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doxygen="_cgi:http://www.nevrax.org/cgi-bin/nel-search.cgi" href="http://www.nevrax.org/cgi-bin/nel-search.cgi">Search</a> </center> +<hr><h1>quat.h</h1><a href="quat_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre>00001 +00007 <font class="comment">/* Copyright, 2000 Nevrax Ltd.</font> +00008 <font class="comment"> *</font> +00009 <font class="comment"> * This file is part of NEVRAX NEL.</font> +00010 <font class="comment"> * NEVRAX NEL is free software; you can redistribute it and/or modify</font> +00011 <font class="comment"> * it under the terms of the GNU General Public License as published by</font> +00012 <font class="comment"> * the Free Software Foundation; either version 2, or (at your option)</font> +00013 <font class="comment"> * any later version.</font> +00014 <font class="comment"></font> +00015 <font class="comment"> * NEVRAX NEL is distributed in the hope that it will be useful, but</font> +00016 <font class="comment"> * WITHOUT ANY WARRANTY; without even the implied warranty of</font> +00017 <font class="comment"> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU</font> +00018 <font class="comment"> * General Public License for more details.</font> +00019 <font class="comment"></font> +00020 <font class="comment"> * You should have received a copy of the GNU General Public License</font> +00021 <font class="comment"> * along with NEVRAX NEL; see the file COPYING. If not, write to the</font> +00022 <font class="comment"> * Free Software Foundation, Inc., 59 Temple Place - Suite 330, Boston,</font> +00023 <font class="comment"> * MA 02111-1307, USA.</font> +00024 <font class="comment"> */</font> +00025 +00026 <font class="preprocessor">#ifndef NL_QUAT_H </font> +00027 <font class="preprocessor"></font><font class="preprocessor">#define NL_QUAT_H </font> +00028 <font class="preprocessor"></font> +00029 <font class="preprocessor">#include "<a class="code" href="types__nl_8h.html">nel/misc/types_nl.h</a>"</font> +00030 <font class="preprocessor">#include "<a class="code" href="vector_8h.html">nel/misc/vector.h</a>"</font> +00031 <font class="preprocessor">#include "<a class="code" href="stream_8h.html">nel/misc/stream.h</a>"</font> +00032 <font class="preprocessor">#include <math.h></font> +00033 +00034 <font class="keyword">namespace </font>NLMISC +00035 { +00036 +00037 +00038 <font class="comment">// ***************************************************************************</font> +00039 <font class="keyword">const</font> <font class="keywordtype">double</font> <a class="code" href="namespaceNLMISC.html#a171">QuatEpsilon</a>= 0.000001; +00040 +00041 +00042 +00043 <font class="comment">// ***************************************************************************</font> +<a name="l00050"></a><a class="code" href="structNLMISC_1_1CAngleAxis.html">00050</a> <font class="comment"></font><font class="keyword">struct </font>CAngleAxis +00051 { +<a name="l00052"></a><a class="code" href="structNLMISC_1_1CAngleAxis.html#m0">00052</a> CVector <a class="code" href="structNLMISC_1_1CAngleAxis.html#m0">Axis</a>; +<a name="l00053"></a><a class="code" href="structNLMISC_1_1CAngleAxis.html#m1">00053</a> <font class="keywordtype">float</font> <a class="code" href="structNLMISC_1_1CAngleAxis.html#m1">Angle</a>; +00054 +<a name="l00055"></a><a class="code" href="structNLMISC_1_1CAngleAxis.html#a0">00055</a> <a class="code" href="structNLMISC_1_1CAngleAxis.html#a0">CAngleAxis</a>() {} +<a name="l00056"></a><a class="code" href="structNLMISC_1_1CAngleAxis.html#a1">00056</a> <a class="code" href="structNLMISC_1_1CAngleAxis.html#a0">CAngleAxis</a>(CVector axis, <font class="keywordtype">float</font> ang) : <a class="code" href="structNLMISC_1_1CAngleAxis.html#m0">Axis</a>(axis), <a class="code" href="structNLMISC_1_1CAngleAxis.html#m1">Angle</a>(ang) {} +00057 +<a name="l00059"></a><a class="code" href="structNLMISC_1_1CAngleAxis.html#a2">00059</a> <font class="keywordtype">void</font> <a class="code" href="structNLMISC_1_1CAngleAxis.html#a2">serial</a>(IStream &f) +00060 { +00061 f.serial(<a class="code" href="structNLMISC_1_1CAngleAxis.html#m0">Axis</a>); +00062 f.serial(<a class="code" href="structNLMISC_1_1CAngleAxis.html#m1">Angle</a>); +00063 } +00064 }; +00065 +00066 +00067 <font class="comment">// ***************************************************************************</font> +<a name="l00074"></a><a class="code" href="classNLMISC_1_1CQuatT.html">00074</a> <font class="comment"></font><font class="keyword">template</font> <<font class="keyword">class</font> T> <font class="keyword">class </font>CQuatT +00075 { +00076 <font class="keyword">public</font>: +<a name="l00077"></a><a class="code" href="classNLMISC_1_1CQuatT.html#m2">00077</a> T <a class="code" href="classNLMISC_1_1CQuatT.html#m0">x</a>,<a class="code" href="classNLMISC_1_1CQuatT.html#m1">y</a>,<a class="code" href="classNLMISC_1_1CQuatT.html#m2">z</a>,<a class="code" href="classNLMISC_1_1CQuatT.html#m3">w</a>; +00078 +00079 +00080 <font class="keyword">public</font>: +00081 +00083 <font class="comment">// @{</font> +<a name="l00084"></a><a class="code" href="classNLMISC_1_1CQuatT.html#z310_0">00084</a> <a class="code" href="classNLMISC_1_1CQuatT.html#z310_0">CQuatT</a>() : <a class="code" href="classNLMISC_1_1CQuatT.html#m0">x</a>((T)0.0),<a class="code" href="classNLMISC_1_1CQuatT.html#m1">y</a>((T)0.0),<a class="code" href="classNLMISC_1_1CQuatT.html#m2">z</a>((T)0.0),<a class="code" href="classNLMISC_1_1CQuatT.html#m3">w</a>((T)1.0) {} +<a name="l00085"></a><a class="code" href="classNLMISC_1_1CQuatT.html#z310_1">00085</a> <a class="code" href="classNLMISC_1_1CQuatT.html#z310_0">CQuatT</a>(T X, T Y, T Z, T W) : <a class="code" href="classNLMISC_1_1CQuatT.html#m0">x</a>(X), <a class="code" href="classNLMISC_1_1CQuatT.html#m1">y</a>(Y), <a class="code" href="classNLMISC_1_1CQuatT.html#m2">z</a>(Z), <a class="code" href="classNLMISC_1_1CQuatT.html#m3">w</a>(W) {} +<a name="l00087"></a><a class="code" href="classNLMISC_1_1CQuatT.html#z310_2">00087</a> <a class="code" href="classNLMISC_1_1CQuatT.html#z310_0">CQuatT</a>(<font class="keyword">const</font> CVector &axis, <font class="keywordtype">float</font> angle) {<a class="code" href="classNLMISC_1_1CQuatT.html#z315_3">setAngleAxis</a>(axis, angle);} +<a