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+<a class="qindex" href="index.html">Main Page</a> &nbsp; <a class="qindex" href="namespaces.html">Namespace List</a> &nbsp; <a class="qindex" href="hierarchy.html">Class Hierarchy</a> &nbsp; <a class="qindex" href="classes.html">Alphabetical List</a> &nbsp; <a class="qindex" href="annotated.html">Compound List</a> &nbsp; <a class="qindex" href="files.html">File List</a> &nbsp; <a class="qindex" href="namespacemembers.html">Namespace Members</a> &nbsp; <a class="qindex" href="functions.html">Compound Members</a> &nbsp; <a class="qindex" href="globals.html">File Members</a> &nbsp; <a class="qindex" href="pages.html">Related Pages</a> &nbsp; <a class="qindexRef" doxygen="_cgi:http://www.nevrax.org/cgi-bin/nel-search.cgi" href="http://www.nevrax.org/cgi-bin/nel-search.cgi">Search</a> &nbsp; </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 &lt;math.h&gt;</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 &amp;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> &lt;<font class="keyword">class</font> T&gt; <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 &amp;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 &amp;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>&amp; a)<font class="keyword"> const </font>{<font class="keywordflow">return</font> (<a class="code" href="classNLMISC_1_1CQuatT.html#m0">x</a>==0 &amp;&amp; <a class="code" href="classNLMISC_1_1CQuatT.html#m1">y</a>==0 &amp;&amp; <a class="code" href="classNLMISC_1_1CQuatT.html#m2">z</a>==0 &amp;&amp; <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>&amp; 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 &amp;&amp; <a class="code" href="classNLMISC_1_1CQuatT.html#m1">y</a>==0.0f &amp;&amp; <a class="code" href="classNLMISC_1_1CQuatT.html#m2">z</a>==0.0f &amp;&amp; <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>&amp; <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>&amp;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>&amp; <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>&amp;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>&amp; <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>&amp; <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>&amp;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>&amp;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&amp;) const; </font>
+00133 <a class="code" href="classNLMISC_1_1CQuatT.html#z310_0">CQuatT</a>&amp; <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>&amp;);
+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 &amp;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 &amp;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 &amp;o);</font>
+<a name="l00168"></a><a class="code" href="classNLMISC_1_1CQuatT.html#z316_3">00168</a> <font class="comment"> void serial(IStream &amp;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&lt;T&gt; &amp;q0, const CQuatT&lt;T&gt; &amp;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&lt;T&gt;&amp; q0, <font class="keyword">const</font> CQuatT&lt;T&gt;&amp; 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&lt;T&gt;&amp; q0, <font class="keyword">const</font> CQuatT&lt;T&gt;&amp; tgtQ0, <font class="keyword">const</font> CQuatT&lt;T&gt;&amp; tgtQ1, <font class="keyword">const</font> CQuatT&lt;T&gt;&amp; 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 &amp;rot, <font class="keyword">const</font> CQuatT&lt;T&gt;&amp; q0, <font class="keyword">const</font> CQuatT&lt;T&gt;&amp; tgtQ0, <font class="keyword">const</font> CQuatT&lt;T&gt;&amp; tgtQ1, <font class="keyword">const</font> CQuatT&lt;T&gt;&amp; 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> &amp;q0, <font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CQuatT.html#z310_0">CQuatT</a> &amp;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> &lt;<font class="keyword">class</font> T&gt;
+00211 <font class="keyword">inline</font> CQuatT&lt;T&gt; <a class="code" href="namespaceNLMISC.html#a273">operator*</a>(T f, <font class="keyword">const</font> CQuatT&lt;T&gt; &amp;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> &lt;<font class="keyword">class</font> T&gt;
