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Quaternion.h 4.9KB

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  1. /*!
  2. * \file include/math/Quaternion.h
  3. * \brief Quaternion
  4. *
  5. * \author Mongoose
  6. */
  7. #ifndef _MATH_QUATERNION_H_
  8. #define _MATH_QUATERNION_H_
  9. #include "math/math.h"
  10. /*!
  11. * \brief Quaternion
  12. */
  13. class Quaternion {
  14. public:
  15. /*!
  16. * \brief Constructs an object of Quaternion
  17. */
  18. Quaternion();
  19. /*!
  20. * \brief Constructs an object of Quaternion
  21. * \param w W part of new Quaternion
  22. * \param x X part of new Quaternion
  23. * \param y Y part of new Quaternion
  24. * \param z Z part of new Quaternion
  25. */
  26. Quaternion(vec_t w, vec_t x, vec_t y, vec_t z);
  27. /*!
  28. * \brief Constructs an object of Quaternion
  29. * \param v contents of new Quaternion
  30. */
  31. Quaternion(vec4_t v);
  32. /*!
  33. * \brief Get column order matrix equivalent of this quaternion
  34. * \param m where matrix will be stored
  35. */
  36. void getMatrix(matrix_t m);
  37. /*!
  38. * \brief Multiplies this quaternion.
  39. *
  40. * Use normalize() call for unit quaternion.
  41. *
  42. * \param q what to multiply this quaternion with
  43. * \returns resultant quaternion
  44. * \sa Quaternion::normalize()
  45. */
  46. Quaternion operator *(const Quaternion &q);
  47. /*!
  48. * \brief Divide from this quaternion
  49. * \param q what to divide from this quaternion
  50. * \returns resultant quaternion
  51. */
  52. Quaternion operator /(const Quaternion &q);
  53. /*!
  54. * \brief Add to this quaternion
  55. * \param q what to add to this quaternion
  56. * \returns resultant quaternion
  57. */
  58. Quaternion operator +(const Quaternion &q);
  59. /*!
  60. * \brief Subtract from this quaternion
  61. * \param q what to subtract from this quaternion
  62. * \returns resultant quaternion
  63. */
  64. Quaternion operator -(const Quaternion &q);
  65. /*!
  66. * \brief Compares q to this quaternion
  67. * \param q what to compare this quaternion to
  68. * \returns true if equal, false otherwise
  69. */
  70. bool operator ==(const Quaternion &q);
  71. /*!
  72. * \brief Conjugate this quaternion
  73. * \returns Conjugate of this quaternion
  74. */
  75. Quaternion conjugate();
  76. /*!
  77. * \brief Scale this quaternion
  78. * \param s scaling factor
  79. * \returns Scaled result of this quaternion
  80. */
  81. Quaternion scale(vec_t s);
  82. /*!
  83. * \brief Inverse this quaternion
  84. * \returns inverse of this quaternion
  85. */
  86. Quaternion inverse();
  87. /*!
  88. * \brief Dot Product of quaternions
  89. * \param a first argument to dot product
  90. * \param b second argument to dot product
  91. * \returns dot product between a and b quaternions
  92. */
  93. static vec_t dot(Quaternion a, Quaternion b);
  94. /*!
  95. * \brief Magnitude of this quaternion
  96. * \returns Magnitude of this quaternion
  97. */
  98. vec_t magnitude();
  99. /*!
  100. * \brief Interpolates between a and b rotations.
  101. *
  102. * Using spherical linear interpolation:
  103. * `I = (((B . A)^-1)^Time)A`
  104. *
  105. * \param a first argument for slerp
  106. * \param b second argument for slerp
  107. * \param time time argument for slerp
  108. * \returns resultant quaternion
  109. */
  110. static Quaternion slerp(Quaternion a, Quaternion b, vec_t time);
  111. /*!
  112. * \brief Sets this quaternion to identity
  113. */
  114. void setIdentity();
  115. /*!
  116. * \brief Sets this quaternion
  117. * \param angle new angle
  118. * \param x new X coordinate
  119. * \param y new Y coordinate
  120. * \param z new Z coordinate
  121. */
  122. void set(vec_t angle, vec_t x, vec_t y, vec_t z);
  123. /*!
  124. * \brief Normalize this quaternion
  125. */
  126. void normalize();
  127. /*!
  128. * \brief Set this quaternion
  129. * \param q will be copied into this quaternion
  130. */
  131. void copy(Quaternion q);
  132. /*!
  133. * \brief Sets matrix equivalent of this quaternion
  134. * \param m matrix in valid column order
  135. */
  136. void setByMatrix(matrix_t m);
  137. private:
  138. /*!
  139. * \brief Multiplies two quaternions
  140. * \param a first argument to multiplication
  141. * \param b second argument to multiplication
  142. * \returns resultant quaternion
  143. */
  144. static Quaternion multiply(Quaternion a, Quaternion b);
  145. /*!
  146. * \brief Divides B from A quaternion
  147. * \param a first argument to division
  148. * \param b second argument to division
  149. * \returns quotient quaternion
  150. */
  151. static Quaternion divide(Quaternion a, Quaternion b);
  152. /*!
  153. * \brief Adds A and B quaternions
  154. * \param a first argument to addition
  155. * \param b second argument to addition
  156. * \returns resultant quaternion
  157. */
  158. static Quaternion add(Quaternion a, Quaternion b);
  159. /*!
  160. * \brief Subtracts B from A quaternion
  161. * \param a first argument to subtraction
  162. * \param b second argument to subtraction
  163. * \returns resultant quaternion
  164. */
  165. static Quaternion subtract(Quaternion a, Quaternion b);
  166. vec_t mW; //!< Quaternion, W part
  167. vec_t mX; //!< Quaternion, X part
  168. vec_t mY; //!< Quaternion, Y part
  169. vec_t mZ; //!< Quaternion, Z part
  170. };
  171. #endif