion_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">// Copyright (C) 2002-2009 Nikolaus Gebhardt</span>
<a name="l00002"></a>00002 <span class="comment">// This file is part of the "Irrlicht Engine".</span>
<a name="l00003"></a>00003 <span class="comment">// For conditions of distribution and use, see copyright notice in irrlicht.h</span>
<a name="l00004"></a>00004
<a name="l00005"></a>00005 <span class="preprocessor">#ifndef __IRR_QUATERNION_H_INCLUDED__</span>
<a name="l00006"></a>00006 <span class="preprocessor"></span><span class="preprocessor">#define __IRR_QUATERNION_H_INCLUDED__</span>
<a name="l00007"></a>00007 <span class="preprocessor"></span>
<a name="l00008"></a>00008 <span class="preprocessor">#include "<a class="code" href="irr_types_8h.html">irrTypes.h</a>"</span>
<a name="l00009"></a>00009 <span class="preprocessor">#include "<a class="code" href="irr_math_8h.html">irrMath.h</a>"</span>
<a name="l00010"></a>00010 <span class="preprocessor">#include "<a class="code" href="matrix4_8h.html">matrix4.h</a>"</span>
<a name="l00011"></a>00011 <span class="preprocessor">#include "<a class="code" href="vector3d_8h.html">vector3d.h</a>"</span>
<a name="l00012"></a>00012
<a name="l00013"></a>00013 <span class="keyword">namespace </span>irr
<a name="l00014"></a>00014 {
<a name="l00015"></a>00015 <span class="keyword">namespace </span>core
<a name="l00016"></a>00016 {
<a name="l00017"></a>00017
<a name="l00019"></a>00019
<a name="l00021"></a><a class="code" href="classirr_1_1core_1_1quaternion.html">00021</a> <span class="keyword">class </span><a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>
<a name="l00022"></a>00022 {
<a name="l00023"></a>00023 <span class="keyword">public</span>:
<a name="l00024"></a>00024
<a name="l00026"></a><a class="code" href="classirr_1_1core_1_1quaternion.html#f19629224bc2ed3a3ecbc335309099c8">00026</a> <a class="code" href="classirr_1_1core_1_1quaternion.html#f19629224bc2ed3a3ecbc335309099c8" title="Default Constructor.">quaternion</a>() : <a class="code" href="classirr_1_1core_1_1quaternion.html#69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>(0.0f), <a class="code" href="classirr_1_1core_1_1quaternion.html#7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a>(0.0f), <a class="code" href="classirr_1_1core_1_1quaternion.html#9080571243e191219aca47758b8638a1">Z</a>(0.0f), <a class="code" href="classirr_1_1core_1_1quaternion.html#bd35ca07eda3783a00b27ff9a49e43b8">W</a>(1.0f) {}
<a name="l00027"></a>00027
<a name="l00029"></a><a class="code" href="classirr_1_1core_1_1quaternion.html#7bff9d1ca51483f96094fa5ac9d97342">00029</a> <a class="code" href="classirr_1_1core_1_1quaternion.html#f19629224bc2ed3a3ecbc335309099c8" title="Default Constructor.">quaternion</a>(<a class="code" href="namespaceirr.html#0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> x, <a class="code" href="namespaceirr.html#0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> y, <a class="code" href="namespaceirr.html#0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> z, <a class="code" href="namespaceirr.html#0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> w) : <a class="code" href="classirr_1_1core_1_1quaternion.html#69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>(x), <a class="code" href="classirr_1_1core_1_1quaternion.html#7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a>(y), <a class="code" href="classirr_1_1core_1_1quaternion.html#9080571243e191219aca47758b8638a1">Z</a>(z), <a class="code" href="classirr_1_1core_1_1quaternion.html#bd35ca07eda3783a00b27ff9a49e43b8">W</a>(w) { }
<a name="l00030"></a>00030
<a name="l00032"></a>00032 <a class="code" href="classirr_1_1core_1_1quaternion.html#f19629224bc2ed3a3ecbc335309099c8" title="Default Constructor.">quaternion</a>(<a class="code" href="namespaceirr.html#0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> x, <a class="code" href="namespaceirr.html#0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> y, <a class="code" href="namespaceirr.html#0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> z);
<a name="l00033"></a>00033
<a name="l00035"></a>00035 <a class="code" href="classirr_1_1core_1_1quaternion.html#f19629224bc2ed3a3ecbc335309099c8" title="Default Constructor.">quaternion</a>(<span class="keyword">const</span> <a class="code" href="classirr_1_1core_1_1vector3d.html" title="3d vector template class with lots of operators and methods.">vector3df</a>& vec);
<a name="l00036"></a>00036
<a name="l00038"></a>00038 <a class="code" href="classirr_1_1core_1_1quaternion.html#f19629224bc2ed3a3ecbc335309099c8" title="Default Constructor.">quaternion</a>(<span class="keyword">const</span> <a class="code" href="classirr_1_1core_1_1_c_matrix4.html" title="4x4 matrix. Mostly used as transformation matrix for 3d calculations.">matrix4</a>& mat);
<a name="l00039"></a>00039
<a name="l00041"></a>00041 <span class="keywordtype">bool</span> <a class="code" href="classirr_1_1core_1_1quaternion.html#37ed741a0a63c8f829817c76dae0c4cc" title="Equalilty operator.">operator==</a>(<span class="keyword">const</span> <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>& other) <span class="keyword">const</span>;
<a name="l00042"></a>00042
<a name="l00044"></a>00044 <span class="keyword">inline</span> <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>& <a class="code" href="classirr_1_1core_1_1quaternion.html#14e694153904d3026eac8c9f14a5df1c" title="Assignment operator.">operator=</a>(<span class="keyword">const</span> <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>& other);
<a name="l00045"></a>00045
<a name="l00047"></a>00047 <span class="keyword">inline</span> <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>& <a class="code" href="classirr_1_1core_1_1quaternion.html#14e694153904d3026eac8c9f14a5df1c" title="Assignment operator.">operator=</a>(<span class="keyword">const</span> <a class="code" href="classirr_1_1core_1_1_c_matrix4.html" title="4x4 matrix. Mostly used as transformation matrix for 3d calculations.">matrix4</a>& other);
<a name="l00048"></a>00048
<a name="l00050"></a>00050 <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a> <a class="code" href="classirr_1_1core_1_1quaternion.html#8fa3541f577ba6daa583f936f7cdb978" title="Add operator.">operator+</a>(<span class="keyword">const</span> <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>& other) <span class="keyword">const</span>;
<a name="l00051"></a>00051
<a name="l00053"></a>00053 <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a> <a class="code" href="classirr_1_1core_1_1quaternion.html#740a2885a20005a62e8f24dffa1d48c7" title="Multiplication operator.">operator*</a>(<span class="keyword">const</span> <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>& other) <span class="keyword">const</span>;
<a name="l00054"></a>00054
<a name="l00056"></a>00056 <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a> <a class="code" href="classirr_1_1core_1_1quaternion.html#740a2885a20005a62e8f24dffa1d48c7" title="Multiplication operator.">operator*</a>(<a class="code" href="namespaceirr.html#0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> s) <span class="keyword">const</span>;
<a name="l00057"></a>00057
<a name="l00059"></a>00059 <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>& <a class="code" href="classirr_1_1core_1_1quaternion.html#933b6bf1ace6875068c5c01741bb4096" title="Multiplication operator with scalar.">operator*=</a>(<a class="code" href="namespaceirr.html#0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> s);
<a name="l00060"></a>00060
<a name="l00062"></a>00062 <a class="code" href="classirr_1_1core_1_1vector3d.html" title="3d vector template class with lots of operators and methods.">vector3df</a> <a class="code" href="classirr_1_1core_1_1quaternion.html#740a2885a20005a62e8f24dffa1d48c7" title="Multiplication operator.">operator*</a>(<span class="keyword">const</span> <a class="code" href="classirr_1_1core_1_1vector3d.html" title="3d vector template class with lots of operators and methods.">vector3df</a>& v) <span class="keyword">const</span>;
<a name="l00063"></a>00063
<a name="l00065"></a>00065 <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>& <a class="code" href="classirr_1_1core_1_1quaternion.html#933b6bf1ace6875068c5c01741bb4096" title="Multiplication operator with scalar.">operator*=</a>(<span class="keyword">const</span> <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>& other);
<a name="l00066"></a>00066
<a name="l00068"></a>00068 <span class="keyword">inline</span> <a class="code" href="namespaceirr.html#0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> <a class="code" href="classirr_1_1core_1_1quaternion.html#1ae4b20abb602514510b4134accc9978" title="Calculates the dot product.">dotProduct</a>(<span class="keyword">const</span> <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>& other) <span class="keyword">const</span>;
<a name="l00069"></a>00069
<a name="l00071"></a>00071 <span class="keyword">inline</span> <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>& <span class="keyword">set</span>(<a class="code" href="namespaceirr.html#0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> x, <a class="code" href="namespaceirr.html#0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> y, <a class="code" href="namespaceirr.html#0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> z, <a class="code" href="namespaceirr.html#0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> w);
<a name="l00072"></a>00072
<a name="l00074"></a>00074 <span class="keyword">inline</span> <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>& <span class="keyword">set</span>(<a class="code" href="namespaceirr.html#0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> x, <a class="code" href="namespaceirr.html#0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> y, <a class="code" href="namespaceirr.html#0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> z);
<a name="l00075"></a>00075
<a name="l00077"></a>00077 <span class="keyword">inline</span> <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>& <span class="keyword">set</span>(<span class="keyword">const</span> <a class="code" href="classirr_1_1core_1_1vector3d.html" title="3d vector template class with lots of operators and methods.">core::vector3df</a>& vec);
<a name="l00078"></a>00078
<a name="l00080"></a>00080 <span class="keyword">inline</span> <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>& <a class="code" href="classirr_1_1core_1_1quaternion.html#ac7a34ffd2a14a78de12d994539b94f9" title="Normalizes the quaternion.">normalize</a>();
<a name="l00081"></a>00081
<a name="l00083"></a>00083 <a class="code" href="classirr_1_1core_1_1_c_matrix4.html" title="4x4 matrix. Mostly used as transformation matrix for 3d calculations.">matrix4</a> <a class="code" href="classirr_1_1core_1_1quaternion.html#4913dba1c8448eb1dae91f7476a90125" title="Creates a matrix from this quaternion.">getMatrix</a>() <span class="keyword">const</span>;
<a name="l00084"></a>00084
<a name="l00086"></a>00086 <span class="keywordtype">void</span> <a class="code" href="classirr_1_1core_1_1quaternion.html#4913dba1c8448eb1dae91f7476a90125" title="Creates a matrix from this quaternion.">getMatrix</a>( <a class="code" href="classirr_1_1core_1_1_c_matrix4.html" title="4x4 matrix. Mostly used as transformation matrix for 3d calculations.">matrix4</a> &dest, <span class="keyword">const</span> <a class="code" href="classirr_1_1core_1_1vector3d.html" title="3d vector template class with lots of operators and methods.">core::vector3df</a> &translation ) <span class="keyword">const</span>;