name="l00089"></a><a class="code" href="classNLMISC_1_1CQuatT.html#z310_3">00089</a> <a class="code" href="classNLMISC_1_1CQuatT.html#z310_0">CQuatT</a>(<font class="keyword">const</font> CAngleAxis &aa) {<a class="code" href="classNLMISC_1_1CQuatT.html#z315_3">setAngleAxis</a>(aa);} +00090 <font class="comment">// @}</font> +00091 +00092 +00094 <font class="comment">// @{</font> +<a name="l00095"></a><a class="code" href="classNLMISC_1_1CQuatT.html#z311_0">00095</a> <font class="keywordtype">void</font> <a class="code" href="classNLMISC_1_1CQuatT.html#z311_0">set</a>(T X, T Y, T Z, T W) {<a class="code" href="classNLMISC_1_1CQuatT.html#m0">x</a>= X; <a class="code" href="classNLMISC_1_1CQuatT.html#m1">y</a>= Y; <a class="code" href="classNLMISC_1_1CQuatT.html#m2">z</a>= Z; <a class="code" href="classNLMISC_1_1CQuatT.html#m3">w</a>= W;} +00096 <font class="comment">// @}</font> +00097 +00099 <font class="comment">// @{</font> +<a name="l00100"></a><a class="code" href="classNLMISC_1_1CQuatT.html#z312_0">00100</a> <font class="keywordtype">bool</font> <a class="code" href="classNLMISC_1_1CQuatT.html#z312_0">operator==</a>(<font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CQuatT.html#z310_0">CQuatT</a>& a)<font class="keyword"> const </font>{<font class="keywordflow">return</font> (<a class="code" href="classNLMISC_1_1CQuatT.html#m0">x</a>==0 && <a class="code" href="classNLMISC_1_1CQuatT.html#m1">y</a>==0 && <a class="code" href="classNLMISC_1_1CQuatT.html#m2">z</a>==0 && <a class="code" href="classNLMISC_1_1CQuatT.html#m3">w</a>==1.0f);} +00101 <font class="keywordtype">bool</font> <a class="code" href="classNLMISC_1_1CQuatT.html#z312_1">equal</a>(<font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CQuatT.html#z310_0">CQuatT</a>& a, <font class="keywordtype">float</font> epsilon = 1E-6f) <font class="keyword">const</font>; +<a name="l00102"></a><a class="code" href="classNLMISC_1_1CQuatT.html#z312_2">00102</a> <font class="keywordtype">void</font> <a class="code" href="classNLMISC_1_1CQuatT.html#z312_2">identity</a>() {<a class="code" href="classNLMISC_1_1CQuatT.html#m0">x</a> = <a class="code" href="classNLMISC_1_1CQuatT.html#m1">y</a> = <a class="code" href="classNLMISC_1_1CQuatT.html#m2">z</a> = 0.0f ; <a class="code" href="classNLMISC_1_1CQuatT.html#m3">w</a> = 1.0f; } +<a name="l00103"></a><a class="code" href="classNLMISC_1_1CQuatT.html#z312_3">00103</a> <font class="keywordtype">bool</font> <a class="code" href="classNLMISC_1_1CQuatT.html#z312_3">isIdentity</a>()<font class="keyword"> const </font>{<font class="keywordflow">return</font> (<a class="code" href="classNLMISC_1_1CQuatT.html#m0">x</a>==0.0f && <a class="code" href="classNLMISC_1_1CQuatT.html#m1">y</a>==0.0f && <a class="code" href="classNLMISC_1_1CQuatT.html#m2">z</a>==0.0f && <a class="code" href="classNLMISC_1_1CQuatT.html#m3">w</a>==1.0f);} +00104 <font class="comment">// @}</font> +00105 +00107 <font class="comment">// @{</font> +<a name="l00108"></a><a class="code" href="classNLMISC_1_1CQuatT.html#z313_0">00108</a> <a class="code" href="classNLMISC_1_1CQuatT.html#z310_0">CQuatT</a>& <a class="code" href="classNLMISC_1_1CQuatT.html#z313_0">operator+=</a>(<font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CQuatT.html#z310_0">CQuatT</a>&o) {<a class="code" href="classNLMISC_1_1CQuatT.html#m0">x</a>+=o.x; <a class="code" href="classNLMISC_1_1CQuatT.html#m1">y</a>+=o.y; <a class="code" href="classNLMISC_1_1CQuatT.html#m2">z</a>+=o.z; <a class="code" href="classNLMISC_1_1CQuatT.html#m3">w</a>+=o.w; <font class="keywordflow">return</font> *<font class="keyword">this</font>;} +<a name="l00109"></a><a class="code" href="classNLMISC_1_1CQuatT.html#z313_1">00109</a> <a class="code" href="classNLMISC_1_1CQuatT.html#z310_0">CQuatT</a>& <a class="code" href="classNLMISC_1_1CQuatT.html#z313_1">operator-=</a>(<font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CQuatT.html#z310_0">CQuatT</a>&o) {<a class="code" href="classNLMISC_1_1CQuatT.html#m0">x</a>-=o.x; <a class="code" href="classNLMISC_1_1CQuatT.html#m1">y</a>-=o.y; <a class="code" href="classNLMISC_1_1CQuatT.html#m2">z</a>-=o.z; <a class="code" href="classNLMISC_1_1CQuatT.html#m3">w</a>-=o.w; <font class="keywordflow">return</font> *<font class="keyword">this</font>;} +<a name="l00110"></a><a class="code" href="classNLMISC_1_1CQuatT.html#z313_2">00110</a> <a class="code" href="classNLMISC_1_1CQuatT.html#z310_0">CQuatT</a>& <a class="code" href="classNLMISC_1_1CQuatT.html#z313_2">operator*=</a>(T f) {<a class="code" href="classNLMISC_1_1CQuatT.html#m0">x</a>*=f;<a class="code" href="classNLMISC_1_1CQuatT.html#m1">y</a>*=f;<a class="code" href="classNLMISC_1_1CQuatT.html#m2">z</a>*=f;<a class="code" href="classNLMISC_1_1CQuatT.html#m3">w</a>*=f; <font class="keywordflow">return</font> *<font class="keyword">this</font>;} +<a name="l00111"></a><a class="code" href="classNLMISC_1_1CQuatT.html#z313_3">00111</a> <a class="code" href="classNLMISC_1_1CQuatT.html#z310_0">CQuatT</a>& <a class="code" href="classNLMISC_1_1CQuatT.html#z313_3">operator/=</a>(T f) {<font class="keywordtype">double</font> oof= 1.0/f; <a class="code" href="classNLMISC_1_1CQuatT.html#m0">x</a>=(T)(<a class="code" href="classNLMISC_1_1CQuatT.html#m0">x</a>*oof); <a class="code" href="classNLMISC_1_1CQuatT.html#m1">y</a>=(T)(<a class="code" href="classNLMISC_1_1CQuatT.html#m1">y</a>*oof); <a class="code" href="classNLMISC_1_1CQuatT.html#m2">z</a>= (T)(<a class="code" href="classNLMISC_1_1CQuatT.html#m2">z</a>*oof); <a class="code" href="classNLMISC_1_1CQuatT.html#m3">w</a>=(T)(<a class="code" href="classNLMISC_1_1CQuatT.html#m3">w</a>*oof); <font class="keywordflow">return</font> *<font class="keyword">this</font>;} +<a name="l00112"></a><a class="code" href="classNLMISC_1_1CQuatT.html#z313_4">00112</a> <a class="code" href="classNLMISC_1_1CQuatT.html#z310_0">CQuatT</a> <a class="code" href="classNLMISC_1_1CQuatT.html#z313_9">operator+</a>(<font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CQuatT.html#z310_0">CQuatT</a>&o)<font class="keyword"> const </font>{<font class="keywordflow">return</font> <a class="code" href="classNLMISC_1_1CQuatT.html#z310_0">CQuatT</a>(<a class="code" href="classNLMISC_1_1CQuatT.html#m0">x</a>+o.x,<a