maths/glQuaternion.h

   1 /***************************************************************************
   2  *   This file is part of Tecorrec.                                        *
   3  *   Copyright 2008 James Hogan <james@albanarts.com>                      *
   4  *                                                                         *
   5  *   Tecorrec is free software: you can redistribute it and/or modify      *
   6  *   it under the terms of the GNU General Public License as published by  *
   7  *   the Free Software Foundation, either version 2 of the License, or     *
   8  *   (at your option) any later version.                                   *
   9  *                                                                         *
  10  *   Tecorrec is distributed in the hope that it will be useful,           *
  11  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
  12  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
  13  *   GNU General Public License for more details.                          *
  14  *                                                                         *
  15  *   You should have received a copy of the GNU General Public License     *
  16  *   along with Tecorrec.  If not, write to the Free Software Foundation,  *
  17  *   Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.   *
  18  ***************************************************************************/
  19
  20 /*
  21  * glQuaternion.h
  22  *
  23  * Inline function helpers for GLquaternion<t> classes (from maths library)
  24  *  These are overloaded to take multiple data types
  25  *  Header for basic data types is glBasic.h
  26  *
  27  */
  28
  29 // Stop multiple inclusions
  30 #ifndef _maths_glQuaternion_h_
  31 #define _maths_glQuaternion_h_
  32
  33 // Maths Library - Quaternion Classes
  34 #include "Quaternion.h"
  35
  36 namespace maths {
  37   namespace gl {
  38     // Make use of maths library quaternion classes
  39     typedef maths::Quaternion<float> quatf;
  40     typedef maths::Quaternion<double> quatd;
  41   }
  42 }
  43
  44 typedef maths::gl::quatf GLquatf;
  45 typedef maths::gl::quatd GLquatd;
  46
  47 // Rotate the modelview matrix by a quaternion
  48 inline void glRotate(const maths::gl::quatf & q)
  49 {
  50   // Convert the quaternion data into simple axis & angle so that it fits in glRotatef
  51   maths::gl::quatf Q = q.ToAxisAngle();
  52   // Convert Q.w into degrees (from radians) before passing into OpenGL
  53   glRotatef(57.295779513f * Q[3], Q[0], Q[1], Q[2]);
  54 }
  55
  56 // Rotate the modelview matrix by a quaternion
  57 inline void glRotate(const maths::gl::quatd & q)
  58 {
  59   // Convert the quaternion data into simple axis & angle so that it fits in glRotatef
  60   maths::gl::quatd Q = q.ToAxisAngle();
  61   // Convert Q.w into degrees (from radians) before passing into OpenGL
  62   glRotated(57.295779513 * Q[3], Q[0], Q[1], Q[2]);
  63 }
  64
  65 #endif