<a name="l00087"></a>00087
<a name="l00105"></a>00105 <span class="keywordtype">void</span> <a class="code" href="classirr_1_1core_1_1quaternion.html#3d5efafd9f646ab5e86812797dc0b975">getMatrixCenter</a>( <a class="code" href="classirr_1_1core_1_1_c_matrix4.html" title="4x4 matrix. Mostly used as transformation matrix for 3d calculations.">matrix4</a> &dest, <span class="keyword">const</span> <a class="code" href="classirr_1_1core_1_1vector3d.html" title="3d vector template class with lots of operators and methods.">core::vector3df</a> &center, <span class="keyword">const</span> <a class="code" href="classirr_1_1core_1_1vector3d.html" title="3d vector template class with lots of operators and methods.">core::vector3df</a> &translation ) <span class="keyword">const</span>;
<a name="l00106"></a>00106
<a name="l00108"></a>00108 <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classirr_1_1core_1_1quaternion.html#d54809de078e19b7f95c7c0e466cbfa8" title="Creates a matrix from this quaternion.">getMatrix_transposed</a>( <a class="code" href="classirr_1_1core_1_1_c_matrix4.html" title="4x4 matrix. Mostly used as transformation matrix for 3d calculations.">matrix4</a> &dest ) <span class="keyword">const</span>;
<a name="l00109"></a>00109
<a name="l00111"></a>00111 <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>& <a class="code" href="classirr_1_1core_1_1quaternion.html#2e286be8b088fa3ade0ab74880ea4508" title="Inverts this quaternion.">makeInverse</a>();
<a name="l00112"></a>00112
<a name="l00114"></a>00114 <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>& <a class="code" href="classirr_1_1core_1_1quaternion.html#0e508f687cac2992882c17821c595089" title="Set this quaternion to the result of the interpolation between two quaternions.">slerp</a>( <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a> q1, <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a> q2, <a class="code" href="namespaceirr.html#0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> interpolate );
<a name="l00115"></a>00115
<a name="l00117"></a>00117
<a name="l00122"></a>00122 <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>& <a class="code" href="classirr_1_1core_1_1quaternion.html#b4f5eb86ef7a42a3021b810486faa8c8" title="Create quaternion from rotation angle and rotation axis.">fromAngleAxis</a> (<a class="code" href="namespaceirr.html#0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> angle, <span class="keyword">const</span> <a class="code" href="classirr_1_1core_1_1vector3d.html" title="3d vector template class with lots of operators and methods.">vector3df</a>& axis);
<a name="l00123"></a>00123
<a name="l00125"></a>00125 <span class="keywordtype">void</span> <a class="code" href="classirr_1_1core_1_1quaternion.html#a36e7548f62749238086832d9b693cad" title="Fills an angle (radians) around an axis (unit vector).">toAngleAxis</a> (<a class="code" href="namespaceirr.html#0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> &angle, <a class="code" href="classirr_1_1core_1_1vector3d.html" title="3d vector template class with lots of operators and methods.">core::vector3df</a>& axis) <span class="keyword">const</span>;
<a name="l00126"></a>00126
<a name="l00128"></a>00128 <span class="keywordtype">void</span> <a class="code" href="classirr_1_1core_1_1quaternion.html#651d5a90572f14b9a2a5c17caea0e764" title="Output this quaternion to an euler angle (radians).">toEuler</a>(<a class="code" href="classirr_1_1core_1_1vector3d.html" title="3d vector template class with lots of operators and methods.">vector3df</a>& euler) <span class="keyword">const</span>;
<a name="l00129"></a>00129
<a name="l00131"></a>00131 <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>& <a class="code" href="classirr_1_1core_1_1quaternion.html#3b4f6634670591f2c5be33aeaac2e928" title="Set quaternion to identity.">makeIdentity</a>();
<a name="l00132"></a>00132
<a name="l00134"></a>00134 <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>& <a class="code" href="classirr_1_1core_1_1quaternion.html#9da1b3ddfb9722f596a73abf5212c020" title="Set quaternion to represent a rotation from one vector to another.">rotationFromTo</a>(<span class="keyword">const</span> <a class="code" href="classirr_1_1core_1_1vector3d.html" title="3d vector template class with lots of operators and methods.">vector3df</a>& from, <span class="keyword">const</span> <a class="code" href="classirr_1_1core_1_1vector3d.html" title="3d vector template class with lots of operators and methods.">vector3df</a>& to);
<a name="l00135"></a>00135
<a name="l00137"></a><a class="code" href="classirr_1_1core_1_1quaternion.html#69f2ee15363f0b9baa0b3cbb70091342">00137</a> <a class="code" href="namespaceirr.html#0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> <a class="code" href="classirr_1_1core_1_1quaternion.html#69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>; <span class="comment">// vectorial (imaginary) part</span>
<a name="l00138"></a><a class="code" href="classirr_1_1core_1_1quaternion.html#7c571eaca7b5c9e5f5b8d7872d51dac9">00138</a> <a class="code" href="namespaceirr.html#0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> <a class="code" href="classirr_1_1core_1_1quaternion.html#7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a>;
<a name="l00139"></a><a class="code" href="classirr_1_1core_1_1quaternion.html#9080571243e191219aca47758b8638a1">00139</a> <a class="code" href="namespaceirr.html#0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> <a class="code" href="classirr_1_1core_1_1quaternion.html#9080571243e191219aca47758b8638a1">Z</a>;
<a name="l00140"></a><a class="code" href="classirr_1_1core_1_1quaternion.html#bd35ca07eda3783a00b27ff9a49e43b8">00140</a> <a class="code" href="namespaceirr.html#0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> <a class="code" href="classirr_1_1core_1_1quaternion.html#bd35ca07eda3783a00b27ff9a49e43b8">W</a>; <span class="comment">// real part</span>
<a name="l00141"></a>00141 };
<a name="l00142"></a>00142
<a name="l00143"></a>00143
<a name="l00144"></a>00144 <span class="comment">// Constructor which converts euler angles to a quaternion</span>
<a name="l00145"></a><a class="code" href="classirr_1_1core_1_1quaternion.html#299947a6d5c4f3ac2aa64fcffcc11be0">00145</a> <span class="keyword">inline</span> <a class="code" href="classirr_1_1core_1_1quaternion.html#f19629224bc2ed3a3ecbc335309099c8" title="Default Constructor.">quaternion::quaternion</a>(<a class="code" href="namespaceirr.html#0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> x, <a class="code" href="namespaceirr.html#0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> y, <a class="code" href="namespaceirr.html#0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> z)
<a name="l00146"></a>00146 {
<a name="l00147"></a>00147 <span class="keyword">set</span>(x,y,z);
<a name="l00148"></a>00148 }
<a name="l00149"></a>00149
<a name="l00150"></a>00150
<a name="l00151"></a>00151 <span class="comment">// Constructor which converts euler angles to a quaternion</span>
<a name="l00152"></a><a class="code" href="classirr_1_1core_1_1quaternion.html#f8d613780a8d0e3f2775f6f9086db3b0">00152</a> <span class="keyword">inline</span> quaternion::quaternion(<span class="keyword">const</span> <a class="code" href="classirr_1_1core_1_1vector3d.html" title="3d vector template class with lots of operators and methods.">vector3df</a>& vec)
<a name="l00153"></a>00153 {
<a name="l00154"></a>00154 <span class="keyword">set</span>(vec.<a class="code" href="classirr_1_1core_1_1vector3d.html#8c9ed06774dc668112bcefacb6e7732b" title="X coordinate of the vector.">X</a>,vec.<a class="code" href="classirr_1_1core_1_1vector3d.html#f8f87c2fe0ce717ade7c3d7419302fbd" title="Y coordinate of the vector.">Y</a>,vec.<a class="code" href="classirr_1_1core_1_1vector3d.html#c2beb702e718c3579971348981b220ed" title="Z coordinate of the vector.">Z</a>);
<a name="l00155"></a>00155 }
<a name="l00156"></a>00156
<a name="l00157"></a>00157
<a name="l00158"></a>00158 <span class="comment">// Constructor which converts a matrix to a quaternion</span>
<a name="l00159"></a><a class="code" href="classirr_1_1core_1_1quaternion.html#60b4e1a97224c18da64e49861b8d0107">00159</a> <span class="keyword">inline</span> quaternion::quaternion(<span class="keyword">const</span> <a class="code" href="classirr_1_1core_1_1_c_matrix4.html" title="4x4 matrix. Mostly used as transformation matrix for 3d calculations.">matrix4</a>& mat)
<a name="l00160"></a>00160 {
<a name="l00161"></a>00161 (*this) = mat;
<a name="l00162"></a>00162 }
<a name="l00163"></a>00163
<a name="l00164"></a>00164
<a name="l00165"></a>00165 <span class="comment">// equal operator</span>
<a name="l00166"></a><a class="code" href="classirr_1_1core_1_1quaternion.html#37ed741a0a63c8f829817c76dae0c4cc">00166</a> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="classirr_1_1core_1_1quaternion.html#37ed741a0a63c8f829817c76dae0c4cc" title="Equalilty operator.">quaternion::operator==</a>(<span class="keyword">const</span> <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>& other)<span class="keyword"> const</span>
<a name="l00167"></a>00167 <span class="keyword"></span>{
<a name="l00168"></a>00168 <span class="keywordflow">return</span> ((<a class="code" href="classirr_1_1core_1_1quaternion.html#69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a> == other.<a class="code" href="classirr_1_1core_1_1quaternion.html#69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>) &&
<a name="l00169"></a>00169 (<a class="code" href="classirr_1_1core_1_1quaternion.html#7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a> == other.<a class="code" href="classirr_1_1core_1_1quaternion.html#7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a>) &&
<a name="l00170"></a>00170 (<a class="code" href="classirr_1_1core_1_1quaternion.html#9080571243e191219aca47758b8638a1">Z</a> == other.<a class="code" href="classirr_1_1core_1_1quaternion.html#9080571243e191219aca47758b8638a1">Z</a>) &&
<a name="l00171"></a>00171 (<a class="code" href="classirr_1_1core_1_1quaternion.html#bd35ca07eda3783a00b27ff9a49e43b8">W</a> == other.<a class="code" href="classirr_1_1core_1_1quaternion.html#bd35ca07eda3783a00b27ff9a49e43b8">W</a>));
<a name="l00172"></a>00172 }
<a name="l00173"></a>00173
<a name="l00174"></a>00174
<a name="l00175"></a>00175 <span class="comment">// assignment operator</span>
<a name="l00176"></a><a class="code" href="classirr_1_1core_1_1quaternion.html#14e694153904d3026eac8c9f14a5df1c">00176</a> <span class="keyword">inline</span> <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>& <a class="code" href="classirr_1_1core_1_1quaternion.html#14e694153904d3026eac8c9f14a5df1c" title="Assignment operator.">quaternion::operator=</a>(<span class="keyword">const</span> <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>& other)
<a name="l00177"></a>00177 {
<a name="l00178"></a>00178 <a class="code" href="classirr_1_1core_1_1quaternion.html#69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a> = other.<a class="code" href="classirr_1_1core_1_1quaternion.html#69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>;
