131 lines
4.2 KiB
C++
131 lines
4.2 KiB
C++
/*
|
|
Open Asset Import Library (assimp)
|
|
----------------------------------------------------------------------
|
|
|
|
Copyright (c) 2006-2018, 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
|
|
THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
|
(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
|