forked from 0ad/0ad
Ykkrosh
fc111ecb08
Made CMatrix3D::Translate assume something sensible about the structure of the matrix, so it doesn't have to do a matrix multiplication. Added quaternion nlerp (but haven't used it anywhere). Changed animation interpolation so it loops smoothly in the actor viewer but (hopefully) doesn't interpolate dying units into a half-upright pose. This was SVN commit r4932.
68 lines
1.7 KiB
C++
68 lines
1.7 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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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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