<a name="l00179"></a>00179 <a class="code" href="classirr_1_1core_1_1quaternion.html#7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a> = other.<a class="code" href="classirr_1_1core_1_1quaternion.html#7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a>;
<a name="l00180"></a>00180 <a class="code" href="classirr_1_1core_1_1quaternion.html#9080571243e191219aca47758b8638a1">Z</a> = other.<a class="code" href="classirr_1_1core_1_1quaternion.html#9080571243e191219aca47758b8638a1">Z</a>;
<a name="l00181"></a>00181 <a class="code" href="classirr_1_1core_1_1quaternion.html#bd35ca07eda3783a00b27ff9a49e43b8">W</a> = other.<a class="code" href="classirr_1_1core_1_1quaternion.html#bd35ca07eda3783a00b27ff9a49e43b8">W</a>;
<a name="l00182"></a>00182 <span class="keywordflow">return</span> *<span class="keyword">this</span>;
<a name="l00183"></a>00183 }
<a name="l00184"></a>00184
<a name="l00185"></a>00185
<a name="l00186"></a>00186 <span class="comment">// matrix assignment operator</span>
<a name="l00187"></a><a class="code" href="classirr_1_1core_1_1quaternion.html#ed887a4f908b44aa13ef5f77291134f0">00187</a> <span class="keyword">inline</span> <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>& <a class="code" href="classirr_1_1core_1_1quaternion.html#14e694153904d3026eac8c9f14a5df1c" title="Assignment operator.">quaternion::operator=</a>(<span class="keyword">const</span> <a class="code" href="classirr_1_1core_1_1_c_matrix4.html" title="4x4 matrix. Mostly used as transformation matrix for 3d calculations.">matrix4</a>& m)
<a name="l00188"></a>00188 {
<a name="l00189"></a>00189 <span class="keyword">const</span> <a class="code" href="namespaceirr.html#0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> diag = m(0,0) + m(1,1) + m(2,2) + 1;
<a name="l00190"></a>00190
<a name="l00191"></a>00191 <span class="keywordflow">if</span>( diag > 0.0f )
<a name="l00192"></a>00192 {
<a name="l00193"></a>00193 <span class="keyword">const</span> <a class="code" href="namespaceirr.html#0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> scale = sqrtf(diag) * 2.0f; <span class="comment">// get scale from diagonal</span>
<a name="l00194"></a>00194
<a name="l00195"></a>00195 <span class="comment">// TODO: speed this up</span>
<a name="l00196"></a>00196 <a class="code" href="classirr_1_1core_1_1quaternion.html#69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a> = ( m(2,1) - m(1,2)) / scale;
<a name="l00197"></a>00197 <a class="code" href="classirr_1_1core_1_1quaternion.html#7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a> = ( m(0,2) - m(2,0)) / scale;
<a name="l00198"></a>00198 <a class="code" href="classirr_1_1core_1_1quaternion.html#9080571243e191219aca47758b8638a1">Z</a> = ( m(1,0) - m(0,1)) / scale;
<a name="l00199"></a>00199 <a class="code" href="classirr_1_1core_1_1quaternion.html#bd35ca07eda3783a00b27ff9a49e43b8">W</a> = 0.25f * scale;
<a name="l00200"></a>00200 }
<a name="l00201"></a>00201 <span class="keywordflow">else</span>
<a name="l00202"></a>00202 {
<a name="l00203"></a>00203 <span class="keywordflow">if</span> ( m(0,0) > m(1,1) && m(0,0) > m(2,2))
<a name="l00204"></a>00204 {
<a name="l00205"></a>00205 <span class="comment">// 1st element of diag is greatest value</span>
<a name="l00206"></a>00206 <span class="comment">// find scale according to 1st element, and double it</span>
<a name="l00207"></a>00207 <span class="keyword">const</span> <a class="code" href="namespaceirr.html#0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> scale = sqrtf( 1.0f + m(0,0) - m(1,1) - m(2,2)) * 2.0f;
<a name="l00208"></a>00208
<a name="l00209"></a>00209 <span class="comment">// TODO: speed this up</span>
<a name="l00210"></a>00210 <a class="code" href="classirr_1_1core_1_1quaternion.html#69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a> = 0.25f * scale;
<a name="l00211"></a>00211 <a class="code" href="classirr_1_1core_1_1quaternion.html#7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a> = (m(0,1) + m(1,0)) / scale;
<a name="l00212"></a>00212 <a class="code" href="classirr_1_1core_1_1quaternion.html#9080571243e191219aca47758b8638a1">Z</a> = (m(2,0) + m(0,2)) / scale;
<a name="l00213"></a>00213 <a class="code" href="classirr_1_1core_1_1quaternion.html#bd35ca07eda3783a00b27ff9a49e43b8">W</a> = (m(2,1) - m(1,2)) / scale;
<a name="l00214"></a>00214 }
<a name="l00215"></a>00215 <span class="keywordflow">else</span> <span class="keywordflow">if</span> ( m(1,1) > m(2,2))
<a name="l00216"></a>00216 {
<a name="l00217"></a>00217 <span class="comment">// 2nd element of diag is greatest value</span>
<a name="l00218"></a>00218 <span class="comment">// find scale according to 2nd element, and double it</span>
<a name="l00219"></a>00219 <span class="keyword">const</span> <a class="code" href="namespaceirr.html#0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> scale = sqrtf( 1.0f + m(1,1) - m(0,0) - m(2,2)) * 2.0f;
<a name="l00220"></a>00220
<a name="l00221"></a>00221 <span class="comment">// TODO: speed this up</span>
<a name="l00222"></a>00222 <a class="code" href="classirr_1_1core_1_1quaternion.html#69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a> = (m(0,1) + m(1,0) ) / scale;
<a name="l00223"></a>00223 <a class="code" href="classirr_1_1core_1_1quaternion.html#7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a> = 0.25f * scale;
<a name="l00224"></a>00224 <a class="code" href="classirr_1_1core_1_1quaternion.html#9080571243e191219aca47758b8638a1">Z</a> = (m(1,2) + m(2,1) ) / scale;
<a name="l00225"></a>00225 <a class="code" href="classirr_1_1core_1_1quaternion.html#bd35ca07eda3783a00b27ff9a49e43b8">W</a> = (m(0,2) - m(2,0) ) / scale;
<a name="l00226"></a>00226 }
<a name="l00227"></a>00227 <span class="keywordflow">else</span>
<a name="l00228"></a>00228 {
<a name="l00229"></a>00229 <span class="comment">// 3rd element of diag is greatest value</span>
<a name="l00230"></a>00230 <span class="comment">// find scale according to 3rd element, and double it</span>
<a name="l00231"></a>00231 <span class="keyword">const</span> <a class="code" href="namespaceirr.html#0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> scale = sqrtf( 1.0f + m(2,2) - m(0,0) - m(1,1)) * 2.0f;
<a name="l00232"></a>00232
<a name="l00233"></a>00233 <span class="comment">// TODO: speed this up</span>
<a name="l00234"></a>00234 <a class="code" href="classirr_1_1core_1_1quaternion.html#69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a> = (m(0,2) + m(2,0)) / scale;
<a name="l00235"></a>00235 <a class="code" href="classirr_1_1core_1_1quaternion.html#7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a> = (m(1,2) + m(2,1)) / scale;
<a name="l00236"></a>00236 <a class="code" href="classirr_1_1core_1_1quaternion.html#9080571243e191219aca47758b8638a1">Z</a> = 0.25f * scale;
<a name="l00237"></a>00237 <a class="code" href="classirr_1_1core_1_1quaternion.html#bd35ca07eda3783a00b27ff9a49e43b8">W</a> = (m(1,0) - m(0,1)) / scale;
<a name="l00238"></a>00238 }
<a name="l00239"></a>00239 }
<a name="l00240"></a>00240
<a name="l00241"></a>00241 <span class="keywordflow">return</span> <a class="code" href="classirr_1_1core_1_1quaternion.html#ac7a34ffd2a14a78de12d994539b94f9" title="Normalizes the quaternion.">normalize</a>();
<a name="l00242"></a>00242 }
<a name="l00243"></a>00243
<a name="l00244"></a>00244
<a name="l00245"></a>00245 <span class="comment">// multiplication operator</span>
<a name="l00246"></a><a class="code" href="classirr_1_1core_1_1quaternion.html#740a2885a20005a62e8f24dffa1d48c7">00246</a> <span class="keyword">inline</span> <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a> <a class="code" href="namespaceirr_1_1core.html#e2fd2ff263b420b61a13d04f50453e94" title="Function multiplying a scalar and a vector component-wise.">quaternion::operator*</a>(<span class="keyword">const</span> <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>& other)<span class="keyword"> const</span>
<a name="l00247"></a>00247 <span class="keyword"></span>{
<a name="l00248"></a>00248 <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a> tmp;
<a name="l00249"></a>00249
<a name="l00250"></a>00250 tmp.<a class="code" href="classirr_1_1core_1_1quaternion.html#bd35ca07eda3783a00b27ff9a49e43b8">W</a> = (other.<a class="code" href="classirr_1_1core_1_1quaternion.html#bd35ca07eda3783a00b27ff9a49e43b8">W</a> * <a class="code" href="classirr_1_1core_1_1quaternion.html#bd35ca07eda3783a00b27ff9a49e43b8">W</a>) - (other.<a class="code" href="classirr_1_1core_1_1quaternion.html#69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a> * <a class="code" href="classirr_1_1core_1_1quaternion.html#69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>) - (other.<a class="code" href="classirr_1_1core_1_1quaternion.html#7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a> * <a class="code" href="classirr_1_1core_1_1quaternion.html#7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a>) - (other.<a class="code" href="classirr_1_1core_1_1quaternion.html#9080571243e191219aca47758b8638a1">Z</a> * <a class="code" href="classirr_1_1core_1_1quaternion.html#9080571243e191219aca47758b8638a1">Z</a>);
<a name="l00251"></a>00251 tmp.<a class="code" href="classirr_1_1core_1_1quaternion.html#69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a> = (other.<a class="code" href="classirr_1_1core_1_1quaternion.html#bd35ca07eda3783a00b27ff9a49e43b8">W</a> * <a class="code" href="classirr_1_1core_1_1quaternion.html#69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>) + (other.<a class="code" href="classirr_1_1core_1_1quaternion.html#69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a> * <a class="code" href="classirr_1_1core_1_1quaternion.html#bd35ca07eda3783a00b27ff9a49e43b8">W</a>) + (other.<a class="code" href="classirr_1_1core_1_1quaternion.html#7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a> * <a class="code" href="classirr_1_1core_1_1quaternion.html#9080571243e191219aca47758b8638a1">Z</a>) - (other.<a class="code" href="classirr_1_1core_1_1quaternion.html#9080571243e191219aca47758b8638a1">Z</a> * <a class="code" href="classirr_1_1core_1_1quaternion.html#7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a>);
<a name="l00252"></a>00252 tmp.<a class="code" href="classirr_1_1core_1_1quaternion.html#7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a> = (other.<a class="code" href="classirr_1_1core_1_1quaternion.html#bd35ca07eda3783a00b27ff9a49e43b8">W</a> * <a class="code" href="classirr_1_1core_1_1quaternion.html#7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a>) + (other.<a class="code" href="classirr_1_1core_1_1quaternion.html#7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a> * <a class="code" href="classirr_1_1core_1_1quaternion.html#bd35ca07eda3783a00b27ff9a49e43b8">W</a>) + (other.<a class="code" href="classirr_1_1core_1_1quaternion.html#9080571243e191219aca47758b8638a1">Z</a> * <a class="code" href="classirr_1_1core_1_1quaternion.html#69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>) - (other.<a class="code" href="classirr_1_1core_1_1quaternion.html#69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a> * <a class="code" href="classirr_1_1core_1_1quaternion.html#9080571243e191219aca47758b8638a1">Z</a>);