class="code" href="classNLMISC_1_1CQuatT.html#m1">y</a>+o.y,<a class="code" href="classNLMISC_1_1CQuatT.html#m2">z</a>+o.z,<a class="code" href="classNLMISC_1_1CQuatT.html#m3">w</a>+o.w);} +<a name="l00113"></a><a class="code" href="classNLMISC_1_1CQuatT.html#z313_5">00113</a> <a class="code" href="classNLMISC_1_1CQuatT.html#z310_0">CQuatT</a> <a class="code" href="classNLMISC_1_1CQuatT.html#z313_8">operator-</a>(<font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CQuatT.html#z310_0">CQuatT</a>&o)<font class="keyword"> const </font>{<font class="keywordflow">return</font> <a class="code" href="classNLMISC_1_1CQuatT.html#z310_0">CQuatT</a>(<a class="code" href="classNLMISC_1_1CQuatT.html#m0">x</a>-o.x,<a class="code" href="classNLMISC_1_1CQuatT.html#m1">y</a>-o.y,<a class="code" href="classNLMISC_1_1CQuatT.html#m2">z</a>-o.z,<a class="code" href="classNLMISC_1_1CQuatT.html#m3">w</a>-o.w);} +<a name="l00114"></a><a class="code" href="classNLMISC_1_1CQuatT.html#z313_6">00114</a> <a class="code" href="classNLMISC_1_1CQuatT.html#z310_0">CQuatT</a> <a class="code" href="classNLMISC_1_1CQuatT.html#z313_6">operator*</a>(T f)<font class="keyword"> const </font>{<font class="keywordflow">return</font> <a class="code" href="classNLMISC_1_1CQuatT.html#z310_0">CQuatT</a>(<a class="code" href="classNLMISC_1_1CQuatT.html#m0">x</a>*f,<a class="code" href="classNLMISC_1_1CQuatT.html#m1">y</a>*f,<a class="code" href="classNLMISC_1_1CQuatT.html#m2">z</a>*f,<a class="code" href="classNLMISC_1_1CQuatT.html#m3">w</a>*f);} +<a name="l00115"></a><a class="code" href="classNLMISC_1_1CQuatT.html#z313_7">00115</a> <a class="code" href="classNLMISC_1_1CQuatT.html#z310_0">CQuatT</a> <a class="code" href="classNLMISC_1_1CQuatT.html#z313_7">operator/</a>(T f)<font class="keyword"> const </font>{<font class="keywordtype">double</font> oof= 1.0/f; <font class="keywordflow">return</font> <a class="code" href="classNLMISC_1_1CQuatT.html#z310_0">CQuatT</a>(<a class="code" href="classNLMISC_1_1CQuatT.html#m0">x</a>*oof,<a class="code" href="classNLMISC_1_1CQuatT.html#m1">y</a>*oof,<a class="code" href="classNLMISC_1_1CQuatT.html#m2">z</a>*oof,<a class="code" href="classNLMISC_1_1CQuatT.html#m3">w</a>*oof);} +<a name="l00116"></a><a class="code" href="classNLMISC_1_1CQuatT.html#z313_8">00116</a> <a class="code" href="classNLMISC_1_1CQuatT.html#z310_0">CQuatT</a> <a class="code" href="classNLMISC_1_1CQuatT.html#z313_8">operator-</a>()<font class="keyword"> const </font>{<font class="keywordflow">return</font>(<a class="code" href="classNLMISC_1_1CQuatT.html#z310_0">CQuatT</a>(-<a class="code" href="classNLMISC_1_1CQuatT.html#m0">x</a>,-<a class="code" href="classNLMISC_1_1CQuatT.html#m1">y</a>,-<a class="code" href="classNLMISC_1_1CQuatT.html#m2">z</a>,-<a class="code" href="classNLMISC_1_1CQuatT.html#m3">w</a>)); } +<a name="l00117"></a><a class="code" href="classNLMISC_1_1CQuatT.html#z313_9">00117</a> <a class="code" href="classNLMISC_1_1CQuatT.html#z310_0">CQuatT</a> <a class="code" href="classNLMISC_1_1CQuatT.html#z313_9">operator+</a>()<font class="keyword"> const </font>{<font class="keywordflow">return</font> *<font class="keyword">this</font>; } +<a name="l00119"></a><a class="code" href="classNLMISC_1_1CQuatT.html#z313_10">00119</a> T <a class="code" href="classNLMISC_1_1CQuatT.html#z313_10">sqrnorm</a>()<font class="keyword"> const </font>{<font class="keywordflow">return</font> (<a class="code" href="classNLMISC_1_1CQuatT.html#m0">x</a>*<a class="code" href="classNLMISC_1_1CQuatT.html#m0">x</a> + <a class="code" href="classNLMISC_1_1CQuatT.html#m1">y</a>*<a class="code" href="classNLMISC_1_1CQuatT.html#m1">y</a> + <a class="code" href="classNLMISC_1_1CQuatT.html#m2">z</a>*<a class="code" href="classNLMISC_1_1CQuatT.html#m2">z</a> + <a class="code" href="classNLMISC_1_1CQuatT.html#m3">w</a>*<a class="code" href="classNLMISC_1_1CQuatT.html#m3">w</a>);} +<a name="l00121"></a><a class="code" href="classNLMISC_1_1CQuatT.html#z313_11">00121</a> T <a class="code" href="classNLMISC_1_1CQuatT.html#z313_11">norm</a>()<font class="keyword"> const </font>{<font class="keywordflow">return</font> (T)sqrt(<a class="code" href="classNLMISC_1_1CQuatT.html#z313_10">sqrnorm</a>());} +00123 <font class="keywordtype">void</font> <a class="code" href="classNLMISC_1_1CQuatT.html#z313_12">normalize</a>(); +<a name="l00125"></a><a class="code" href="classNLMISC_1_1CQuatT.html#z313_13">00125</a> <a class="code" href="classNLMISC_1_1CQuatT.html#z310_0">CQuatT</a> <a class="code" href="classNLMISC_1_1CQuatT.html#z313_13">normed</a>()<font class="keyword"> const </font>{<a class="code" href="classNLMISC_1_1CQuatT.html#z310_0">CQuatT</a> ret= *<font class="keyword">this</font>; ret.normalize(); <font class="keywordflow">return</font> ret;} +00126 <font class="comment">// @}</font> +00127 +00128 +00130 <font class="comment">// @{</font> +00132 <font class="comment"> CQuatT operator*(const CQuatT&) const; </font> +00133 <a class="code" href="classNLMISC_1_1CQuatT.html#z310_0">CQuatT</a>& <a class="code" href="classNLMISC_1_1CQuatT.html#z313_2">operator*=</a>(<font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CQuatT.html#z310_0">CQuatT</a>&); +00135 <font class="keywordtype">void</font> <a class="code" href="classNLMISC_1_1CQuatT.html#z314_2">invert</a>(); +<a name="l00137"></a><a class="code" href="classNLMISC_1_1CQuatT.html#z314_3">00137</a> <a class="code" href="classNLMISC_1_1CQuatT.html#z310_0">CQuatT</a> <a class="code" href="classNLMISC_1_1CQuatT.html#z314_3">inverted</a>()<font class="keyword"> const </font>{<a class="code" href="classNLMISC_1_1CQuatT.html#z310_0">CQuatT</a> ret= *<font class="keyword">this</font>; ret.invert(); <font class="keywordflow">return</font> ret;} +<a name="l00139"></a><a class="code" href="classNLMISC_1_1CQuatT.html#z314_4">00139</a> <a class="code" href="classNLMISC_1_1CQuatT.html#z310_0">CQuatT</a> <a class="code" href="classNLMISC_1_1CQuatT.html#z314_4">conjugate</a>()<font class="keyword"> const </font>{<font class="keywordflow">return</font> <a class="code" href="classNLMISC_1_1CQuatT.html#z310_0">CQuatT</a>(-<a class="code" href="classNLMISC_1_1CQuatT.html#m0">x</a>, -<a class="code" href="classNLMISC_1_1CQuatT.html#m1">y</a>, -<a class="code" href="classNLMISC_1_1CQuatT.html#m2">z</a>, <a