vladislavbelov
ffc4a56b9f
Fixes #6846 Differential Revision: https://code.wildfiregames.com/D5185 This was SVN commit r27965.
78 lines
2.2 KiB
C++
78 lines
2.2 KiB
C++
/* Copyright (C) 2009 Wildfire Games.
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* This file is part of 0 A.D.
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*
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* 0 A.D. is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 2 of the License, or
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* (at your option) any later version.
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*
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* 0 A.D. is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with 0 A.D. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef INCLUDED_QUATERNION
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#define INCLUDED_QUATERNION
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#include "Vector3D.h"
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class CMatrix3D;
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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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CQuaternion operator + (const CQuaternion &quat) const;
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CQuaternion &operator += (const CQuaternion &quat);
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CQuaternion operator - (const CQuaternion &quat) const;
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CQuaternion &operator -= (const CQuaternion &quat);
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CQuaternion operator * (const CQuaternion &quat) const;
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CQuaternion &operator *= (const CQuaternion &quat);
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CQuaternion operator * (float factor) const;
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float Dot(const CQuaternion& quat) const;
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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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// Normalised linear interpolation
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void Nlerp(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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