<a name="l00253"></a>00253 tmp.<a class="code" href="classirr_1_1core_1_1quaternion.html#9080571243e191219aca47758b8638a1">Z</a> = (other.<a class="code" href="classirr_1_1core_1_1quaternion.html#bd35ca07eda3783a00b27ff9a49e43b8">W</a> * <a class="code" href="classirr_1_1core_1_1quaternion.html#9080571243e191219aca47758b8638a1">Z</a>) + (other.<a class="code" href="classirr_1_1core_1_1quaternion.html#9080571243e191219aca47758b8638a1">Z</a> * <a class="code" href="classirr_1_1core_1_1quaternion.html#bd35ca07eda3783a00b27ff9a49e43b8">W</a>) + (other.<a class="code" href="classirr_1_1core_1_1quaternion.html#69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a> * <a class="code" href="classirr_1_1core_1_1quaternion.html#7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a>) - (other.<a class="code" href="classirr_1_1core_1_1quaternion.html#7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a> * <a class="code" href="classirr_1_1core_1_1quaternion.html#69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>);
<a name="l00254"></a>00254
<a name="l00255"></a>00255 <span class="keywordflow">return</span> tmp;
<a name="l00256"></a>00256 }
<a name="l00257"></a>00257
<a name="l00258"></a>00258
<a name="l00259"></a>00259 <span class="comment">// multiplication operator</span>
<a name="l00260"></a><a class="code" href="classirr_1_1core_1_1quaternion.html#e320e6a2c6fc1b6ab579645f1056a310">00260</a> <span class="keyword">inline</span> <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a> <a class="code" href="namespaceirr_1_1core.html#e2fd2ff263b420b61a13d04f50453e94" title="Function multiplying a scalar and a vector component-wise.">quaternion::operator*</a>(<a class="code" href="namespaceirr.html#0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> s)<span class="keyword"> const</span>
<a name="l00261"></a>00261 <span class="keyword"></span>{
<a name="l00262"></a>00262 <span class="keywordflow">return</span> <a class="code" href="classirr_1_1core_1_1quaternion.html#f19629224bc2ed3a3ecbc335309099c8" title="Default Constructor.">quaternion</a>(s*<a class="code" href="classirr_1_1core_1_1quaternion.html#69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>, s*<a class="code" href="classirr_1_1core_1_1quaternion.html#7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a>, s*<a class="code" href="classirr_1_1core_1_1quaternion.html#9080571243e191219aca47758b8638a1">Z</a>, s*<a class="code" href="classirr_1_1core_1_1quaternion.html#bd35ca07eda3783a00b27ff9a49e43b8">W</a>);
<a name="l00263"></a>00263 }
<a name="l00264"></a>00264
<a name="l00265"></a>00265 <span class="comment">// multiplication operator</span>
<a name="l00266"></a><a class="code" href="classirr_1_1core_1_1quaternion.html#933b6bf1ace6875068c5c01741bb4096">00266</a> <span class="keyword">inline</span> <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>& <a class="code" href="classirr_1_1core_1_1quaternion.html#933b6bf1ace6875068c5c01741bb4096" title="Multiplication operator with scalar.">quaternion::operator*=</a>(<a class="code" href="namespaceirr.html#0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> s)
<a name="l00267"></a>00267 {
<a name="l00268"></a>00268 <a class="code" href="classirr_1_1core_1_1quaternion.html#69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>*=s;
<a name="l00269"></a>00269 <a class="code" href="classirr_1_1core_1_1quaternion.html#7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a>*=s;
<a name="l00270"></a>00270 <a class="code" href="classirr_1_1core_1_1quaternion.html#9080571243e191219aca47758b8638a1">Z</a>*=s;
<a name="l00271"></a>00271 <a class="code" href="classirr_1_1core_1_1quaternion.html#bd35ca07eda3783a00b27ff9a49e43b8">W</a>*=s;
<a name="l00272"></a>00272 <span class="keywordflow">return</span> *<span class="keyword">this</span>;
<a name="l00273"></a>00273 }
<a name="l00274"></a>00274
<a name="l00275"></a>00275 <span class="comment">// multiplication operator</span>
<a name="l00276"></a><a class="code" href="classirr_1_1core_1_1quaternion.html#d6b251ec3861ae7be90ac0ddc0cd44f4">00276</a> <span class="keyword">inline</span> <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>& <a class="code" href="classirr_1_1core_1_1quaternion.html#933b6bf1ace6875068c5c01741bb4096" title="Multiplication operator with scalar.">quaternion::operator*=</a>(<span class="keyword">const</span> <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>& other)
<a name="l00277"></a>00277 {
<a name="l00278"></a>00278 <span class="keywordflow">return</span> (*<span class="keyword">this</span> = other * (*<span class="keyword">this</span>));
<a name="l00279"></a>00279 }
<a name="l00280"></a>00280
<a name="l00281"></a>00281 <span class="comment">// add operator</span>
<a name="l00282"></a><a class="code" href="classirr_1_1core_1_1quaternion.html#8fa3541f577ba6daa583f936f7cdb978">00282</a> <span class="keyword">inline</span> <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a> <a class="code" href="classirr_1_1core_1_1quaternion.html#8fa3541f577ba6daa583f936f7cdb978" title="Add operator.">quaternion::operator+</a>(<span class="keyword">const</span> <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>& b)<span class="keyword"> const</span>
<a name="l00283"></a>00283 <span class="keyword"></span>{
<a name="l00284"></a>00284 <span class="keywordflow">return</span> <a class="code" href="classirr_1_1core_1_1quaternion.html#f19629224bc2ed3a3ecbc335309099c8" title="Default Constructor.">quaternion</a>(<a class="code" href="classirr_1_1core_1_1quaternion.html#69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>+b.<a class="code" href="classirr_1_1core_1_1quaternion.html#69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>, <a class="code" href="classirr_1_1core_1_1quaternion.html#7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a>+b.<a class="code" href="classirr_1_1core_1_1quaternion.html#7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a>, <a class="code" href="classirr_1_1core_1_1quaternion.html#9080571243e191219aca47758b8638a1">Z</a>+b.<a class="code" href="classirr_1_1core_1_1quaternion.html#9080571243e191219aca47758b8638a1">Z</a>, <a class="code" href="classirr_1_1core_1_1quaternion.html#bd35ca07eda3783a00b27ff9a49e43b8">W</a>+b.<a class="code" href="classirr_1_1core_1_1quaternion.html#bd35ca07eda3783a00b27ff9a49e43b8">W</a>);
<a name="l00285"></a>00285 }
<a name="l00286"></a>00286
<a name="l00287"></a>00287
<a name="l00288"></a>00288 <span class="comment">// Creates a matrix from this quaternion</span>
<a name="l00289"></a><a class="code" href="classirr_1_1core_1_1quaternion.html#4913dba1c8448eb1dae91f7476a90125">00289</a> <span class="keyword">inline</span> <a class="code" href="classirr_1_1core_1_1_c_matrix4.html" title="4x4 matrix. Mostly used as transformation matrix for 3d calculations.">matrix4</a> <a class="code" href="classirr_1_1core_1_1quaternion.html#4913dba1c8448eb1dae91f7476a90125" title="Creates a matrix from this quaternion.">quaternion::getMatrix</a>()<span class="keyword"> const</span>
<a name="l00290"></a>00290 <span class="keyword"></span>{
<a name="l00291"></a>00291 <a class="code" href="classirr_1_1core_1_1_c_matrix4.html" title="4x4 matrix. Mostly used as transformation matrix for 3d calculations.">core::matrix4</a> m;
<a name="l00292"></a>00292 <a class="code" href="classirr_1_1core_1_1quaternion.html#d54809de078e19b7f95c7c0e466cbfa8" title="Creates a matrix from this quaternion.">getMatrix_transposed</a>(m);
<a name="l00293"></a>00293 <span class="keywordflow">return</span> m;
<a name="l00294"></a>00294 }
<a name="l00295"></a>00295
<a name="l00296"></a>00296
<a name="l00300"></a><a class="code" href="classirr_1_1core_1_1quaternion.html#c2c1fee9f922eb0bd53ecd7076f2e732">00300</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classirr_1_1core_1_1quaternion.html#4913dba1c8448eb1dae91f7476a90125" title="Creates a matrix from this quaternion.">quaternion::getMatrix</a>( <a class="code" href="classirr_1_1core_1_1_c_matrix4.html" title="4x4 matrix. Mostly used as transformation matrix for 3d calculations.">matrix4</a> &dest, <span class="keyword">const</span> <a class="code" href="classirr_1_1core_1_1vector3d.html" title="3d vector template class with lots of operators and methods.">core::vector3df</a> &center )<span class="keyword"> const</span>
<a name="l00301"></a>00301 <span class="keyword"></span>{
<a name="l00302"></a>00302 <a class="code" href="namespaceirr.html#0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> * m = dest.<a class="code" href="classirr_1_1core_1_1_c_matrix4.html#11a3ffa3eb0987030e7a8758dee8965a" title="Returns pointer to internal array.">pointer</a>();
<a name="l00303"></a>00303
<a name="l00304"></a>00304 m[0] = 1.0f - 2.0f*<a class="code" href="classirr_1_1core_1_1quaternion.html#7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a>*<a class="code" href="classirr_1_1core_1_1quaternion.html#7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a> - 2.0f*<a class="code" href="classirr_1_1core_1_1quaternion.html#9080571243e191219aca47758b8638a1">Z</a>*<a class="code" href="classirr_1_1core_1_1quaternion.html#9080571243e191219aca47758b8638a1">Z</a>;
<a name="l00305"></a>00305 m[1] = 2.0f*<a class="code" href="classirr_1_1core_1_1quaternion.html#69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>*<a class="code" href="classirr_1_1core_1_1quaternion.html#7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a> + 2.0f*Z*<a class="code" href="classirr_1_1core_1_1quaternion.html#bd35ca07eda3783a00b27ff9a49e43b8">W</a>;
<a name="l00306"></a>00306 m[2] = 2.0f*<a class="code" href="classirr_1_1core_1_1quaternion.html#69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>*Z - 2.0f*<a class="code" href="classirr_1_1core_1_1quaternion.html#7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a>*W;
<a name="l00307"></a>00307 m[3] = 0.0f;
<a name="l00308"></a>00308
<a name="l00309"></a>00309 m[4] = 2.0f*<a class="code" href="classirr_1_1core_1_1quaternion.html#69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>*<a class="code" href="classirr_1_1core_1_1quaternion.html#7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a> - 2.0f*Z*W;
<a name="l00310"></a>00310 m[5] = 1.0f - 2.0f*<a class="code" href="classirr_1_1core_1_1quaternion.html#69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>*<a class="code" href="classirr_1_1core_1_1quaternion.html#69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a> - 2.0f*Z*Z;
<a name="l00311"></a>00311 m[6] = 2.0f*Z*<a class="code" href="classirr_1_1core_1_1quaternion.html#7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a> + 2.0f*<a class="code" href="classirr_1_1core_1_1quaternion.html#69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>*W;
<a name="l00312"></a>00312 m[7] = 0.0f;
<a name="l00313"></a>00313
<a name="l00314"></a>00314 m[8] = 2.0f*<a class="code" href="classirr_1_1core_1_1quaternion.html#69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>*Z + 2.0f*<a class="code" href="classirr_1_1core_1_1quaternion.html#7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a>*W;
<a name="l00315"></a>00315 m[9] = 2.0f*Z*<a class="code" href="classirr_1_1core_1_1quaternion.html#7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a> - 2.0f*<a class="code" href="classirr_1_1core_1_1quaternion.html#69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>*W;
<a name="l00316"></a>00316 m[10] = 1.0f - 2.0f*<a class="code" href="classirr_1_1core_1_1quaternion.html#69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>*<a class="code" href="classirr_1_1core_1_1quaternion.html#69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a> - 2.0f*<a class="code" href="classirr_1_1core_1_1quaternion.html#7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a>*<a class="code" href="classirr_1_1core_1_1quaternion.html#7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a>;
