forked from 0ad/0ad
Ykkrosh
173c56140c
* Skinning is done in a way that works when there's more than one bone influencing a vertex. * PMDs now store vertexes in world-space instead of bind-space. (The loader converts the old-version PMDs so they still work.) * Moved SkinPoint, SkinNormal into CModelDef so it could use them when loading the old PMDs. * Made the FastNormals approach non-optional, so the inverse-transpose bone matrices could be removed. Changed the explanation of why it's a valid approach. * Quaternion: Made GetInverse assume that the quaternions have unit length (which they do when they're representing 3D rotations). * lib: Added support for DDS files that aren't a multiple of 4x4 (most useful for 1x1, 2x2, etc that are still powers of two). * Actor Viewer: Added white terrain texture to the minimal test mod, so shadows are visible. Changed default so walk/run animations don't move the unit along the ground. * Removed some redundant repetition in doc comments. * Removed some unnecessary #includes. This was SVN commit r4696.
62 lines
1.5 KiB
C++
62 lines
1.5 KiB
C++
/************************************************************
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*
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* File Name: Quaternion.H
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*
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* Description:
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*
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************************************************************/
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#ifndef QUATERNION_H
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#define QUATERNION_H
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#include "Matrix3D.h"
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#include "Vector3D.h"
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class CQuaternion
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{
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public:
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CVector3D m_V;
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float m_W;
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public:
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CQuaternion();
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CQuaternion(float x, float y, float z, float w);
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// Quaternion addition
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CQuaternion operator + (const CQuaternion &quat) const;
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// Quaternion addition/assignment
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CQuaternion &operator += (const CQuaternion &quat);
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// Quaternion multiplication
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CQuaternion operator * (const CQuaternion &quat) const;
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// Quaternion multiplication/assignment
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CQuaternion &operator *= (const CQuaternion &quat);
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void FromEulerAngles (float x, float y, float z);
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CVector3D ToEulerAngles();
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// Convert the quaternion to matrix
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CMatrix3D ToMatrix() const;
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void ToMatrix(CMatrix3D& result) const;
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// Sphere interpolation
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void Slerp(const CQuaternion& from, const CQuaternion& to, float ratio);
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// Create a quaternion from axis/angle representation of a rotation
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void FromAxisAngle(const CVector3D& axis, float angle);
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// Convert the quaternion to axis/angle representation of a rotation
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void ToAxisAngle(CVector3D& axis, float& angle);
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// Normalize this quaternion
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void Normalize();
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// Rotate a vector by this quaternion. Assumes the quaternion is normalised.
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CVector3D Rotate(const CVector3D& vec) const;
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// Calculate q^-1. Assumes the quaternion is normalised.
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CQuaternion GetInverse() const;
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};
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#endif
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