1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
|
#ifndef EGG_QUAT_H
#define EGG_QUAT_H
#include "common.h"
#include "egg/math/eggVector.h"
namespace EGG {
struct Quatf {
Quatf() {}
Quatf(f32 f, const Vector3f &v) : w(f), v(v) {}
Quatf(f32 f, f32 x, f32 y, f32 z) : w(f), v(Vector3f(x, y, z)) {}
~Quatf() {}
friend Quatf operator*(const Quatf &q, const Vector3f &vec) {
Vector3f crossed = q.v.cross(vec);
Vector3f scaled = vec * q.w;
Quatf ret = Quatf(-q.v.dot(vec), crossed + scaled);
return ret;
}
friend Quatf operator*(const Quatf &lhs, const Quatf &rhs) {
Vector3f cross = lhs.v.cross(rhs.v);
Vector3f scaledRhs = lhs.w * rhs.v;
Vector3f tmp0 = cross + scaledRhs;
Vector3f scaledLhs = rhs.w * lhs.v;
Vector3f tmp1 = tmp0 + scaledLhs;
return Quatf(lhs.w * rhs.w - lhs.v.dot(rhs.v), tmp1);
}
void set(f32 fw, f32 fx, f32 fy, f32 fz);
void set(f32 f, const Vector3f &vec); // not in SS
void setRPY(const EGG::Vector3f &rpy); // not in SS
Vector3f calcRPY(); // not in SS
void setRPY(f32 roll, f32 pitch, f32 yaw); // not in SS
void setAxisRotation(const Vector3f &, f32);
f32 norm();
void normalise();
Quatf conjugate() const;
Quatf inverse(); // not in SS
Vector3f rotateVector(const Vector3f &);
Vector3f rotateVectorInv(const Vector3f &); // not in SS
void slerpTo(const Quatf &, f32, Quatf &out) const;
void slerpTo2(f32 fparam, const Quatf ¶m1, Quatf &out) const {
const Quatf &tmp = param1;
slerpTo(tmp, fparam, out);
}
void limitSlerpTo(const Quatf &, f32, f32, Quatf &out) const;
void makeVectorRotationLimit(Vector3f &, Vector3f &, f32); // not in SS
void makeVectorRotation(const Vector3f &, const Vector3f &);
// not sure about the name
f32 dot(const Quatf &other) const {
f32 ret = v.dot(other.v);
ret += w * other.w;
return ret;
}
void set(const Quatf &other) {
v.set(other.v);
w = other.w;
}
void multScalar(f32 s) {
w *= s;
v.x *= s;
v.y *= s;
v.z *= s;
}
void setUnit() {
set(1.0f, 0.0f, 0.0f, 0.0f);
}
void makeWPositive() {
if (w < 0.f) {
multScalar(-1.f);
}
}
Vector3f v;
f32 w;
};
} // namespace EGG
#endif
|