<a name="l00317"></a>00317 m[11] = 0.0f;
<a name="l00318"></a>00318
<a name="l00319"></a>00319 m[12] = center.<a class="code" href="classirr_1_1core_1_1vector3d.html#8c9ed06774dc668112bcefacb6e7732b" title="X coordinate of the vector.">X</a>;
<a name="l00320"></a>00320 m[13] = center.<a class="code" href="classirr_1_1core_1_1vector3d.html#f8f87c2fe0ce717ade7c3d7419302fbd" title="Y coordinate of the vector.">Y</a>;
<a name="l00321"></a>00321 m[14] = center.<a class="code" href="classirr_1_1core_1_1vector3d.html#c2beb702e718c3579971348981b220ed" title="Z coordinate of the vector.">Z</a>;
<a name="l00322"></a>00322 m[15] = 1.f;
<a name="l00323"></a>00323
<a name="l00324"></a>00324 <span class="comment">//dest.setDefinitelyIdentityMatrix ( matrix4::BIT_IS_NOT_IDENTITY );</span>
<a name="l00325"></a>00325 dest.<a class="code" href="classirr_1_1core_1_1_c_matrix4.html#87f7195337a2bf7a49978c2ec1100c0a" title="Sets if the matrix is definitely identity matrix.">setDefinitelyIdentityMatrix</a> ( <span class="keyword">false</span> );
<a name="l00326"></a>00326 }
<a name="l00327"></a>00327
<a name="l00328"></a>00328
<a name="l00329"></a>00329
<a name="l00342"></a><a class="code" href="classirr_1_1core_1_1quaternion.html#3d5efafd9f646ab5e86812797dc0b975">00342</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classirr_1_1core_1_1quaternion.html#3d5efafd9f646ab5e86812797dc0b975">quaternion::getMatrixCenter</a>(<a class="code" href="classirr_1_1core_1_1_c_matrix4.html" title="4x4 matrix. Mostly used as transformation matrix for 3d calculations.">matrix4</a> &dest,
<a name="l00343"></a>00343 <span class="keyword">const</span> <a class="code" href="classirr_1_1core_1_1vector3d.html" title="3d vector template class with lots of operators and methods.">core::vector3df</a> &center,
<a name="l00344"></a>00344 <span class="keyword">const</span> <a class="code" href="classirr_1_1core_1_1vector3d.html" title="3d vector template class with lots of operators and methods.">core::vector3df</a> &translation)<span class="keyword"> const</span>
<a name="l00345"></a>00345 <span class="keyword"></span>{
<a name="l00346"></a>00346 <a class="code" href="namespaceirr.html#0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> * m = dest.<a class="code" href="classirr_1_1core_1_1_c_matrix4.html#11a3ffa3eb0987030e7a8758dee8965a" title="Returns pointer to internal array.">pointer</a>();
<a name="l00347"></a>00347
<a name="l00348"></a>00348 m[0] = 1.0f - 2.0f*<a class="code" href="classirr_1_1core_1_1quaternion.html#7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a>*<a class="code" href="classirr_1_1core_1_1quaternion.html#7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a> - 2.0f*<a class="code" href="classirr_1_1core_1_1quaternion.html#9080571243e191219aca47758b8638a1">Z</a>*<a class="code" href="classirr_1_1core_1_1quaternion.html#9080571243e191219aca47758b8638a1">Z</a>;
<a name="l00349"></a>00349 m[1] = 2.0f*<a class="code" href="classirr_1_1core_1_1quaternion.html#69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>*<a class="code" href="classirr_1_1core_1_1quaternion.html#7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a> + 2.0f*Z*<a class="code" href="classirr_1_1core_1_1quaternion.html#bd35ca07eda3783a00b27ff9a49e43b8">W</a>;
<a name="l00350"></a>00350 m[2] = 2.0f*<a class="code" href="classirr_1_1core_1_1quaternion.html#69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>*Z - 2.0f*<a class="code" href="classirr_1_1core_1_1quaternion.html#7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a>*W;
<a name="l00351"></a>00351 m[3] = 0.0f;
<a name="l00352"></a>00352
<a name="l00353"></a>00353 m[4] = 2.0f*<a class="code" href="classirr_1_1core_1_1quaternion.html#69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>*<a class="code" href="classirr_1_1core_1_1quaternion.html#7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a> - 2.0f*Z*W;
<a name="l00354"></a>00354 m[5] = 1.0f - 2.0f*<a class="code" href="classirr_1_1core_1_1quaternion.html#69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>*<a class="code" href="classirr_1_1core_1_1quaternion.html#69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a> - 2.0f*Z*Z;
<a name="l00355"></a>00355 m[6] = 2.0f*Z*<a class="code" href="classirr_1_1core_1_1quaternion.html#7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a> + 2.0f*<a class="code" href="classirr_1_1core_1_1quaternion.html#69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>*W;
<a name="l00356"></a>00356 m[7] = 0.0f;
<a name="l00357"></a>00357
<a name="l00358"></a>00358 m[8] = 2.0f*<a class="code" href="classirr_1_1core_1_1quaternion.html#69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>*Z + 2.0f*<a class="code" href="classirr_1_1core_1_1quaternion.html#7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a>*W;
<a name="l00359"></a>00359 m[9] = 2.0f*Z*<a class="code" href="classirr_1_1core_1_1quaternion.html#7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a> - 2.0f*<a class="code" href="classirr_1_1core_1_1quaternion.html#69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>*W;
<a name="l00360"></a>00360 m[10] = 1.0f - 2.0f*<a class="code" href="classirr_1_1core_1_1quaternion.html#69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>*<a class="code" href="classirr_1_1core_1_1quaternion.html#69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a> - 2.0f*<a class="code" href="classirr_1_1core_1_1quaternion.html#7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a>*<a class="code" href="classirr_1_1core_1_1quaternion.html#7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a>;
<a name="l00361"></a>00361 m[11] = 0.0f;
<a name="l00362"></a>00362
<a name="l00363"></a>00363 dest.<a class="code" href="classirr_1_1core_1_1_c_matrix4.html#8117628146ce654b3b292af7c49e25e2" title="Builds a combined matrix which translates to a center before rotation and translates...">setRotationCenter</a> ( center, translation );
<a name="l00364"></a>00364 }
<a name="l00365"></a>00365
<a name="l00366"></a>00366 <span class="comment">// Creates a matrix from this quaternion</span>
<a name="l00367"></a><a class="code" href="classirr_1_1core_1_1quaternion.html#d54809de078e19b7f95c7c0e466cbfa8">00367</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classirr_1_1core_1_1quaternion.html#d54809de078e19b7f95c7c0e466cbfa8" title="Creates a matrix from this quaternion.">quaternion::getMatrix_transposed</a>( <a class="code" href="classirr_1_1core_1_1_c_matrix4.html" title="4x4 matrix. Mostly used as transformation matrix for 3d calculations.">matrix4</a> &dest )<span class="keyword"> const</span>
<a name="l00368"></a>00368 <span class="keyword"></span>{
<a name="l00369"></a>00369 dest[0] = 1.0f - 2.0f*<a class="code" href="classirr_1_1core_1_1quaternion.html#7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a>*<a class="code" href="classirr_1_1core_1_1quaternion.html#7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a> - 2.0f*<a class="code" href="classirr_1_1core_1_1quaternion.html#9080571243e191219aca47758b8638a1">Z</a>*<a class="code" href="classirr_1_1core_1_1quaternion.html#9080571243e191219aca47758b8638a1">Z</a>;
<a name="l00370"></a>00370 dest[4] = 2.0f*<a class="code" href="classirr_1_1core_1_1quaternion.html#69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>*<a class="code" href="classirr_1_1core_1_1quaternion.html#7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a> + 2.0f*Z*<a class="code" href="classirr_1_1core_1_1quaternion.html#bd35ca07eda3783a00b27ff9a49e43b8">W</a>;
<a name="l00371"></a>00371 dest[8] = 2.0f*<a class="code" href="classirr_1_1core_1_1quaternion.html#69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>*Z - 2.0f*<a class="code" href="classirr_1_1core_1_1quaternion.html#7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a>*W;
<a name="l00372"></a>00372 dest[12] = 0.0f;
<a name="l00373"></a>00373
<a name="l00374"></a>00374 dest[1] = 2.0f*<a class="code" href="classirr_1_1core_1_1quaternion.html#69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>*<a class="code" href="classirr_1_1core_1_1quaternion.html#7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a> - 2.0f*Z*W;
<a name="l00375"></a>00375 dest[5] = 1.0f - 2.0f*<a class="code" href="classirr_1_1core_1_1quaternion.html#69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>*<a class="code" href="classirr_1_1core_1_1quaternion.html#69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a> - 2.0f*Z*Z;
<a name="l00376"></a>00376 dest[9] = 2.0f*Z*<a class="code" href="classirr_1_1core_1_1quaternion.html#7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a> + 2.0f*<a class="code" href="classirr_1_1core_1_1quaternion.html#69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>*W;
<a name="l00377"></a>00377 dest[13] = 0.0f;
<a name="l00378"></a>00378
<a name="l00379"></a>00379 dest[2] = 2.0f*<a class="code" href="classirr_1_1core_1_1quaternion.html#69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>*Z + 2.0f*<a class="code" href="classirr_1_1core_1_1quaternion.html#7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a>*W;
<a name="l00380"></a>00380 dest[6] = 2.0f*Z*<a class="code" href="classirr_1_1core_1_1quaternion.html#7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a> - 2.0f*<a class="code" href="classirr_1_1core_1_1quaternion.html#69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>*W;
<a name="l00381"></a>00381 dest[10] = 1.0f - 2.0f*<a class="code" href="classirr_1_1core_1_1quaternion.html#69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>*<a class="code" href="classirr_1_1core_1_1quaternion.html#69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a> - 2.0f*<a class="code" href="classirr_1_1core_1_1quaternion.html#7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a>*<a class="code" href="classirr_1_1core_1_1quaternion.html#7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a>;
<a name="l00382"></a>00382 dest[14] = 0.0f;
<a name="l00383"></a>00383
<a name="l00384"></a>00384 dest[3] = 0.f;
<a name="l00385"></a>00385 dest[7] = 0.f;
<a name="l00386"></a>00386 dest[11] = 0.f;
<a name="l00387"></a>00387 dest[15] = 1.f;
<a name="l00388"></a>00388 <span class="comment">//dest.setDefinitelyIdentityMatrix ( matrix4::BIT_IS_NOT_IDENTITY );</span>
<a name="l00389"></a>00389 dest.<a class="code" href="classirr_1_1core_1_1_c_matrix4.html#87f7195337a2bf7a49978c2ec1100c0a" title="Sets if the matrix is definitely identity matrix.">setDefinitelyIdentityMatrix</a> ( <span class="keyword">false</span> );
<a name="l00390"></a>00390 }
<a name="l00391"></a>00391
<a name="l00392"></a>00392
<a name="l00393"></a>00393
<a name="l00394"></a>00394 <span class="comment">// Inverts this quaternion</span>
<a name="l00395"></a><a class="code" href="classirr_1_1core_1_1quaternion.html#2e286be8b088fa3ade0ab74880ea4508">00395</a> <span class="keyword">inline</span> <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>& <a class="code" href="classirr_1_1core_1_1quaternion.html#2e286be8b088fa3ade0ab74880ea4508" title="Inverts this quaternion.">quaternion::makeInverse</a>()
<a name="l00396"></a>00396 {