class="code" href="classNLMISC_1_1CQuatT.html#m3">w</a>);} +00140 <font class="comment">// @}</font> +00141 +00142 +00144 <font class="comment">// @{</font> +<a name="l00146"></a><a class="code" href="classNLMISC_1_1CQuatT.html#z315_0">00146</a> <font class="comment"> CVector getAxis() const {CVector ret((float)x,(float)y,(float)z); return ret.normed();}</font> +<a name="l00148"></a><a class="code" href="classNLMISC_1_1CQuatT.html#z315_1">00148</a> <font class="comment"> float getAngle() const {return (float)(2*acos(w/norm()));}</font> +<a name="l00150"></a><a class="code" href="classNLMISC_1_1CQuatT.html#z315_2">00150</a> <font class="comment"> CAngleAxis getAngleAxis() const {return CAngleAxis(getAxis(), getAngle());}</font> +00151 +00153 <font class="keywordtype">void</font> <a class="code" href="classNLMISC_1_1CQuatT.html#z315_3">setAngleAxis</a>(<font class="keyword">const</font> CVector &axis, <font class="keywordtype">float</font> angle); +<a name="l00155"></a><a class="code" href="classNLMISC_1_1CQuatT.html#z315_4">00155</a> <font class="keywordtype">void</font> <a class="code" href="classNLMISC_1_1CQuatT.html#z315_3">setAngleAxis</a>(<font class="keyword">const</font> CAngleAxis &angAxis) {<a class="code" href="classNLMISC_1_1CQuatT.html#z315_3">setAngleAxis</a>(angAxis.Axis, angAxis.Angle);} +00156 <font class="comment">// @}</font> +00157 +00158 +00160 <font class="comment">// @{</font> +00162 <font class="comment"> CQuatT log();</font> +00164 <font class="comment"> CQuatT exp();</font> +00166 <font class="comment"> void makeClosest(const CQuatT &o);</font> +<a name="l00168"></a><a class="code" href="classNLMISC_1_1CQuatT.html#z316_3">00168</a> <font class="comment"> void serial(IStream &f)</font> +00169 { +00170 f.serial(<a class="code" href="classNLMISC_1_1CQuatT.html#m0">x</a>,<a class="code" href="classNLMISC_1_1CQuatT.html#m1">y</a>,<a class="code" href="classNLMISC_1_1CQuatT.html#m2">z</a>,<a class="code" href="classNLMISC_1_1CQuatT.html#m3">w</a>); +00171 } +00172 <font class="comment">// @}</font> +00173 +00174 +00175 <font class="keyword">public</font>: +00176 +00178 <font class="comment">// @{</font> +00180 <font class="comment"> static T dotProduct(const CQuatT<T> &q0, const CQuatT<T> &q1);</font> +00184 <font class="comment"></font> <font class="keyword">static</font> <a class="code" href="classNLMISC_1_1CQuatT.html#z310_0">CQuatT</a> <a class="code" href="classNLMISC_1_1CQuatT.html#z317_1">slerp</a>(<font class="keyword">const</font> CQuatT<T>& q0, <font class="keyword">const</font> CQuatT<T>& q1, <font class="keywordtype">float</font> <a class="code" href="driver__opengl__extension__def_8h.html#a384">t</a>); +00188 <font class="keyword">static</font> <a class="code" href="classNLMISC_1_1CQuatT.html#z310_0">CQuatT</a> <a class="code" href="classNLMISC_1_1CQuatT.html#z317_2">squad</a>(<font class="keyword">const</font> CQuatT<T>& q0, <font class="keyword">const</font> CQuatT<T>& tgtQ0, <font class="keyword">const</font> CQuatT<T>& tgtQ1, <font class="keyword">const</font> CQuatT<T>& q1, <font class="keywordtype">float</font> <a class="code" href="driver__opengl__extension__def_8h.html#a384">t</a>); +00191 <font class="keyword">static</font> <a class="code" href="classNLMISC_1_1CQuatT.html#z310_0">CQuatT</a> <a class="code" href="classNLMISC_1_1CQuatT.html#z317_3">squadrev</a>(<font class="keyword">const</font> CAngleAxis &rot, <font class="keyword">const</font> CQuatT<T>& q0, <font class="keyword">const</font> CQuatT<T>& tgtQ0, <font class="keyword">const</font> CQuatT<T>& tgtQ1, <font class="keyword">const</font> CQuatT<T>& q1, <font class="keywordtype">float</font> <a class="code" href="driver__opengl__extension__def_8h.html#a384">t</a>); +00192 +00194 <font class="keyword">static</font> <a class="code" href="classNLMISC_1_1CQuatT.html#z310_0">CQuatT</a> <a class="code" href="classNLMISC_1_1CQuatT.html#z317_4">lnDif</a>(<font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CQuatT.html#z310_0">CQuatT</a> &q0, <font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CQuatT.html#z310_0">CQuatT</a> &q1); +00195 +00196 <font class="comment">// @}</font> +00197 +00198 +00199 }; +00200 +00201 +00202 +00203 <font class="comment">// ***************************************************************************</font> +00204 +00205 +00207 <font class="comment">// @{</font> +00208 +00210 <font class="keyword">template</font> <<font class="keyword">class</font> T> +00211 <font class="keyword">inline</font> CQuatT<T> <a class="code" href="namespaceNLMISC.html#a273">operator*</a>(T f, <font class="keyword">const</font> CQuatT<T> &o) {<font class="keywordflow">return</font> o*f;} +00212 +00213 <font class="comment">// @}</font> +00214 +00215 +00216 +00217 <font class="comment">// ***************************************************************************</font> +00218 <font class="comment">// ***************************************************************************</font> +00219 <font class="comment">// Template implementation.</font> +00220 <font class="comment">// ***************************************************************************</font> +00221 <font class="comment">// ***************************************************************************</font> +00222 +00223 +00224 +00225 <font class="comment">// ***************************************************************************</font> +00226 <font class="keyword">template</font> <<font class="keyword">class</font> T> +<a name="l00227"></a><a class="code" href="classNLMISC_1_1CQuatT.html#z312_1">00227</a> <font class="keyword">inline</font> <font class="keywordtype">bool</font> CQuatT<T>::equal(<font class="keyword">const</font> CQuatT<T>& a, <font class="keywordtype">float</font> epsilon)<font class="keyword"> const</font> +00228 <font class="keyword"></font>{ +00229 <font class="keywordflow">if</font> (fabs(<a class="code" href="classNLMISC_1_1CQuatT.html#m0">x</a>-a.x)<epsilon && +00230 fabs(<a class="code" href="classNLMISC_1_1CQuatT.html#m1">y</a>-a.y)<epsilon && +00231 fabs(<a class="code" href="classNLMISC_1_1CQuatT.html#m2">z</a>-a.z)<epsilon && +00232 fabs(<a class="code" href="classNLMISC_1_1CQuatT.html#m3">w</a>-a.w)<epsilon ) +00233 { +00234 <font class="keywordflow">return</font> <font class="keyword">true</font>; +00235 } +00236 <font