Newer
Older
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
/********************************************************************************
* *
* D o u b l e - P r e c i s i o n Q u a t e r n i o n *
* *
*********************************************************************************
* Copyright (C) 1994,2006 by Jeroen van der Zijp. All Rights Reserved. *
*********************************************************************************
* This library is free software; you can redistribute it and/or *
* modify it under the terms of the GNU Lesser General Public *
* License as published by the Free Software Foundation; either *
* version 2.1 of the License, or (at your option) any later version. *
* *
* This library is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU *
* Lesser General Public License for more details. *
* *
* You should have received a copy of the GNU Lesser General Public *
* License along with this library; if not, write to the Free Software *
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. *
*********************************************************************************
* $Id: FXQuatd.h 2344 2006-02-12 21:19:36Z lyle $ *
********************************************************************************/
#ifndef FXQUATD_H
#define FXQUATD_H
namespace FX {
class FXMat3d;
/// Double-precision quaternion
class FXAPI FXQuatd : public FXVec4d {
public:
/// Constructors
FXQuatd(){}
/// Copy constructor
FXQuatd(const FXQuatd& q):FXVec4d(q){}
/// Construct from components
FXQuatd(FXdouble xx,FXdouble yy,FXdouble zz,FXdouble ww):FXVec4d(xx,yy,zz,ww){}
/// Construct from array of doubles
FXQuatd(const FXdouble v[]):FXVec4d(v){}
/// Construct from axis and angle
FXQuatd(const FXVec3d& axis,FXdouble phi=0.0);
/// Construct from euler angles yaw (z), pitch (y), and roll (x)
FXQuatd(FXdouble roll,FXdouble pitch,FXdouble yaw);
/// Construct quaternion from two unit vectors
FXQuatd(const FXVec3d& fr,const FXVec3d& to);
/// Construct quaternion from three axes
FXQuatd(const FXVec3d& ex,const FXVec3d& ey,const FXVec3d& ez);
/// Construct quaternion from 3x3 matrix
FXQuatd(const FXMat3d& mat);
/// Adjust quaternion length
FXQuatd& adjust();
/// Set quaternion from axis and angle
void setAxisAngle(const FXVec3d& axis,FXdouble phi=0.0);
/// Obtain axis and angle from quaternion
void getAxisAngle(FXVec3d& axis,FXdouble& phi) const;
/// Set quaternion from roll (x), pitch (y), yaw (z)
void setRollPitchYaw(FXdouble roll,FXdouble pitch,FXdouble yaw);
void getRollPitchYaw(FXdouble& roll,FXdouble& pitch,FXdouble& yaw) const;
/// Set quaternion from yaw (z), pitch (y), roll (x)
void setYawPitchRoll(FXdouble yaw,FXdouble pitch,FXdouble roll);
void getYawPitchRoll(FXdouble& yaw,FXdouble& pitch,FXdouble& roll) const;
/// Set quaternion from roll (x), yaw (z), pitch (y)
void setRollYawPitch(FXdouble roll,FXdouble yaw,FXdouble pitch);
void getRollYawPitch(FXdouble& roll,FXdouble& yaw,FXdouble& pitch) const;
/// Set quaternion from pitch (y), roll (x),yaw (z)
void setPitchRollYaw(FXdouble pitch,FXdouble roll,FXdouble yaw);
void getPitchRollYaw(FXdouble& pitch,FXdouble& roll,FXdouble& yaw) const;
/// Set quaternion from pitch (y), yaw (z), roll (x)
void setPitchYawRoll(FXdouble pitch,FXdouble yaw,FXdouble roll);
void getPitchYawRoll(FXdouble& pitch,FXdouble& yaw,FXdouble& roll) const;
/// Set quaternion from yaw (z), roll (x), pitch (y)
void setYawRollPitch(FXdouble yaw,FXdouble roll,FXdouble pitch);
void getYawRollPitch(FXdouble& yaw,FXdouble& roll,FXdouble& pitch) const;
/// Set quaternion from axes
void setAxes(const FXVec3d& ex,const FXVec3d& ey,const FXVec3d& ez);
/// Get quaternion axes
void getAxes(FXVec3d& ex,FXVec3d& ey,FXVec3d& ez) const;
/// Obtain local x axis
FXVec3d getXAxis() const;
/// Obtain local y axis
FXVec3d getYAxis() const;
/// Obtain local z axis
FXVec3d getZAxis() const;
/// Exponentiate quaternion
FXQuatd exp() const;
/// Take logarithm of quaternion
FXQuatd log() const;
/// Invert quaternion
FXQuatd invert() const;
/// Invert unit quaternion
FXQuatd unitinvert() const;
/// Conjugate quaternion
FXQuatd conj() const;
/// Construct quaternion from arc a->b on unit sphere
FXQuatd& arc(const FXVec3d& a,const FXVec3d& b);
/// Spherical lerp
FXQuatd& lerp(const FXQuatd& u,const FXQuatd& v,FXdouble f);
/// Multiply quaternions
FXQuatd operator*(const FXQuatd& q) const;
/// Rotation of a vector by a quaternion
FXVec3d operator*(const FXVec3d& v) const;
};
}
#endif