2004-05-29 22:53:40 +02:00
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/************************************************************
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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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2005-09-15 07:31:49 +02:00
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#include "Vector3D.h"
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2004-05-29 22:53:40 +02:00
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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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2004-05-29 22:53:40 +02:00
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2006-12-15 17:09:30 +01:00
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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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2004-05-29 22:53:40 +02:00
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2006-12-15 17:09:30 +01:00
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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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2005-09-15 07:31:49 +02:00
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void FromEulerAngles (float x, float y, float z);
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2006-08-22 04:24:44 +02:00
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CVector3D ToEulerAngles();
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2006-12-15 17:09:30 +01:00
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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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2006-12-15 17:09:30 +01:00
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// Sphere interpolation
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2005-12-06 21:16:50 +01:00
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void Slerp(const CQuaternion& from, const CQuaternion& to, float ratio);
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2004-05-30 02:46:58 +02:00
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2006-12-15 17:09:30 +01:00
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// Create a quaternion from axis/angle representation of a rotation
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2005-12-06 21:16:50 +01:00
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void FromAxisAngle(const CVector3D& axis, float angle);
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2006-12-15 17:09:30 +01:00
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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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2006-12-15 17:09:30 +01:00
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// Normalize this quaternion
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void Normalize();
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2006-12-15 17:09:30 +01:00
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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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2006-12-15 17:09:30 +01:00
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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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