class="keywordflow">return</font> <font class="keyword">false</font>; +00237 } +00238 +00239 +00240 <font class="comment">// ***************************************************************************</font> +00241 <font class="keyword">template</font> <<font class="keyword">class</font> T> +<a name="l00242"></a><a class="code" href="classNLMISC_1_1CQuatT.html#z314_0">00242</a> <font class="keyword">inline</font> CQuatT<T> CQuatT<T>::operator*(<font class="keyword">const</font> CQuatT<T>& o)<font class="keyword"> const</font> +00243 <font class="keyword"></font>{ +00244 <font class="comment">// wres= ww´ - v·v´</font> +00245 <font class="comment">// vres= wv´ + w´v + v^v´ ] </font> +00246 <font class="keywordflow">return</font> CQuatT<T>( +00247 (<a class="code" href="classNLMISC_1_1CQuatT.html#m3">w</a>*o.x) +(<a class="code" href="classNLMISC_1_1CQuatT.html#m0">x</a>*o.w) + (<a class="code" href="classNLMISC_1_1CQuatT.html#m1">y</a>*o.z)-(<a class="code" href="classNLMISC_1_1CQuatT.html#m2">z</a>*o.y), +00248 (<a class="code" href="classNLMISC_1_1CQuatT.html#m3">w</a>*o.y) +(<a class="code" href="classNLMISC_1_1CQuatT.html#m1">y</a>*o.w) + (<a class="code" href="classNLMISC_1_1CQuatT.html#m2">z</a>*o.x)-(<a class="code" href="classNLMISC_1_1CQuatT.html#m0">x</a>*o.z), +00249 (<a class="code" href="classNLMISC_1_1CQuatT.html#m3">w</a>*o.z) +(<a class="code" href="classNLMISC_1_1CQuatT.html#m2">z</a>*o.w) + (<a class="code" href="classNLMISC_1_1CQuatT.html#m0">x</a>*o.y)-(<a class="code" href="classNLMISC_1_1CQuatT.html#m1">y</a>*o.x), +00250 (<a class="code" href="classNLMISC_1_1CQuatT.html#m3">w</a>*o.w)-(<a class="code" href="classNLMISC_1_1CQuatT.html#m0">x</a>*o.x)-(<a class="code" href="classNLMISC_1_1CQuatT.html#m1">y</a>*o.y)-(<a class="code" href="classNLMISC_1_1CQuatT.html#m2">z</a>*o.z) ); +00251 +00252 } +00253 +00254 <font class="comment">// ***************************************************************************</font> +00255 <font class="keyword">template</font> <<font class="keyword">class</font> T> +<a name="l00256"></a><a class="code" href="classNLMISC_1_1CQuatT.html#z314_1">00256</a> <font class="keyword">inline</font> CQuatT<T>& CQuatT<T>::operator*=(<font class="keyword">const</font> CQuatT<T>& o) +00257 { +00258 *<font class="keyword">this</font>= *<font class="keyword">this</font> * o; +00259 <font class="keywordflow">return</font> *<font class="keyword">this</font>; +00260 } +00261 +00262 +00263 <font class="comment">// ***************************************************************************</font> +00264 <font class="keyword">template</font> <<font class="keyword">class</font> T> +<a name="l00265"></a><a class="code" href="classNLMISC_1_1CQuatT.html#z314_2">00265</a> <font class="keyword">inline</font> <font class="keywordtype">void</font> CQuatT<T>::invert() +00266 { +00267 <font class="comment">// Must invert the norm.</font> +00268 T f= <a class="code" href="classNLMISC_1_1CQuatT.html#z313_10">sqrnorm</a>(); +00269 <font class="keywordflow">if</font>(f!=0) +00270 { +00271 *<font class="keyword">this</font>/=f; +00272 } +00273 +00274 *<font class="keyword">this</font>= <a class="code" href="classNLMISC_1_1CQuatT.html#z314_4">conjugate</a>(); +00275 } +00276 +00277 +00278 <font class="comment">// ***************************************************************************</font> +00279 <font class="keyword">template</font> <<font class="keyword">class</font> T> +<a name="l00280"></a><a class="code" href="classNLMISC_1_1CQuatT.html#z313_12">00280</a> <font class="keyword">inline</font> <font class="keywordtype">void</font> CQuatT<T>::normalize() +00281 { +00282 T f= <a class="code" href="classNLMISC_1_1CQuatT.html#z313_11">norm</a>(); +00283 <font class="keywordflow">if</font>(f==0) +00284 <a class="code" href="classNLMISC_1_1CQuatT.html#z312_2">identity</a>(); +00285 <font class="keywordflow">else</font> +00286 { +00287 *<font class="keyword">this</font>/=f; +00288 } +00289 } +00290 +00291 +00292 <font class="comment">// ***************************************************************************</font> +00293 <font class="keyword">template</font> <<font class="keyword">class</font> T> +<a name="l00294"></a><a class="code" href="classNLMISC_1_1CQuatT.html#z315_3">00294</a> <font class="keyword">inline</font> <font class="keywordtype">void</font> CQuatT<T>::setAngleAxis(<font class="keyword">const</font> CVector &axis, <font class="keywordtype">float</font> angle) +00295 { +00296 CVector <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>= axis; +00297 <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.normalize(); +00298 <font class="keywordtype">double</font> ca= cos(angle/2); +00299 <font class="keywordtype">double</font> sa= sin(angle/2); +00300 <a class="code" href="classNLMISC_1_1CQuatT.html#m0">x</a>= (T)(<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.x*sa); +00301 <a class="code" href="classNLMISC_1_1CQuatT.html#m1">y</a>= (T)(<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.y*sa); +00302 <a class="code" href="classNLMISC_1_1CQuatT.html#m2">z</a>= (T)(<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.z*sa); +00303 <a class="code" href="classNLMISC_1_1CQuatT.html#m3">w</a>= (T)(ca); +00304 } +00305 +00306 +00307 <font class="comment">// ***************************************************************************</font> +00308 <font class="keyword">template</font> <<font class="keyword">class</font> T> +<a name="l00309"></a><a class="code" href="classNLMISC_1_1CQuatT.html#z317_0">00309</a> T CQuatT<T>::dotProduct(<font class="keyword">const</font> CQuatT<T> &q0, <font class="keyword">const</font> CQuatT<T> &q1) +00310 { +00311 <font class="keywordflow">return</font> q0.x*q1.x + q0.y*q1.y + q0.z*q1.z + q0.w*q1.w; +00312 } +00313 +00314 +00315 <font class="comment">// ***************************************************************************</font> +00316 <font class="keyword">template</font> <<font class="keyword">class</font> T> +<a name="l00317"></a><a class="code" href="classNLMISC_1_1CQuatT.html#z317_1">00317</a> CQuatT<T> CQuatT<T>::slerp(<font class="keyword">const</font> CQuatT<T>& q0, <font class="keyword">const</font> CQuatT<T>& q1, <font class="keywordtype">float</font> <a class="code" href="driver__opengl__extension__def_8h.html#a384">t</a>) +00318 { +00319 <font class="comment">// omega is the 4D angle between q0 and q1.