Ykkrosh
a5d1968a8c
Quaternion: Removed operator- since it doesn't seem geometrically sensible for rotation-quaternions. Added ToAxisAngle but don't actually use it anywhere. GameView: Changed unit-view to look slightly more correct. This was SVN commit r3201.
61 lines
1.4 KiB
C++
Executable File
61 lines
1.4 KiB
C++
Executable File
/************************************************************
|
|
*
|
|
* File Name: Quaternion.H
|
|
*
|
|
* Description:
|
|
*
|
|
************************************************************/
|
|
|
|
#ifndef QUATERNION_H
|
|
#define QUATERNION_H
|
|
|
|
#include "Matrix3D.h"
|
|
#include "Vector3D.h"
|
|
|
|
class CQuaternion
|
|
{
|
|
public:
|
|
CVector3D m_V;
|
|
float m_W;
|
|
|
|
public:
|
|
CQuaternion();
|
|
CQuaternion(float x, float y, float z, float w);
|
|
|
|
//quaternion addition
|
|
CQuaternion operator + (const CQuaternion &quat) const;
|
|
//quaternion addition/assignment
|
|
CQuaternion &operator += (const CQuaternion &quat);
|
|
|
|
//quaternion multiplication
|
|
CQuaternion operator * (const CQuaternion &quat) const;
|
|
//quaternion multiplication/assignment
|
|
CQuaternion &operator *= (const CQuaternion &quat);
|
|
|
|
void FromEulerAngles (float x, float y, float z);
|
|
|
|
//convert the quaternion to matrix
|
|
CMatrix3D ToMatrix() const;
|
|
void ToMatrix(CMatrix3D& result) const;
|
|
|
|
//sphere interpolation
|
|
void Slerp(const CQuaternion& from, const CQuaternion& to, float ratio);
|
|
|
|
// create a quaternion from axis/angle representation of a rotation
|
|
void FromAxisAngle(const CVector3D& axis, float angle);
|
|
|
|
// convert the quaternion to axis/angle representation of a rotation
|
|
void ToAxisAngle(CVector3D& axis, float& angle);
|
|
|
|
// normalize this quaternion
|
|
void Normalize();
|
|
|
|
// rotate a vector by this quaternion
|
|
CVector3D Rotate(const CVector3D& vec) const;
|
|
|
|
// calculate q^-1
|
|
CQuaternion GetInverse() const;
|
|
};
|
|
|
|
#endif
|