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nux  3.0.0
Quaternion.h
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00001 /*
00002  * Copyright 2010 Inalogic® Inc.
00003  *
00004  * This program is free software: you can redistribute it and/or modify it
00005  * under the terms of the GNU Lesser General Public License, as
00006  * published by the  Free Software Foundation; either version 2.1 or 3.0
00007  * of the License.
00008  *
00009  * This program is distributed in the hope that it will be useful, but
00010  * WITHOUT ANY WARRANTY; without even the implied warranties of
00011  * MERCHANTABILITY, SATISFACTORY QUALITY or FITNESS FOR A PARTICULAR
00012  * PURPOSE.  See the applicable version of the GNU Lesser General Public
00013  * License for more details.
00014  *
00015  * You should have received a copy of both the GNU Lesser General Public
00016  * License along with this program. If not, see <http://www.gnu.org/licenses/>
00017  *
00018  * Authored by: Jay Taoko <jaytaoko@inalogic.com>
00019  *
00020  */
00021 
00022 
00023 #ifndef QUATERNION_H
00024 #define QUATERNION_H
00025 
00026 #include "Vector3.h"
00027 #include "Vector4.h"
00028 
00029 namespace nux
00030 {
00031 
00032   /***************************************************************************************\
00033   Class:       Quaternion
00034 
00035   Description:    Define basic quaternion initialization and function.
00036 
00037   Comments:       Member functions uses input angles in radian.
00038   \***************************************************************************************/
00039   class Quaternion
00040   {
00041   public:
00042     Quaternion();
00043     Quaternion (const Quaternion &s);
00044     Quaternion (const Vector3 &vec, float angle);
00045     Quaternion (const Vector4 &vec);
00046 
00047     // creates a Quaternion from an angle axis -- note that if angle > 2*PI the resulting
00048     // rotation is angle mod 2*PI
00049     Quaternion (float axis_x, float axis_y, float axis_z, float angle_radian);
00050     // creates a Quaternion from an angle-around-XYZ euler triple using roll-pitch-yaw order
00051     Quaternion (float euler_x, float euler_y, float euler_z);
00052     ~Quaternion();
00053 
00054     Quaternion &operator = (const Quaternion &quat);
00055 
00056     // binary operators
00057     Quaternion operator + (const Quaternion &quat) const;
00058     Quaternion operator - (const Quaternion &quat) const;
00059     Quaternion operator * (const Quaternion &quat) const;
00060     Quaternion operator * (const float &f) const;
00061     Quaternion operator / (const float &f) const;
00062 
00063     // assignment operators
00064     Quaternion &operator += (const Quaternion &quat);
00065     Quaternion &operator -= (const Quaternion &quat);
00066     Quaternion &operator *= (const Quaternion &quat);
00067     Quaternion &operator *= (const float &f);
00068     Quaternion &operator /= (const float &f);
00069 
00070     // unary operators
00071     Quaternion operator + () const;
00072     Quaternion operator - () const;
00073     //const Quaternion operator / (const Quaternion& quat);
00074 
00075 
00076     bool operator == ( const Quaternion & ) const;
00077     bool operator != ( const Quaternion & ) const;
00078 
00079     void Conjugate();
00080     void Inverse();
00081     void Normalize();
00082     float DotProduct (const Quaternion &quat) const;
00083     float Length() const;
00084 
00085     void GetAngleAxis (Vector3 &axis, float &angle_radian) const;        // fetches the angle/axis given by the quat
00086 
00087     // Fetches 4x4 homogeneous matrix given by the quat
00088     Matrix4 GetMatrix() const;
00089 
00090     float x, y, z, w;
00091 
00092     friend Quaternion operator * (float f, const Quaternion &quat);
00093   private:
00094     // set the quaternion by angle-axis (see AA constructor)
00095     void FromAngleAxis (float axis_x, float axis_y, float axis_z, float angle_radian);
00096 
00097     // set the quaternion by euler axis angles (see euler constructor)
00098     void FromEulerZXY (float euler_x, float euler_y, float euler_z);
00099   };
00100 
00101 }
00102 
00103 #endif // QUATERNION_H