</font> +00320 <font class="keywordtype">double</font> omega, cosom,sinom; +00321 T factq0= 1; +00322 T s0,s1; +00323 +00324 cosom = CQuatT<T>::dotProduct(q0, q1); +00325 +00326 <font class="comment">// Make q0 and q1 on the same hemisphere.</font> +00327 <font class="comment">/*if(cosom<0)</font> +00328 <font class="comment"> {</font> +00329 <font class="comment"> cosom= -cosom;</font> +00330 <font class="comment"> factq0= -1;</font> +00331 <font class="comment"> }*/</font> +00332 <font class="comment">// ????</font> +00333 +00334 <font class="keywordflow">if</font> ( cosom < 1.0 - NLMISC::QuatEpsilon) +00335 { +00336 omega = acos(cosom); +00337 sinom = sin(omega); +00338 s0 = (T) (sin((1.0f - <a class="code" href="driver__opengl__extension__def_8h.html#a384">t</a>)*omega) / sinom); +00339 s1 = (T) (sin(<a class="code" href="driver__opengl__extension__def_8h.html#a384">t</a>*omega) / sinom); +00340 } +00341 <font class="keywordflow">else</font> +00342 { <font class="comment">// q0 and q1 are nearly the same => sinom nearly 0. We can't slerp.</font> +00343 <font class="comment">// just linear interpolate.</font> +00344 s0 = (T)(1.0 - <a class="code" href="driver__opengl__extension__def_8h.html#a384">t</a>); +00345 s1 = <a class="code" href="driver__opengl__extension__def_8h.html#a384">t</a>; +00346 } +00347 +00348 <font class="keywordflow">return</font> q0*(factq0*s0) + q1*s1; +00349 +00350 } +00351 +00352 +00353 <font class="comment">// ***************************************************************************</font> +00354 <font class="keyword">template</font> <<font class="keyword">class</font> T> +<a name="l00355"></a><a class="code" href="classNLMISC_1_1CQuatT.html#z317_2">00355</a> CQuatT<T> CQuatT<T>::squad(<font class="keyword">const</font> CQuatT<T>& q0, <font class="keyword">const</font> CQuatT<T>& tgtQ0, <font class="keyword">const</font> CQuatT<T>& tgtQ1, <font class="keyword">const</font> CQuatT<T>& q1, <font class="keywordtype">float</font> <a class="code" href="driver__opengl__extension__def_8h.html#a384">t</a>) +00356 { +00357 <font class="keywordflow">return</font> CQuatT<T>::slerp( +00358 CQuatT<T>::<a class="code" href="classNLMISC_1_1CQuatT.html#z317_1">slerp</a>(q0, q1, <a class="code" href="driver__opengl__extension__def_8h.html#a384">t</a>), +00359 CQuatT<T>::<a class="code" href="classNLMISC_1_1CQuatT.html#z317_1">slerp</a>(tgtQ0, tgtQ1, <a class="code" href="driver__opengl__extension__def_8h.html#a384">t</a>), +00360 2.f*(1.f-<a class="code" href="driver__opengl__extension__def_8h.html#a384">t</a>)*<a class="code" href="driver__opengl__extension__def_8h.html#a384">t</a>); +00361 } +00362 +00363 +00364 <font class="comment">// ***************************************************************************</font> +00365 <font class="keyword">template</font> <<font class="keyword">class</font> T> +<a name="l00366"></a><a class="code" href="classNLMISC_1_1CQuatT.html#z317_3">00366</a> CQuatT<T> CQuatT<T>::squadrev(<font class="keyword">const</font> CAngleAxis &rot, <font class="keyword">const</font> CQuatT<T>& q0, <font class="keyword">const</font> CQuatT<T>& tgtQ0, <font class="keyword">const</font> CQuatT<T>& tgtQ1, <font class="keyword">const</font> CQuatT<T>& q1, <font class="keywordtype">float</font> <a class="code" href="driver__opengl__extension__def_8h.html#a384">t</a>) +00367 { +00368 <font class="keywordtype">float</font> <a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>,<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>; +00369 <font class="keywordtype">float</font> omega = rot.Angle* 0.5f; +00370 <font class="keywordtype">float</font> nrevs = 0.0f; +00371 CQuatT<T> ret,qaxis,pp,qq; +00372 +00373 <font class="comment">// just one rev?</font> +00374 <font class="comment">//==============</font> +00375 <font class="keywordflow">if</font> (omega<<a class="code" href="namespaceNLMISC.html#a7">Pi</a>-<a class="code" href="namespaceNLMISC.html#a171">QuatEpsilon</a>) +00376 { +00377 ret = CQuatT<T>::squad(q0,tgtQ0,tgtQ1,q1,<a class="code" href="driver__opengl__extension__def_8h.html#a384">t</a>); +00378 <font class="keywordflow">return</font> ret; +00379 } +00380 +00381 +00382 <font class="comment">// multirev.</font> +00383 <font class="comment">//==============</font> +00384 +00385 <font class="comment">// rotation of 180° around rot.Axis. (=> sin(a/2)==sin(Pi/2)==1, and c(a/2)=0).</font> +00386 qaxis.set(rot.Axis.x, rot.Axis.y, rot.Axis.z, 0); +00387 +00388 <font class="comment">// the number of revisions (float!)</font> +00389 nrevs= (float)(omega/<a class="code" href="namespaceNLMISC.html#a7">Pi</a>); +00390 <font class="comment">// Angle>2Pi. squad from 0 to Pi, slerp from Pi to Angle-Pi, squad from Angle-Pi to Angle.</font> +00391 <a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a> = <a class="code" href="driver__opengl__extension__def_8h.html#a384">t</a>*2*nrevs; +00392 +00393 +00394 <font class="comment">// So for s, squad from 0 to 1, slerp from 1 to 2*nrevs-1, squad from 2*nrevs-1 to 2*nrevs.</font> +00395 <font class="keywordflow">if</font> (<a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a> < 1.0f) +00396 { +00397 <font class="comment">// first part.</font> +00398 pp = q0*qaxis; +00399 ret = CQuatT<T>::squad(q0,tgtQ0,pp,pp,<a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>); +00400 } +00401 <font class="keywordflow">else</font> +00402 { +00403 <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a> = <a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a> - (2.0f*nrevs - 1.0f); +00404 <font class="keywordflow">if</font>( <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a> <= 0.0f) +00405 { +00406 <font class="comment">// middle part</font> +00407 <font class="keywordflow">while</font> (<a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a> >= 2.0f) <a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a> -= 2.0f; +00408 pp = q0*qaxis; +00409 <font class="comment">// s vary from 1 to 2. This is still correct for slerp().</font> +00410 ret = CQuatT<T>::slerp(q0,pp,<a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>); +00411 } +00412 <font class="keywordflow">else</font> +00413 { +00414 <font class="comment">// Last part.