<a name="l00397"></a>00397 <a class="code" href="classirr_1_1core_1_1quaternion.html#69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a> = -<a class="code" href="classirr_1_1core_1_1quaternion.html#69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>; <a class="code" href="classirr_1_1core_1_1quaternion.html#7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a> = -<a class="code" href="classirr_1_1core_1_1quaternion.html#7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a>; <a class="code" href="classirr_1_1core_1_1quaternion.html#9080571243e191219aca47758b8638a1">Z</a> = -<a class="code" href="classirr_1_1core_1_1quaternion.html#9080571243e191219aca47758b8638a1">Z</a>;
<a name="l00398"></a>00398 <span class="keywordflow">return</span> *<span class="keyword">this</span>;
<a name="l00399"></a>00399 }
<a name="l00400"></a>00400
<a name="l00401"></a>00401 <span class="comment">// sets new quaternion</span>
<a name="l00402"></a><a class="code" href="classirr_1_1core_1_1quaternion.html#51b8ba2c12a6e6ce9af0d60430f199e3">00402</a> <span class="keyword">inline</span> <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>& <a class="code" href="classirr_1_1core_1_1quaternion.html#51b8ba2c12a6e6ce9af0d60430f199e3" title="Sets new quaternion.">quaternion::set</a>(<a class="code" href="namespaceirr.html#0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> x, <a class="code" href="namespaceirr.html#0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> y, <a class="code" href="namespaceirr.html#0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> z, <a class="code" href="namespaceirr.html#0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> w)
<a name="l00403"></a>00403 {
<a name="l00404"></a>00404 <a class="code" href="classirr_1_1core_1_1quaternion.html#69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a> = x;
<a name="l00405"></a>00405 <a class="code" href="classirr_1_1core_1_1quaternion.html#7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a> = y;
<a name="l00406"></a>00406 <a class="code" href="classirr_1_1core_1_1quaternion.html#9080571243e191219aca47758b8638a1">Z</a> = z;
<a name="l00407"></a>00407 <a class="code" href="classirr_1_1core_1_1quaternion.html#bd35ca07eda3783a00b27ff9a49e43b8">W</a> = w;
<a name="l00408"></a>00408 <span class="keywordflow">return</span> *<span class="keyword">this</span>;
<a name="l00409"></a>00409 }
<a name="l00410"></a>00410
<a name="l00411"></a>00411
<a name="l00412"></a>00412 <span class="comment">// sets new quaternion based on euler angles</span>
<a name="l00413"></a><a class="code" href="classirr_1_1core_1_1quaternion.html#db1393a5e3833622bfd6009f53ab842e">00413</a> <span class="keyword">inline</span> <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>& <a class="code" href="classirr_1_1core_1_1quaternion.html#51b8ba2c12a6e6ce9af0d60430f199e3" title="Sets new quaternion.">quaternion::set</a>(<a class="code" href="namespaceirr.html#0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> x, <a class="code" href="namespaceirr.html#0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> y, <a class="code" href="namespaceirr.html#0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> z)
<a name="l00414"></a>00414 {
<a name="l00415"></a>00415 <a class="code" href="namespaceirr.html#1325b02603ad449f92c68fc640af9b28" title="64 bit floating point variable.">f64</a> angle;
<a name="l00416"></a>00416
<a name="l00417"></a>00417 angle = x * 0.5;
<a name="l00418"></a>00418 <span class="keyword">const</span> <a class="code" href="namespaceirr.html#1325b02603ad449f92c68fc640af9b28" title="64 bit floating point variable.">f64</a> sr = sin(angle);
<a name="l00419"></a>00419 <span class="keyword">const</span> <a class="code" href="namespaceirr.html#1325b02603ad449f92c68fc640af9b28" title="64 bit floating point variable.">f64</a> cr = cos(angle);
<a name="l00420"></a>00420
<a name="l00421"></a>00421 angle = y * 0.5;
<a name="l00422"></a>00422 <span class="keyword">const</span> <a class="code" href="namespaceirr.html#1325b02603ad449f92c68fc640af9b28" title="64 bit floating point variable.">f64</a> sp = sin(angle);
<a name="l00423"></a>00423 <span class="keyword">const</span> <a class="code" href="namespaceirr.html#1325b02603ad449f92c68fc640af9b28" title="64 bit floating point variable.">f64</a> cp = cos(angle);
<a name="l00424"></a>00424
<a name="l00425"></a>00425 angle = z * 0.5;
<a name="l00426"></a>00426 <span class="keyword">const</span> <a class="code" href="namespaceirr.html#1325b02603ad449f92c68fc640af9b28" title="64 bit floating point variable.">f64</a> sy = sin(angle);
<a name="l00427"></a>00427 <span class="keyword">const</span> <a class="code" href="namespaceirr.html#1325b02603ad449f92c68fc640af9b28" title="64 bit floating point variable.">f64</a> cy = cos(angle);
<a name="l00428"></a>00428
<a name="l00429"></a>00429 <span class="keyword">const</span> <a class="code" href="namespaceirr.html#1325b02603ad449f92c68fc640af9b28" title="64 bit floating point variable.">f64</a> cpcy = cp * cy;
<a name="l00430"></a>00430 <span class="keyword">const</span> <a class="code" href="namespaceirr.html#1325b02603ad449f92c68fc640af9b28" title="64 bit floating point variable.">f64</a> spcy = sp * cy;
<a name="l00431"></a>00431 <span class="keyword">const</span> <a class="code" href="namespaceirr.html#1325b02603ad449f92c68fc640af9b28" title="64 bit floating point variable.">f64</a> cpsy = cp * sy;
<a name="l00432"></a>00432 <span class="keyword">const</span> <a class="code" href="namespaceirr.html#1325b02603ad449f92c68fc640af9b28" title="64 bit floating point variable.">f64</a> spsy = sp * sy;
<a name="l00433"></a>00433
<a name="l00434"></a>00434 <a class="code" href="classirr_1_1core_1_1quaternion.html#69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a> = (<a class="code" href="namespaceirr.html#0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a>)(sr * cpcy - cr * spsy);
<a name="l00435"></a>00435 <a class="code" href="classirr_1_1core_1_1quaternion.html#7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a> = (<a class="code" href="namespaceirr.html#0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a>)(cr * spcy + sr * cpsy);
<a name="l00436"></a>00436 <a class="code" href="classirr_1_1core_1_1quaternion.html#9080571243e191219aca47758b8638a1">Z</a> = (<a class="code" href="namespaceirr.html#0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a>)(cr * cpsy - sr * spcy);
<a name="l00437"></a>00437 <a class="code" href="classirr_1_1core_1_1quaternion.html#bd35ca07eda3783a00b27ff9a49e43b8">W</a> = (<a class="code" href="namespaceirr.html#0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a>)(cr * cpcy + sr * spsy);
<a name="l00438"></a>00438
<a name="l00439"></a>00439 <span class="keywordflow">return</span> <a class="code" href="classirr_1_1core_1_1quaternion.html#ac7a34ffd2a14a78de12d994539b94f9" title="Normalizes the quaternion.">normalize</a>();
<a name="l00440"></a>00440 }
<a name="l00441"></a>00441
<a name="l00442"></a>00442 <span class="comment">// sets new quaternion based on euler angles</span>
<a name="l00443"></a><a class="code" href="classirr_1_1core_1_1quaternion.html#76b7f0569737c2143ca6dae47abd8fdd">00443</a> <span class="keyword">inline</span> <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>& <a class="code" href="classirr_1_1core_1_1quaternion.html#51b8ba2c12a6e6ce9af0d60430f199e3" title="Sets new quaternion.">quaternion::set</a>(<span class="keyword">const</span> <a class="code" href="classirr_1_1core_1_1vector3d.html" title="3d vector template class with lots of operators and methods.">core::vector3df</a>& vec)
<a name="l00444"></a>00444 {
<a name="l00445"></a>00445 <span class="keywordflow">return</span> <span class="keyword">set</span>(vec.<a class="code" href="classirr_1_1core_1_1vector3d.html#8c9ed06774dc668112bcefacb6e7732b" title="X coordinate of the vector.">X</a>, vec.<a class="code" href="classirr_1_1core_1_1vector3d.html#f8f87c2fe0ce717ade7c3d7419302fbd" title="Y coordinate of the vector.">Y</a>, vec.<a class="code" href="classirr_1_1core_1_1vector3d.html#c2beb702e718c3579971348981b220ed" title="Z coordinate of the vector.">Z</a>);
<a name="l00446"></a>00446 }
<a name="l00447"></a>00447
<a name="l00448"></a>00448 <span class="comment">// normalizes the quaternion</span>
<a name="l00449"></a><a class="code" href="classirr_1_1core_1_1quaternion.html#ac7a34ffd2a14a78de12d994539b94f9">00449</a> <span class="keyword">inline</span> <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>& <a class="code" href="classirr_1_1core_1_1quaternion.html#ac7a34ffd2a14a78de12d994539b94f9" title="Normalizes the quaternion.">quaternion::normalize</a>()
<a name="l00450"></a>00450 {
<a name="l00451"></a>00451 <span class="keyword">const</span> <a class="code" href="namespaceirr.html#0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> n = <a class="code" href="classirr_1_1core_1_1quaternion.html#69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>*<a class="code" href="classirr_1_1core_1_1quaternion.html#69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a> + <a class="code" href="classirr_1_1core_1_1quaternion.html#7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a>*<a class="code" href="classirr_1_1core_1_1quaternion.html#7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a> + <a class="code" href="classirr_1_1core_1_1quaternion.html#9080571243e191219aca47758b8638a1">Z</a>*<a class="code" href="classirr_1_1core_1_1quaternion.html#9080571243e191219aca47758b8638a1">Z</a> + <a class="code" href="classirr_1_1core_1_1quaternion.html#bd35ca07eda3783a00b27ff9a49e43b8">W</a>*<a class="code" href="classirr_1_1core_1_1quaternion.html#bd35ca07eda3783a00b27ff9a49e43b8">W</a>;
<a name="l00452"></a>00452
<a name="l00453"></a>00453 <span class="keywordflow">if</span> (n == 1)
<a name="l00454"></a>00454 <span class="keywordflow">return</span> *<span class="keyword">this</span>;
<a name="l00455"></a>00455
<a name="l00456"></a>00456 <span class="comment">//n = 1.0f / sqrtf(n);</span>
<a name="l00457"></a>00457 <span class="keywordflow">return</span> (*<span class="keyword">this</span> *= <a class="code" href="namespaceirr_1_1core.html#daef309f12c2a3386e94610e24f2bfa7">reciprocal_squareroot</a> ( n ));
<a name="l00458"></a>00458 }
<a name="l00459"></a>00459
<a name="l00460"></a>00460
<a name="l00461"></a>00461 <span class="comment">// set this quaternion to the result of the interpolation between two quaternions</span>
<a name="l00462"></a><a class="code" href="classirr_1_1core_1_1quaternion.html#0e508f687cac2992882c17821c595089">00462</a> <span class="keyword">inline</span> <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>& <a class="code" href="classirr_1_1core_1_1quaternion.html#0e508f687cac2992882c17821c595089" title="Set this quaternion to the result of the interpolation between two quaternions.">quaternion::slerp</a>(<a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a> q1, <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a> q2, <a class="code" href="namespaceirr.html#0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> time)
<a name="l00463"></a>00463 {
<a name="l00464"></a>00464 <a class="code" href="namespaceirr.html#0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> angle = q1.<a class="code" href="classirr_1_1core_1_1quaternion.html#1ae4b20abb602514510b4134accc9978" title="Calculates the dot product.">dotProduct</a>(q2);
<a name="l00465"></a>00465
<a name="l00466"></a>00466 <span class="keywordflow">if</span> (angle < 0.0f)
<a name="l00467"></a>00467 {