+<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&lt;T&gt;::equal(<font class="keyword">const</font> CQuatT&lt;T&gt;&amp; 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)&lt;epsilon &amp;&amp;
+00230 fabs(<a class="code" href="classNLMISC_1_1CQuatT.html#m1">y</a>-a.y)&lt;epsilon &amp;&amp;
+00231 fabs(<a class="code" href="classNLMISC_1_1CQuatT.html#m2">z</a>-a.z)&lt;epsilon &amp;&amp;
+00232 fabs(<a class="code" href="classNLMISC_1_1CQuatT.html#m3">w</a>-a.w)&lt;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> &lt;<font class="keyword">class</font> T&gt;
+<a name="l00242"></a><a class="code" href="classNLMISC_1_1CQuatT.html#z314_0">00242</a> <font class="keyword">inline</font> CQuatT&lt;T&gt; CQuatT&lt;T&gt;::operator*(<font class="keyword">const</font> CQuatT&lt;T&gt;&amp; 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&lt;T&gt;(
+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> &lt;<font class="keyword">class</font> T&gt;
+<a name="l00256"></a><a class="code" href="classNLMISC_1_1CQuatT.html#z314_1">00256</a> <font class="keyword">inline</font> CQuatT&lt;T&gt;&amp; CQuatT&lt;T&gt;::operator*=(<font class="keyword">const</font> CQuatT&lt;T&gt;&amp; 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> &lt;<font class="keyword">class</font> T&gt;
+<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&lt;T&gt;::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> &lt;<font class="keyword">class</font> T&gt;
+<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&lt;T&gt;::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> &lt;<font class="keyword">class</font> T&gt;
+<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&lt;T&gt;::setAngleAxis(<font class="keyword">const</font> CVector &amp;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> &lt;<font class="keyword">class</font> T&gt;
+<a name="l00309"></a><a class="code" href="classNLMISC_1_1CQuatT.html#z317_0">00309</a> T CQuatT&lt;T&gt;::dotProduct(<font class="keyword">const</font> CQuatT&lt;T&gt; &amp;q0, <font class="keyword">const</font> CQuatT&lt;T&gt; &amp;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> &lt;<font class="keyword">class</font> T&gt;
+<a name="l00317"></a><a class="code" href="classNLMISC_1_1CQuatT.html#z317_1">00317</a> CQuatT&lt;T&gt; CQuatT&lt;T&gt;::slerp(<font class="keyword">const</font> CQuatT&lt;T&gt;&amp; q0, <font class="keyword">const</font> CQuatT&lt;T&gt;&amp; 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&lt;T&gt;::dotProduct(q0, q1);
+00325
+00326 <font class="comment">// Make q0 and q1 on the same hemisphere.</font>
+00327 <font class="comment">/*if(cosom&lt;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 &lt; 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 =&gt; 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> &lt;<font class="keyword">class</font> T&gt;
+<a name="l00355"></a><a class="code" href="classNLMISC_1_1CQuatT.html#z317_2">00355</a> CQuatT&lt;T&gt; CQuatT&lt;T&gt;::squad(<font class="keyword">const</font> CQuatT&lt;T&gt;&amp; q0, <font class="keyword">const</font> CQuatT&lt;T&gt;&amp; tgtQ0, <font class="keyword">const</font> CQuatT&lt;T&gt;&amp; tgtQ1, <font class="keyword">const</font> CQuatT&lt;T&gt;&amp; 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&lt;T&gt;::slerp(
+00358 CQuatT&lt;T&gt;::<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&lt;T&gt;::<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> &lt;<font class="keyword">class</font> T&gt;
+<a name="l00366"></a><a class="code" href="classNLMISC_1_1CQuatT.html#z317_3">00366</a> CQuatT&lt;T&gt; CQuatT&lt;T&gt;::squadrev(<font class="keyword">const</font> CAngleAxis &amp;rot, <font class="keyword">const</font> CQuatT&lt;T&gt;&amp; q0, <font class="keyword">const</font> CQuatT&lt;T&gt;&amp; tgtQ0, <font class="keyword">const</font> CQuatT&lt;T&gt;&amp; tgtQ1, <font class="keyword">const</font> CQuatT&lt;T&gt;&amp; 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&lt;T&gt; 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&lt;<a class="code" href="namespaceNLMISC.html#a7">Pi</a>-<a class="code" href="namespaceNLMISC.html#a171">QuatEpsilon</a>)
+00376 {