</font> +00415 qq = - q1*qaxis; +00416 ret= CQuatT<T>::squad(qq,qq,tgtQ1,q1,<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>); +00417 } +00418 } +00419 +00420 <font class="keywordflow">return</font> ret; +00421 } +00422 +00423 +00424 +00425 <font class="comment">// ***************************************************************************</font> +00426 <font class="keyword">template</font> <<font class="keyword">class</font> T> +<a name="l00427"></a><a class="code" href="classNLMISC_1_1CQuatT.html#z316_0">00427</a> CQuatT<T> CQuatT<T>::log() +00428 { +00429 <font class="keywordtype">double</font> len; +00430 len = sqrt (<a class="code" href="classNLMISC_1_1CQuatT.html#m0">x</a>*<a class="code" href="classNLMISC_1_1CQuatT.html#m0">x</a> + <a class="code" href="classNLMISC_1_1CQuatT.html#m1">y</a>*<a class="code" href="classNLMISC_1_1CQuatT.html#m1">y</a> + <a class="code" href="classNLMISC_1_1CQuatT.html#m2">z</a>*<a class="code" href="classNLMISC_1_1CQuatT.html#m2">z</a>); +00431 +00432 <font class="keywordflow">if</font> (len < <a class="code" href="namespaceNLMISC.html#a171">QuatEpsilon</a>) +00433 <font class="keywordflow">return</font> CQuatT<T>(0.f, 0.f, 0.f, 0.f); +00434 <font class="keywordflow">else</font> +00435 { +00436 <font class="keywordtype">double</font> div = (float) acos (<a class="code" href="classNLMISC_1_1CQuatT.html#m3">w</a>) / len; +00437 <font class="keywordflow">return</font> CQuatT<T>( (T)(<a class="code" href="classNLMISC_1_1CQuatT.html#m0">x</a>*div), (T)(<a class="code" href="classNLMISC_1_1CQuatT.html#m1">y</a>*div), (T)(<a class="code" href="classNLMISC_1_1CQuatT.html#m2">z</a>*div), 0.f); +00438 } +00439 +00440 } +00441 +00442 +00443 <font class="comment">// ***************************************************************************</font> +00444 <font class="keyword">template</font> <<font class="keyword">class</font> T> +<a name="l00445"></a><a class="code" href="classNLMISC_1_1CQuatT.html#z316_1">00445</a> CQuatT<T> CQuatT<T>::exp() +00446 { +00447 <font class="keywordtype">double</font> len; +00448 len = sqrt (<a class="code" href="classNLMISC_1_1CQuatT.html#m0">x</a>*<a class="code" href="classNLMISC_1_1CQuatT.html#m0">x</a> + <a class="code" href="classNLMISC_1_1CQuatT.html#m1">y</a>*<a class="code" href="classNLMISC_1_1CQuatT.html#m1">y</a> + <a class="code" href="classNLMISC_1_1CQuatT.html#m2">z</a>*<a class="code" href="classNLMISC_1_1CQuatT.html#m2">z</a>); +00449 +00450 <font class="keywordflow">if</font> (len < <a class="code" href="namespaceNLMISC.html#a171">QuatEpsilon</a>) +00451 <font class="keywordflow">return</font> CQuatT<T>(0.f, 0.f, 0.f, 1.f); +00452 <font class="keywordflow">else</font> +00453 { +00454 <font class="keywordtype">double</font> len1 = sin(len) / len; +00455 <font class="keywordflow">return</font> CQuatT<T>( (T)(<a class="code" href="classNLMISC_1_1CQuatT.html#m0">x</a>*len1), (T)(<a class="code" href="classNLMISC_1_1CQuatT.html#m1">y</a>*len1), (T)(<a class="code" href="classNLMISC_1_1CQuatT.html#m2">z</a>*len1), (T)cos(len)); +00456 } +00457 } +00458 +00459 +00460 <font class="comment">// ***************************************************************************</font> +00461 <font class="keyword">template</font> <<font class="keyword">class</font> T> +<a name="l00462"></a><a class="code" href="classNLMISC_1_1CQuatT.html#z317_4">00462</a> CQuatT<T> CQuatT<T>::lnDif(<font class="keyword">const</font> CQuatT<T> &q0, <font class="keyword">const</font> CQuatT<T> &q1) +00463 { +00464 CQuatT<T> dif = q0.inverted()*q1; +00465 dif.normalize(); +00466 +00467 <font class="keywordflow">return</font> dif.log(); +00468 } +00469 +00470 +00471 <font class="comment">// ***************************************************************************</font> +00472 <font class="keyword">template</font> <<font class="keyword">class</font> T> +<a name="l00473"></a><a class="code" href="classNLMISC_1_1CQuatT.html#z316_2">00473</a> <font class="keywordtype">void</font> CQuatT<T>::makeClosest(<font class="keyword">const</font> CQuatT<T> &o) +00474 { +00475 <font class="keywordflow">if</font>( <a class="code" href="classNLMISC_1_1CQuatT.html#z317_0">dotProduct</a>(*<font class="keyword">this</font>, o) < 0 ) +00476 *<font class="keyword">this</font>= -(*this); +00477 } +00478 +00479 +00480 +00481 <font class="comment">// ***************************************************************************</font> +00482 <font class="comment">// ***************************************************************************</font> +00483 <font class="comment">// CQuat/CQuatD</font> +00484 <font class="comment">// ***************************************************************************</font> +00485 <font class="comment">// ***************************************************************************</font> +00486 +00487 +00488 +00489 <font class="comment">// ***************************************************************************</font> +<a name="l00496"></a><a class="code" href="classNLMISC_1_1CQuat.html">00496</a> <font class="comment"></font><font class="keyword">class </font>CQuat : <font class="keyword">public</font> CQuatT<float> +00497 { +00498 <font class="keyword">public</font>: +00499 <font class="keyword">static</font> <font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CQuat.html#z318_1">CQuat</a> <a class="code" href="classNLMISC_1_1CQuat.html#p0">Identity</a>; +00500 +00502 <font class="comment">// @{</font> +<a name="l00503"></a><a class="code" href="classNLMISC_1_1CQuat.html#z318_0">00503</a> <a class="code" href="classNLMISC_1_1CQuat.html#z318_1">CQuat</a> &<a class="code" href="classNLMISC_1_1CQuat.html#z318_0">operator=</a>(<font class="keyword">const</font> CQuatT<float> &o) {<a class="code" href="classNLMISC_1_1CQuatT.html#m0">x</a>=o.x; <a class="code" href="classNLMISC_1_1CQuatT.html#m1">y</a>=o.y; <a class="code" href="classNLMISC_1_1CQuatT.html#m2">z</a>=o.z; <a class="code" href="classNLMISC_1_1CQuatT.html#m3">w</a>=o.w; <font class="keywordflow">return</font> *<font class="keyword">this</font>;} +<a name="l00504"></a><a class="code" href="classNLMISC_1_1CQuat.html#z318_1">00504</a> <a class="code" href="classNLMISC_1_1CQuat.html#z318_2">CQuat</a>(<font class="keyword">const</font> CQuatT<float> &o) : <a