106 lines
2.8 KiB
C++
106 lines
2.8 KiB
C++
/*
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Copyright (C) 2005-2006 Feeling Software Inc.
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MIT License: http://www.opensource.org/licenses/mit-license.php
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*/
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/**
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@file FMQuaternion.h
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The file containing the class for quaternions.
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*/
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#ifndef _FM_QUATERNION_H_
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#define _FM_QUATERNION_H_
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/**
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A quaternion.
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Not used within FCollada
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[Glaforte 03-08-2006] VERY EXPERIMENTAL CODE: DON'T USE.
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@ingroup FMath
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*/
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class FCOLLADA_EXPORT FMQuaternion
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{
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public:
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float x; /**< The i component. */
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float y; /**< The j component. */
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float z; /**< The k component. */
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float w; /**< The scalar component. */
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#ifndef _DEBUG
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/**
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* Creates an empty FMQuaternion.
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*
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* The default values are non deterministic.
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*/
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FMQuaternion() {}
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#else
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FMQuaternion() { x = 123456789.0f; y = 123456789.0f; z = 123456789.0f; w = 123456789.0f; }
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#endif
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/**
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* Creates the FMQuaternion with the given component values.
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*
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* @param _x The i component.
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* @param _y The j component.
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* @param _z The k component.
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* @param _w The scalar component.
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*/
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FMQuaternion(float _x, float _y, float _z, float _w) { x = _x; y = _y; z = _z; w = _w; }
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/**
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* Creates the FMQuaternion from a given axis and angle of rotation.
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*
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* @param axis The axis of rotation.
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* @param angle The angle of rotation in radians.
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*/
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FMQuaternion(const FMVector3& axis, float angle);
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/**
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* Get this FMQuaternion as an array of \c floats.
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*
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* @return The \c float array.
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*/
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inline operator float*() { return &x; }
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/**
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* Get this FMQuaternion as an array of \c floats.
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*
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* @return The \c float array.
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*/
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inline operator const float*() const { return &x; }
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/**
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* Assign this FMQuaternion to the given \c float array.
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*
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* Assigns each coordinate of this FMQuaternion to the elements in the
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* \c float array. The first element to the i component, the second to the
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* j, the third to the k, and the forth to the scalar. It returns this
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* FMQuaternion.
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*
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* @param v The \c float array to assign with.
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* @return This FMQuaternion.
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*/
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inline FMQuaternion& operator =(const float* v) { x = *v; y = *(v + 1); z = *(v + 2); w = *(v + 3); return *this; }
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/**
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* Applys quaternion multiplication of the given FMQuaternion with this
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* FMQuaternion and returns the value.
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*
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* @param q The FMQuaternion multiply with.
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* @return The resulting FMQuaternion.
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*/
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FMQuaternion operator*(const FMQuaternion& q) const;
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/**
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* Get the FMQuaternion representation of the Euler rotation angles.
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*
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* @param _x The rotation about the x-axis (roll), in radians.
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* @param _y The rotation about the y-axis (pitch), in radians.
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* @param _z The rotation about the z-axis (yaw), in radians.
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*/
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static FMQuaternion EulerRotationQuaternion(float _x, float _y, float _z);
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};
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#endif // _FM_QUATERNION_H_
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