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<a class="qindex" href="index.html">Main Page</a> <a class="qindex" href="namespaces.html">Namespace List</a> <a class="qindex" href="hierarchy.html">Class Hierarchy</a> <a class="qindex" href="classes.html">Alphabetical List</a> <a class="qindex" href="annotated.html">Compound List</a> <a class="qindex" href="files.html">File List</a> <a class="qindex" href="namespacemembers.html">Namespace Members</a> <a class="qindex" href="functions.html">Compound Members</a> <a class="qindex" href="globals.html">File Members</a> <a class="qindex" href="pages.html">Related Pages</a> <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> </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>
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