quaternion.h

Go to the documentation of this file.

/*
Open Asset Import Library (assimp)
----------------------------------------------------------------------
 
Copyright (c) 2006-2020, assimp team
 
 
All rights reserved.
 
Redistribution and use of this software in source and binary forms,
with or without modification, are permitted provided that the
following conditions are met:
 
* Redistributions of source code must retain the above
  copyright notice, this list of conditions and the
  following disclaimer.
 
* Redistributions in binary form must reproduce the above
  copyright notice, this list of conditions and the
  following disclaimer in the documentation and/or other
  materials provided with the distribution.
 
* Neither the name of the assimp team, nor the names of its
  contributors may be used to endorse or promote products
  derived from this software without specific prior
  written permission of the assimp team.
 
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
----------------------------------------------------------------------
*/
 
#pragma once
#ifndef AI_QUATERNION_H_INC
#define AI_QUATERNION_H_INC
 
#ifdef __cplusplus
 
#ifdef __GNUC__
#   pragma GCC system_header
#endif
 
#include <assimp/defs.h>
 
template <typename TReal> class aiVector3t;
template <typename TReal> class aiMatrix3x3t;
 
// ---------------------------------------------------------------------------
template <typename TReal>
class aiQuaterniont
{
public:
    aiQuaterniont() AI_NO_EXCEPT : w(1.0), x(), y(), z() {}
    aiQuaterniont(TReal pw, TReal px, TReal py, TReal pz)
        : w(pw), x(px), y(py), z(pz) {}
 
    explicit aiQuaterniont( const aiMatrix3x3t<TReal>& pRotMatrix);
 
    aiQuaterniont( TReal rotx, TReal roty, TReal rotz);
 
    aiQuaterniont( aiVector3t<TReal> axis, TReal angle);
 
    explicit aiQuaterniont( aiVector3t<TReal> normalized);
 
    aiMatrix3x3t<TReal> GetMatrix() const;
 
public:
 
    bool operator== (const aiQuaterniont& o) const;
    bool operator!= (const aiQuaterniont& o) const;
 
    bool Equal(const aiQuaterniont& o, TReal epsilon = 1e-6) const;
 
public:
 
    aiQuaterniont& Normalize();
 
    aiQuaterniont& Conjugate ();
 
    aiVector3t<TReal> Rotate (const aiVector3t<TReal>& in) const;
 
    aiQuaterniont operator* (const aiQuaterniont& two) const;
 
public:
 
    static void Interpolate( aiQuaterniont& pOut, const aiQuaterniont& pStart,
        const aiQuaterniont& pEnd, TReal pFactor);
 
public:
 
    TReal w, x, y, z;
} ;
 
typedef aiQuaterniont<ai_real> aiQuaternion;
 
#else
 
struct aiQuaternion {
    ai_real w, x, y, z;
};
 
#endif
 
#endif // AI_QUATERNION_H_INC