+00377 ret = CQuatT&lt;T&gt;::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. (=&gt; 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&gt;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> &lt; 1.0f)
+00396 {
+00397 <font class="comment">// first part.</font>
+00398 pp = q0*qaxis;
+00399 ret = CQuatT&lt;T&gt;::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> &lt;= 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> &gt;= 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&lt;T&gt;::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&lt;T&gt;::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> &lt;<font class="keyword">class</font> T&gt;
+<a name="l00427"></a><a class="code" href="classNLMISC_1_1CQuatT.html#z316_0">00427</a> CQuatT&lt;T&gt; CQuatT&lt;T&gt;::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 &lt; <a class="code" href="namespaceNLMISC.html#a171">QuatEpsilon</a>)
+00433 <font class="keywordflow">return</font> CQuatT&lt;T&gt;(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&lt;T&gt;( (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> &lt;<font class="keyword">class</font> T&gt;
+<a name="l00445"></a><a class="code" href="classNLMISC_1_1CQuatT.html#z316_1">00445</a> CQuatT&lt;T&gt; CQuatT&lt;T&gt;::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 &lt; <a class="code" href="namespaceNLMISC.html#a171">QuatEpsilon</a>)
+00451 <font class="keywordflow">return</font> CQuatT&lt;T&gt;(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&lt;T&gt;( (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> &lt;<font class="keyword">class</font> T&gt;
+<a name="l00462"></a><a class="code" href="classNLMISC_1_1CQuatT.html#z317_4">00462</a> CQuatT&lt;T&gt; CQuatT&lt;T&gt;::lnDif(<font class="keyword">const</font> CQuatT&lt;T&gt; &amp;q0, <font class="keyword">const</font> CQuatT&lt;T&gt; &amp;q1)
+00463 {
+00464 CQuatT&lt;T&gt; 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> &lt;<font class="keyword">class</font> T&gt;
+<a name="l00473"></a><a class="code" href="classNLMISC_1_1CQuatT.html#z316_2">00473</a> <font class="keywordtype">void</font> CQuatT&lt;T&gt;::makeClosest(<font class="keyword">const</font> CQuatT&lt;T&gt; &amp;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) &lt; 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&lt;float&gt;
+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> &amp;<a class="code" href="classNLMISC_1_1CQuat.html#z318_0">operator=</a>(<font class="keyword">const</font> CQuatT&lt;float&gt; &amp;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&lt;float&gt; &amp;o) : <a class="code" href="classNLMISC_1_1CQuatT.html#z310_0">CQuatT</a>&lt;float&gt;(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>&lt;float&gt;(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 &amp;axis, <font class="keywordtype">float</font> angle) : <a class="code" href="classNLMISC_1_1CQuatT.html#z310_0">CQuatT</a>&lt;float&gt;(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 &amp;aa) : <a class="code" href="classNLMISC_1_1CQuatT.html#z310_0">CQuatT</a>&lt;float&gt;(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&lt;double&gt;
+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> &amp;<a class="code" href="classNLMISC_1_1CQuatD.html#z319_0">operator=</a>(<font class="keyword">const</font> CQuatT&lt;double&gt; &amp;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&lt;double&gt; &amp;o) : <a class="code" href="classNLMISC_1_1CQuatT.html#z310_0">CQuatT</a>&lt;double&gt;(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>&lt;double&gt;(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 &amp;axis, <font class="keywordtype">float</font> angle) : <a class="code" href="classNLMISC_1_1CQuatT.html#z310_0">CQuatT</a>&lt;double&gt;(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 &amp;aa) : <a class="code" href="classNLMISC_1_1CQuatT.html#z310_0">CQuatT</a>&lt;double&gt;(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 &amp;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> &amp;<a class="code" href="classNLMISC_1_1CQuatD.html#z319_0">operator=</a>(<font class="keyword">const</font> CQuatT&lt;float&gt; &amp;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>
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