| /* |
| Open Asset Import Library (assimp) |
| ---------------------------------------------------------------------- |
| |
| Copyright (c) 2006-2017, assimp team |
| |
| All rights reserved. |
| |
| Redistribution and use of this software in source and binary forms, |
| with or without modification, are permitted provided that the |
| following conditions are met: |
| |
| * Redistributions of source code must retain the above |
| copyright notice, this list of conditions and the |
| following disclaimer. |
| |
| * Redistributions in binary form must reproduce the above |
| copyright notice, this list of conditions and the |
| following disclaimer in the documentation and/or other |
| materials provided with the distribution. |
| |
| * Neither the name of the assimp team, nor the names of its |
| contributors may be used to endorse or promote products |
| derived from this software without specific prior |
| written permission of the assimp team. |
| |
| THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
| "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
| LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR |
| A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT |
| OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, |
| SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT |
| LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, |
| DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY |
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| (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
| OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
| |
| ---------------------------------------------------------------------- |
| */ |
| |
| /** @file quaternion.h |
| * @brief Quaternion structure, including operators when compiling in C++ |
| */ |
| #pragma once |
| #ifndef AI_QUATERNION_H_INC |
| #define AI_QUATERNION_H_INC |
| |
| #ifdef __cplusplus |
| |
| #include "defs.h" |
| |
| template <typename TReal> class aiVector3t; |
| template <typename TReal> class aiMatrix3x3t; |
| |
| // --------------------------------------------------------------------------- |
| /** Represents a quaternion in a 4D vector. */ |
| template <typename TReal> |
| class aiQuaterniont |
| { |
| public: |
| aiQuaterniont() : w(1.0), x(), y(), z() {} |
| aiQuaterniont(TReal pw, TReal px, TReal py, TReal pz) |
| : w(pw), x(px), y(py), z(pz) {} |
| |
| /** Construct from rotation matrix. Result is undefined if the matrix is not orthonormal. */ |
| explicit aiQuaterniont( const aiMatrix3x3t<TReal>& pRotMatrix); |
| |
| /** Construct from euler angles */ |
| aiQuaterniont( TReal rotx, TReal roty, TReal rotz); |
| |
| /** Construct from an axis-angle pair */ |
| aiQuaterniont( aiVector3t<TReal> axis, TReal angle); |
| |
| /** Construct from a normalized quaternion stored in a vec3 */ |
| explicit aiQuaterniont( aiVector3t<TReal> normalized); |
| |
| /** Returns a matrix representation of the quaternion */ |
| aiMatrix3x3t<TReal> GetMatrix() const; |
| |
| public: |
| |
| bool operator== (const aiQuaterniont& o) const; |
| bool operator!= (const aiQuaterniont& o) const; |
| |
| bool Equal(const aiQuaterniont& o, TReal epsilon = 1e-6) const; |
| |
| public: |
| |
| /** Normalize the quaternion */ |
| aiQuaterniont& Normalize(); |
| |
| /** Compute quaternion conjugate */ |
| aiQuaterniont& Conjugate (); |
| |
| /** Rotate a point by this quaternion */ |
| aiVector3t<TReal> Rotate (const aiVector3t<TReal>& in); |
| |
| /** Multiply two quaternions */ |
| aiQuaterniont operator* (const aiQuaterniont& two) const; |
| |
| public: |
| |
| /** Performs a spherical interpolation between two quaternions and writes the result into the third. |
| * @param pOut Target object to received the interpolated rotation. |
| * @param pStart Start rotation of the interpolation at factor == 0. |
| * @param pEnd End rotation, factor == 1. |
| * @param pFactor Interpolation factor between 0 and 1. Values outside of this range yield undefined results. |
| */ |
| static void Interpolate( aiQuaterniont& pOut, const aiQuaterniont& pStart, |
| const aiQuaterniont& pEnd, TReal pFactor); |
| |
| public: |
| |
| //! w,x,y,z components of the quaternion |
| TReal w, x, y, z; |
| } ; |
| |
| typedef aiQuaterniont<ai_real> aiQuaternion; |
| |
| #else |
| |
| struct aiQuaternion { |
| ai_real w, x, y, z; |
| }; |
| |
| #endif |
| |
| #endif // AI_QUATERNION_H_INC |