source/maths/Quaternion.h

   1 /* Copyright (C) 2009 Wildfire Games.
   2  * This file is part of 0 A.D.
   3  *
   4  * 0 A.D. is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 2 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * 0 A.D. is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with 0 A.D.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #ifndef INCLUDED_QUATERNION
  19 #define INCLUDED_QUATERNION
  20
  21 #include "Matrix3D.h"
  22 #include "Vector3D.h"
  23
  24 class CQuaternion
  25 {
  26 public:
  27         CVector3D       m_V;
  28         float           m_W;
  29
  30 public:
  31         CQuaternion();
  32         CQuaternion(float x, float y, float z, float w);
  33
  34         CQuaternion operator + (const CQuaternion &quat) const;
  35         CQuaternion &operator += (const CQuaternion &quat);
  36
  37         CQuaternion operator - (const CQuaternion &quat) const;
  38         CQuaternion &operator -= (const CQuaternion &quat);
  39
  40         CQuaternion operator * (const CQuaternion &quat) const;
  41         CQuaternion &operator *= (const CQuaternion &quat);
  42
  43         CQuaternion operator * (float factor) const;
  44
  45         float Dot(const CQuaternion& quat) const;
  46
  47         void FromEulerAngles (float x, float y, float z);
  48         CVector3D ToEulerAngles();
  49
  50         // Convert the quaternion to matrix
  51         CMatrix3D ToMatrix() const;
  52         void ToMatrix(CMatrix3D& result) const;
  53
  54         // Sphere interpolation
  55         void Slerp(const CQuaternion& from, const CQuaternion& to, float ratio);
  56
  57         // Normalised linear interpolation
  58         void Nlerp(const CQuaternion& from, const CQuaternion& to, float ratio);
  59
  60         // Create a quaternion from axis/angle representation of a rotation
  61         void FromAxisAngle(const CVector3D& axis, float angle);
  62
  63         // Convert the quaternion to axis/angle representation of a rotation
  64         void ToAxisAngle(CVector3D& axis, float& angle);
  65
  66         // Normalize this quaternion
  67         void Normalize();
  68
  69         // Rotate a vector by this quaternion. Assumes the quaternion is normalised.
  70         CVector3D Rotate(const CVector3D& vec) const;
  71
  72         // Calculate q^-1. Assumes the quaternion is normalised.
  73         CQuaternion GetInverse() const;
  74 };
  75
  76 #endif