<a name="l00468"></a>00468 q1 *= -1.0f;
<a name="l00469"></a>00469 angle *= -1.0f;
<a name="l00470"></a>00470 }
<a name="l00471"></a>00471
<a name="l00472"></a>00472 <a class="code" href="namespaceirr.html#0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> scale;
<a name="l00473"></a>00473 <a class="code" href="namespaceirr.html#0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> invscale;
<a name="l00474"></a>00474
<a name="l00475"></a>00475 <span class="keywordflow">if</span> ((angle + 1.0f) > 0.05f)
<a name="l00476"></a>00476 {
<a name="l00477"></a>00477 <span class="keywordflow">if</span> ((1.0f - angle) >= 0.05f) <span class="comment">// spherical interpolation</span>
<a name="l00478"></a>00478 {
<a name="l00479"></a>00479 <span class="keyword">const</span> <a class="code" href="namespaceirr.html#0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> theta = acosf(angle);
<a name="l00480"></a>00480 <span class="keyword">const</span> <a class="code" href="namespaceirr.html#0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> invsintheta = <a class="code" href="namespaceirr_1_1core.html#a01390f49052dfe07e16ee6c5233f4eb">reciprocal</a>(sinf(theta));
<a name="l00481"></a>00481 scale = sinf(theta * (1.0f-time)) * invsintheta;
<a name="l00482"></a>00482 invscale = sinf(theta * time) * invsintheta;
<a name="l00483"></a>00483 }
<a name="l00484"></a>00484 <span class="keywordflow">else</span> <span class="comment">// linear interploation</span>
<a name="l00485"></a>00485 {
<a name="l00486"></a>00486 scale = 1.0f - time;
<a name="l00487"></a>00487 invscale = time;
<a name="l00488"></a>00488 }
<a name="l00489"></a>00489 }
<a name="l00490"></a>00490 <span class="keywordflow">else</span>
<a name="l00491"></a>00491 {
<a name="l00492"></a>00492 q2.<a class="code" href="classirr_1_1core_1_1quaternion.html#51b8ba2c12a6e6ce9af0d60430f199e3" title="Sets new quaternion.">set</a>(-q1.<a class="code" href="classirr_1_1core_1_1quaternion.html#7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a>, q1.<a class="code" href="classirr_1_1core_1_1quaternion.html#69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>, -q1.<a class="code" href="classirr_1_1core_1_1quaternion.html#bd35ca07eda3783a00b27ff9a49e43b8">W</a>, q1.<a class="code" href="classirr_1_1core_1_1quaternion.html#9080571243e191219aca47758b8638a1">Z</a>);
<a name="l00493"></a>00493 scale = sinf(<a class="code" href="namespaceirr_1_1core.html#26d877e2caf3e6f31c298a0417a0707e" title="Constant for PI.">PI</a> * (0.5f - time));
<a name="l00494"></a>00494 invscale = sinf(<a class="code" href="namespaceirr_1_1core.html#26d877e2caf3e6f31c298a0417a0707e" title="Constant for PI.">PI</a> * time);
<a name="l00495"></a>00495 }
<a name="l00496"></a>00496
<a name="l00497"></a>00497 <span class="keywordflow">return</span> (*<span class="keyword">this</span> = (q1*scale) + (q2*invscale));
<a name="l00498"></a>00498 }
<a name="l00499"></a>00499
<a name="l00500"></a>00500
<a name="l00501"></a>00501 <span class="comment">// calculates the dot product</span>
<a name="l00502"></a><a class="code" href="classirr_1_1core_1_1quaternion.html#1ae4b20abb602514510b4134accc9978">00502</a> <span class="keyword">inline</span> <a class="code" href="namespaceirr.html#0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> <a class="code" href="classirr_1_1core_1_1quaternion.html#1ae4b20abb602514510b4134accc9978" title="Calculates the dot product.">quaternion::dotProduct</a>(<span class="keyword">const</span> <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>& q2)<span class="keyword"> const</span>
<a name="l00503"></a>00503 <span class="keyword"></span>{
<a name="l00504"></a>00504 <span class="keywordflow">return</span> (<a class="code" href="classirr_1_1core_1_1quaternion.html#69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a> * q2.<a class="code" href="classirr_1_1core_1_1quaternion.html#69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>) + (<a class="code" href="classirr_1_1core_1_1quaternion.html#7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a> * q2.<a class="code" href="classirr_1_1core_1_1quaternion.html#7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a>) + (<a class="code" href="classirr_1_1core_1_1quaternion.html#9080571243e191219aca47758b8638a1">Z</a> * q2.<a class="code" href="classirr_1_1core_1_1quaternion.html#9080571243e191219aca47758b8638a1">Z</a>) + (<a class="code" href="classirr_1_1core_1_1quaternion.html#bd35ca07eda3783a00b27ff9a49e43b8">W</a> * q2.<a class="code" href="classirr_1_1core_1_1quaternion.html#bd35ca07eda3783a00b27ff9a49e43b8">W</a>);
<a name="l00505"></a>00505 }
<a name="l00506"></a>00506
<a name="l00507"></a>00507
<a name="l00510"></a><a class="code" href="classirr_1_1core_1_1quaternion.html#b4f5eb86ef7a42a3021b810486faa8c8">00510</a> <span class="keyword">inline</span> <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>& <a class="code" href="classirr_1_1core_1_1quaternion.html#b4f5eb86ef7a42a3021b810486faa8c8" title="Create quaternion from rotation angle and rotation axis.">quaternion::fromAngleAxis</a>(<a class="code" href="namespaceirr.html#0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> angle, <span class="keyword">const</span> <a class="code" href="classirr_1_1core_1_1vector3d.html" title="3d vector template class with lots of operators and methods.">vector3df</a>& axis)
<a name="l00511"></a>00511 {
<a name="l00512"></a>00512 <span class="keyword">const</span> <a class="code" href="namespaceirr.html#0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> fHalfAngle = 0.5f*angle;
<a name="l00513"></a>00513 <span class="keyword">const</span> <a class="code" href="namespaceirr.html#0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> fSin = sinf(fHalfAngle);
<a name="l00514"></a>00514 <a class="code" href="classirr_1_1core_1_1quaternion.html#bd35ca07eda3783a00b27ff9a49e43b8">W</a> = cosf(fHalfAngle);
<a name="l00515"></a>00515 <a class="code" href="classirr_1_1core_1_1quaternion.html#69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a> = fSin*axis.<a class="code" href="classirr_1_1core_1_1vector3d.html#8c9ed06774dc668112bcefacb6e7732b" title="X coordinate of the vector.">X</a>;
<a name="l00516"></a>00516 <a class="code" href="classirr_1_1core_1_1quaternion.html#7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a> = fSin*axis.<a class="code" href="classirr_1_1core_1_1vector3d.html#f8f87c2fe0ce717ade7c3d7419302fbd" title="Y coordinate of the vector.">Y</a>;
<a name="l00517"></a>00517 <a class="code" href="classirr_1_1core_1_1quaternion.html#9080571243e191219aca47758b8638a1">Z</a> = fSin*axis.<a class="code" href="classirr_1_1core_1_1vector3d.html#c2beb702e718c3579971348981b220ed" title="Z coordinate of the vector.">Z</a>;
<a name="l00518"></a>00518 <span class="keywordflow">return</span> *<span class="keyword">this</span>;
<a name="l00519"></a>00519 }
<a name="l00520"></a>00520
<a name="l00521"></a>00521
<a name="l00522"></a><a class="code" href="classirr_1_1core_1_1quaternion.html#a36e7548f62749238086832d9b693cad">00522</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classirr_1_1core_1_1quaternion.html#a36e7548f62749238086832d9b693cad" title="Fills an angle (radians) around an axis (unit vector).">quaternion::toAngleAxis</a>(<a class="code" href="namespaceirr.html#0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> &angle, <a class="code" href="classirr_1_1core_1_1vector3d.html" title="3d vector template class with lots of operators and methods.">core::vector3df</a> &axis)<span class="keyword"> const</span>
<a name="l00523"></a>00523 <span class="keyword"></span>{
<a name="l00524"></a>00524 <span class="keyword">const</span> <a class="code" href="namespaceirr.html#0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> scale = sqrtf(<a class="code" href="classirr_1_1core_1_1quaternion.html#69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>*<a class="code" href="classirr_1_1core_1_1quaternion.html#69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a> + <a class="code" href="classirr_1_1core_1_1quaternion.html#7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a>*<a class="code" href="classirr_1_1core_1_1quaternion.html#7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a> + <a class="code" href="classirr_1_1core_1_1quaternion.html#9080571243e191219aca47758b8638a1">Z</a>*<a class="code" href="classirr_1_1core_1_1quaternion.html#9080571243e191219aca47758b8638a1">Z</a>);
<a name="l00525"></a>00525
<a name="l00526"></a>00526 <span class="keywordflow">if</span> (<a class="code" href="namespaceirr_1_1core.html#fc24e6ba26469ec7ca7001ed272dc3b2" title="returns if a equals zero, taking rounding errors into account">core::iszero</a>(scale) || <a class="code" href="classirr_1_1core_1_1quaternion.html#bd35ca07eda3783a00b27ff9a49e43b8">W</a> > 1.0f || <a class="code" href="classirr_1_1core_1_1quaternion.html#bd35ca07eda3783a00b27ff9a49e43b8">W</a> < -1.0f)
<a name="l00527"></a>00527 {
<a name="l00528"></a>00528 angle = 0.0f;
<a name="l00529"></a>00529 axis.<a class="code" href="classirr_1_1core_1_1vector3d.html#8c9ed06774dc668112bcefacb6e7732b" title="X coordinate of the vector.">X</a> = 0.0f;
<a name="l00530"></a>00530 axis.<a class="code" href="classirr_1_1core_1_1vector3d.html#f8f87c2fe0ce717ade7c3d7419302fbd" title="Y coordinate of the vector.">Y</a> = 1.0f;
<a name="l00531"></a>00531 axis.<a class="code" href="classirr_1_1core_1_1vector3d.html#c2beb702e718c3579971348981b220ed" title="Z coordinate of the vector.">Z</a> = 0.0f;
<a name="l00532"></a>00532 }
<a name="l00533"></a>00533 <span class="keywordflow">else</span>
<a name="l00534"></a>00534 {
<a name="l00535"></a>00535 <span class="keyword">const</span> <a class="code" href="namespaceirr.html#0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> invscale = <a class="code" href="namespaceirr_1_1core.html#a01390f49052dfe07e16ee6c5233f4eb">reciprocal</a>(scale);
<a name="l00536"></a>00536 angle = 2.0f * acosf(<a class="code" href="classirr_1_1core_1_1quaternion.html#bd35ca07eda3783a00b27ff9a49e43b8">W</a>);
<a name="l00537"></a>00537 axis.<a class="code" href="classirr_1_1core_1_1vector3d.html#8c9ed06774dc668112bcefacb6e7732b" title="X coordinate of the vector.">X</a> = <a class="code" href="classirr_1_1core_1_1quaternion.html#69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a> * invscale;
<a name="l00538"></a>00538 axis.<a class="code" href="classirr_1_1core_1_1vector3d.html#f8f87c2fe0ce717ade7c3d7419302fbd" title="Y coordinate of the vector.">Y</a> = <a class="code" href="classirr_1_1core_1_1quaternion.html#7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a> * invscale;
<a name="l00539"></a>00539 axis.<a class="code" href="classirr_1_1core_1_1vector3d.html#c2beb702e718c3579971348981b220ed" title="Z coordinate of the vector.">Z</a> = Z * invscale;
<a name="l00540"></a>00540 }
<a name="l00541"></a>00541 }
<a name="l00542"></a>00542
<a name="l00543"></a><a class="code" href="classirr_1_1core_1_1quaternion.html#651d5a90572f14b9a2a5c17caea0e764">00543</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classirr_1_1core_1_1quaternion.html#651d5a90572f14b9a2a5c17caea0e764" title="Output this quaternion to an euler angle (radians).">quaternion::toEuler</a>(<a class="code" href="classirr_1_1core_1_1vector3d.html" title="3d vector template class with lots of operators and methods.">vector3df</a>& euler)<span class="keyword"> const</span>