class="code" href="classNLMISC_1_1CQuatT.html#z310_0">CQuatT</a><float>(o) {} +<a name="l00505"></a><a class="code" href="classNLMISC_1_1CQuat.html#z318_2">00505</a> <a class="code" href="classNLMISC_1_1CQuat.html#z318_2">CQuat</a>() {} +<a name="l00506"></a><a class="code" href="classNLMISC_1_1CQuat.html#z318_3">00506</a> <a class="code" href="classNLMISC_1_1CQuat.html#z318_2">CQuat</a>(<font class="keywordtype">float</font> X, <font class="keywordtype">float</font> Y, <font class="keywordtype">float</font> Z, <font class="keywordtype">float</font> W) : <a class="code" href="classNLMISC_1_1CQuatT.html#z310_0">CQuatT</a><float>(X,Y,Z,W) {} +<a name="l00508"></a><a class="code" href="classNLMISC_1_1CQuat.html#z318_4">00508</a> <a class="code" href="classNLMISC_1_1CQuat.html#z318_2">CQuat</a>(<font class="keyword">const</font> CVector &axis, <font class="keywordtype">float</font> angle) : <a class="code" href="classNLMISC_1_1CQuatT.html#z310_0">CQuatT</a><float>(axis, angle) {} +<a name="l00510"></a><a class="code" href="classNLMISC_1_1CQuat.html#z318_5">00510</a> <a class="code" href="classNLMISC_1_1CQuat.html#z318_2">CQuat</a>(<font class="keyword">const</font> CAngleAxis &aa) : <a class="code" href="classNLMISC_1_1CQuatT.html#z310_0">CQuatT</a><float>(aa) {} +00511 <font class="comment">// @}</font> +00512 +00513 }; +00514 +00515 +00516 <font class="comment">// ***************************************************************************</font> +<a name="l00523"></a><a class="code" href="classNLMISC_1_1CQuatD.html">00523</a> <font class="comment"></font><font class="keyword">class </font>CQuatD : <font class="keyword">public</font> CQuatT<double> +00524 { +00525 <font class="keyword">public</font>: +00526 <font class="keyword">static</font> <font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CQuatD.html#z319_1">CQuatD</a> <a class="code" href="classNLMISC_1_1CQuatD.html#p0">Identity</a>; +00527 +00529 <font class="comment">// @{</font> +<a name="l00530"></a><a class="code" href="classNLMISC_1_1CQuatD.html#z319_0">00530</a> <a class="code" href="classNLMISC_1_1CQuatD.html#z319_1">CQuatD</a> &<a class="code" href="classNLMISC_1_1CQuatD.html#z319_0">operator=</a>(<font class="keyword">const</font> CQuatT<double> &o) {<a class="code" href="classNLMISC_1_1CQuatT.html#m0">x</a>=o.x; <a class="code" href="classNLMISC_1_1CQuatT.html#m1">y</a>=o.y; <a class="code" href="classNLMISC_1_1CQuatT.html#m2">z</a>=o.z; <a class="code" href="classNLMISC_1_1CQuatT.html#m3">w</a>=o.w; <font class="keywordflow">return</font> *<font class="keyword">this</font>;} +<a name="l00531"></a><a class="code" href="classNLMISC_1_1CQuatD.html#z319_1">00531</a> <a class="code" href="classNLMISC_1_1CQuatD.html#z319_2">CQuatD</a>(<font class="keyword">const</font> CQuatT<double> &o) : <a class="code" href="classNLMISC_1_1CQuatT.html#z310_0">CQuatT</a><double>(o) {} +<a name="l00532"></a><a class="code" href="classNLMISC_1_1CQuatD.html#z319_2">00532</a> <a class="code" href="classNLMISC_1_1CQuatD.html#z319_2">CQuatD</a>() {} +<a name="l00533"></a><a class="code" href="classNLMISC_1_1CQuatD.html#z319_3">00533</a> <a class="code" href="classNLMISC_1_1CQuatD.html#z319_2">CQuatD</a>(<font class="keywordtype">double</font> X, <font class="keywordtype">double</font> Y, <font class="keywordtype">double</font> Z, <font class="keywordtype">double</font> W) : <a class="code" href="classNLMISC_1_1CQuatT.html#z310_0">CQuatT</a><double>(X,Y,Z,W) {} +<a name="l00535"></a><a class="code" href="classNLMISC_1_1CQuatD.html#z319_4">00535</a> <a class="code" href="classNLMISC_1_1CQuatD.html#z319_2">CQuatD</a>(<font class="keyword">const</font> CVector &axis, <font class="keywordtype">float</font> angle) : <a class="code" href="classNLMISC_1_1CQuatT.html#z310_0">CQuatT</a><double>(axis, angle) {} +<a name="l00537"></a><a class="code" href="classNLMISC_1_1CQuatD.html#z319_5">00537</a> <a class="code" href="classNLMISC_1_1CQuatD.html#z319_2">CQuatD</a>(<font class="keyword">const</font> CAngleAxis &aa) : <a class="code" href="classNLMISC_1_1CQuatT.html#z310_0">CQuatT</a><double>(aa) {} +00538 <font class="comment">// @}</font> +00539 +00540 +00542 <font class="comment">// @{</font> +<a name="l00543"></a><a class="code" href="classNLMISC_1_1CQuatD.html#z320_0">00543</a> <a class="code" href="classNLMISC_1_1CQuatD.html#z319_2">CQuatD</a>(<font class="keyword">const</font> CQuat &o) {<a class="code" href="classNLMISC_1_1CQuatT.html#m0">x</a>=o.x; <a class="code" href="classNLMISC_1_1CQuatT.html#m1">y</a>=o.y; <a class="code" href="classNLMISC_1_1CQuatT.html#m2">z</a>=o.z; <a class="code" href="classNLMISC_1_1CQuatT.html#m3">w</a>=o.w;} +<a name="l00544"></a><a class="code" href="classNLMISC_1_1CQuatD.html#z320_1">00544</a> <a class="code" href="classNLMISC_1_1CQuatD.html#z319_1">CQuatD</a> &<a class="code" href="classNLMISC_1_1CQuatD.html#z319_0">operator=</a>(<font class="keyword">const</font> CQuatT<float> &o) {<a class="code" href="classNLMISC_1_1CQuatT.html#m0">x</a>=o.x; <a class="code" href="classNLMISC_1_1CQuatT.html#m1">y</a>=o.y; <a class="code" href="classNLMISC_1_1CQuatT.html#m2">z</a>=o.z; <a class="code" href="classNLMISC_1_1CQuatT.html#m3">w</a>=o.w; <font class="keywordflow">return</font> *<font class="keyword">this</font>;} +<a name="l00545"></a><a class="code" href="classNLMISC_1_1CQuatD.html#z320_2">00545</a> operator CQuat()<font class="keyword"> const </font>{<font class="keywordflow">return</font> CQuat((<font class="keywordtype">float</font>)<a class="code" href="classNLMISC_1_1CQuatT.html#m0">x</a>, (<font class="keywordtype">float</font>)<a class="code" href="classNLMISC_1_1CQuatT.html#m1">y</a>, (<font class="keywordtype">float</font>)<a class="code" href="classNLMISC_1_1CQuatT.html#m2">z</a>, (<font class="keywordtype">float</font>)<a class="code" href="classNLMISC_1_1CQuatT.html#m3">w</a>);} +00546 <font class="comment">// @}</font> +00547 +00548 }; +00549 +00550 +00551 +00552 +00553 +00554 } <font class="comment">// NLMISC</font> +00555 +00556 <font class="preprocessor">#endif // NL_QUAT_H </font> +00557 <font class="preprocessor"></font> +</pre></div> + +<!-- footer --> +<BR><FONT Size=+5> </FONT> +</TD> +<TD WIDTH=15><IMG SRC=http://www.nevrax.org/inc/img/pixel.gif WIDTH=15 HEIGHT=15 BORDER=0 ALT=""></TD> +</TR> +</TABLE> +</BODY> +</HTML> |