<a name="l00544"></a>00544 <span class="keyword"></span>{
<a name="l00545"></a>00545 <span class="keyword">const</span> <a class="code" href="namespaceirr.html#1325b02603ad449f92c68fc640af9b28" title="64 bit floating point variable.">f64</a> sqw = <a class="code" href="classirr_1_1core_1_1quaternion.html#bd35ca07eda3783a00b27ff9a49e43b8">W</a>*<a class="code" href="classirr_1_1core_1_1quaternion.html#bd35ca07eda3783a00b27ff9a49e43b8">W</a>;
<a name="l00546"></a>00546 <span class="keyword">const</span> <a class="code" href="namespaceirr.html#1325b02603ad449f92c68fc640af9b28" title="64 bit floating point variable.">f64</a> sqx = <a class="code" href="classirr_1_1core_1_1quaternion.html#69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>*<a class="code" href="classirr_1_1core_1_1quaternion.html#69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>;
<a name="l00547"></a>00547 <span class="keyword">const</span> <a class="code" href="namespaceirr.html#1325b02603ad449f92c68fc640af9b28" title="64 bit floating point variable.">f64</a> sqy = <a class="code" href="classirr_1_1core_1_1quaternion.html#7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a>*<a class="code" href="classirr_1_1core_1_1quaternion.html#7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a>;
<a name="l00548"></a>00548 <span class="keyword">const</span> <a class="code" href="namespaceirr.html#1325b02603ad449f92c68fc640af9b28" title="64 bit floating point variable.">f64</a> sqz = <a class="code" href="classirr_1_1core_1_1quaternion.html#9080571243e191219aca47758b8638a1">Z</a>*<a class="code" href="classirr_1_1core_1_1quaternion.html#9080571243e191219aca47758b8638a1">Z</a>;
<a name="l00549"></a>00549
<a name="l00550"></a>00550 <span class="comment">// heading = rotation about z-axis</span>
<a name="l00551"></a>00551 euler.<a class="code" href="classirr_1_1core_1_1vector3d.html#c2beb702e718c3579971348981b220ed" title="Z coordinate of the vector.">Z</a> = (<a class="code" href="namespaceirr.html#0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a>) (atan2(2.0 * (X*Y +Z*W),(sqx - sqy - sqz + sqw)));
<a name="l00552"></a>00552
<a name="l00553"></a>00553 <span class="comment">// bank = rotation about x-axis</span>
<a name="l00554"></a>00554 euler.<a class="code" href="classirr_1_1core_1_1vector3d.html#8c9ed06774dc668112bcefacb6e7732b" title="X coordinate of the vector.">X</a> = (<a class="code" href="namespaceirr.html#0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a>) (atan2(2.0 * (Y*Z +X*W),(-sqx - sqy + sqz + sqw)));
<a name="l00555"></a>00555
<a name="l00556"></a>00556 <span class="comment">// attitude = rotation about y-axis</span>
<a name="l00557"></a>00557 euler.<a class="code" href="classirr_1_1core_1_1vector3d.html#f8f87c2fe0ce717ade7c3d7419302fbd" title="Y coordinate of the vector.">Y</a> = asinf( <a class="code" href="namespaceirr_1_1core.html#91284ddd030b8651cab294e16aa5f6bc" title="clamps a value between low and high">clamp</a>(-2.0f * (X*Z - Y*W), -1.0f, 1.0f) );
<a name="l00558"></a>00558 }
<a name="l00559"></a>00559
<a name="l00560"></a>00560
<a name="l00561"></a><a class="code" href="classirr_1_1core_1_1quaternion.html#08d7b70acc572e7345f9bb7aadef3505">00561</a> <span class="keyword">inline</span> <a class="code" href="classirr_1_1core_1_1vector3d.html" title="3d vector template class with lots of operators and methods.">vector3df</a> <a class="code" href="namespaceirr_1_1core.html#e2fd2ff263b420b61a13d04f50453e94" title="Function multiplying a scalar and a vector component-wise.">quaternion::operator* </a>(<span class="keyword">const</span> <a class="code" href="classirr_1_1core_1_1vector3d.html" title="3d vector template class with lots of operators and methods.">vector3df</a>& v)<span class="keyword"> const</span>
<a name="l00562"></a>00562 <span class="keyword"></span>{
<a name="l00563"></a>00563 <span class="comment">// nVidia SDK implementation</span>
<a name="l00564"></a>00564
<a name="l00565"></a>00565 <a class="code" href="classirr_1_1core_1_1vector3d.html" title="3d vector template class with lots of operators and methods.">vector3df</a> uv, uuv;
<a name="l00566"></a>00566 <a class="code" href="classirr_1_1core_1_1vector3d.html" title="3d vector template class with lots of operators and methods.">vector3df</a> qvec(<a class="code" href="classirr_1_1core_1_1quaternion.html#69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>, <a class="code" href="classirr_1_1core_1_1quaternion.html#7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a>, <a class="code" href="classirr_1_1core_1_1quaternion.html#9080571243e191219aca47758b8638a1">Z</a>);
<a name="l00567"></a>00567 uv = qvec.<a class="code" href="classirr_1_1core_1_1vector3d.html#a2470a12e1ef53f440c95df6249e9aa4" title="Calculates the cross product with another vector.">crossProduct</a>(v);
<a name="l00568"></a>00568 uuv = qvec.<a class="code" href="classirr_1_1core_1_1vector3d.html#a2470a12e1ef53f440c95df6249e9aa4" title="Calculates the cross product with another vector.">crossProduct</a>(uv);
<a name="l00569"></a>00569 uv *= (2.0f * <a class="code" href="classirr_1_1core_1_1quaternion.html#bd35ca07eda3783a00b27ff9a49e43b8">W</a>);
<a name="l00570"></a>00570 uuv *= 2.0f;
<a name="l00571"></a>00571
<a name="l00572"></a>00572 <span class="keywordflow">return</span> v + uv + uuv;
<a name="l00573"></a>00573 }
<a name="l00574"></a>00574
<a name="l00575"></a>00575 <span class="comment">// set quaternion to identity</span>
<a name="l00576"></a><a class="code" href="classirr_1_1core_1_1quaternion.html#3b4f6634670591f2c5be33aeaac2e928">00576</a> <span class="keyword">inline</span> <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">core::quaternion</a>& <a class="code" href="classirr_1_1core_1_1quaternion.html#3b4f6634670591f2c5be33aeaac2e928" title="Set quaternion to identity.">quaternion::makeIdentity</a>()
<a name="l00577"></a>00577 {
<a name="l00578"></a>00578 <a class="code" href="classirr_1_1core_1_1quaternion.html#bd35ca07eda3783a00b27ff9a49e43b8">W</a> = 1.f;
<a name="l00579"></a>00579 <a class="code" href="classirr_1_1core_1_1quaternion.html#69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a> = 0.f;
<a name="l00580"></a>00580 <a class="code" href="classirr_1_1core_1_1quaternion.html#7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a> = 0.f;
<a name="l00581"></a>00581 <a class="code" href="classirr_1_1core_1_1quaternion.html#9080571243e191219aca47758b8638a1">Z</a> = 0.f;
<a name="l00582"></a>00582 <span class="keywordflow">return</span> *<span class="keyword">this</span>;
<a name="l00583"></a>00583 }
<a name="l00584"></a>00584
<a name="l00585"></a><a class="code" href="classirr_1_1core_1_1quaternion.html#9da1b3ddfb9722f596a73abf5212c020">00585</a> <span class="keyword">inline</span> <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">core::quaternion</a>& <a class="code" href="classirr_1_1core_1_1quaternion.html#9da1b3ddfb9722f596a73abf5212c020" title="Set quaternion to represent a rotation from one vector to another.">quaternion::rotationFromTo</a>(<span class="keyword">const</span> <a class="code" href="classirr_1_1core_1_1vector3d.html" title="3d vector template class with lots of operators and methods.">vector3df</a>& from, <span class="keyword">const</span> <a class="code" href="classirr_1_1core_1_1vector3d.html" title="3d vector template class with lots of operators and methods.">vector3df</a>& to)
<a name="l00586"></a>00586 {
<a name="l00587"></a>00587 <span class="comment">// Based on Stan Melax's article in Game Programming Gems</span>
<a name="l00588"></a>00588 <span class="comment">// Copy, since cannot modify local</span>
<a name="l00589"></a>00589 <a class="code" href="classirr_1_1core_1_1vector3d.html" title="3d vector template class with lots of operators and methods.">vector3df</a> v0 = from;
<a name="l00590"></a>00590 <a class="code" href="classirr_1_1core_1_1vector3d.html" title="3d vector template class with lots of operators and methods.">vector3df</a> v1 = to;
<a name="l00591"></a>00591 v0.<a class="code" href="classirr_1_1core_1_1vector3d.html#84a1861464ef70e6965c146732103c09" title="Normalizes the vector.">normalize</a>();
<a name="l00592"></a>00592 v1.<a class="code" href="classirr_1_1core_1_1vector3d.html#84a1861464ef70e6965c146732103c09" title="Normalizes the vector.">normalize</a>();
<a name="l00593"></a>00593
<a name="l00594"></a>00594 <span class="keyword">const</span> <a class="code" href="namespaceirr.html#0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> d = v0.<a class="code" href="classirr_1_1core_1_1vector3d.html#0b247d39047c0e51ff16d0118bb396ab" title="Get the dot product with another vector.">dotProduct</a>(v1);
<a name="l00595"></a>00595 <span class="keywordflow">if</span> (d >= 1.0f) <span class="comment">// If dot == 1, vectors are the same</span>
<a name="l00596"></a>00596 {
<a name="l00597"></a>00597 <span class="keywordflow">return</span> <a class="code" href="classirr_1_1core_1_1quaternion.html#3b4f6634670591f2c5be33aeaac2e928" title="Set quaternion to identity.">makeIdentity</a>();
<a name="l00598"></a>00598 }
<a name="l00599"></a>00599
<a name="l00600"></a>00600 <span class="keyword">const</span> <a class="code" href="namespaceirr.html#0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> s = sqrtf( (1+d)*2 ); <span class="comment">// optimize inv_sqrt</span>
<a name="l00601"></a>00601 <span class="keyword">const</span> <a class="code" href="namespaceirr.html#0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> invs = 1.f / s;
<a name="l00602"></a>00602 <span class="keyword">const</span> <a class="code" href="classirr_1_1core_1_1vector3d.html" title="3d vector template class with lots of operators and methods.">vector3df</a> c = v0.<a class="code" href="classirr_1_1core_1_1vector3d.html#a2470a12e1ef53f440c95df6249e9aa4" title="Calculates the cross product with another vector.">crossProduct</a>(v1)*invs;
<a name="l00603"></a>00603 <a class="code" href="classirr_1_1core_1_1quaternion.html#69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a> = c.<a class="code" href="classirr_1_1core_1_1vector3d.html#8c9ed06774dc668112bcefacb6e7732b" title="X coordinate of the vector.">X</a>;
<a name="l00604"></a>00604 <a class="code" href="classirr_1_1core_1_1quaternion.html#7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a> = c.<a class="code" href="classirr_1_1core_1_1vector3d.html#f8f87c2fe0ce717ade7c3d7419302fbd" title="Y coordinate of the vector.">Y</a>;
<a name="l00605"></a>00605 <a class="code" href="classirr_1_1core_1_1quaternion.html#9080571243e191219aca47758b8638a1">Z</a> = c.<a class="code" href="classirr_1_1core_1_1vector3d.html#c2beb702e718c3579971348981b220ed" title="Z coordinate of the vector.">Z</a>;
<a name="l00606"></a>00606 <a class="code" href="classirr_1_1core_1_1quaternion.html#bd35ca07eda3783a00b27ff9a49e43b8">W</a> = s * 0.5f;
<a name="l00607"></a>00607
<a name="l00608"></a>00608 <span class="keywordflow">return</span> *<span class="keyword">this</span>;
<a name="l00609"></a>00609 }
<a name="l00610"></a>00610
<a name="l00611"></a>00611
<a name="l00612"></a>00612 } <span class="comment">// end namespace core</span>
<a name="l00613"></a>00613 } <span class="comment">// end namespace irr</span>
<a name="l00614"></a>00614
<a name="l00615"></a>00615 <span class="preprocessor">#endif</span>
<a name="l00616"></a>00616 <span class="preprocessor"></span>
</pre></div></div>
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