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quat.hh
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1 //------------------------------------------------------------------------------
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4 // Copyright (C) 2008-2020 by the OpenStructure authors
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18 //------------------------------------------------------------------------------
19 #ifndef GEOM_QUAT_HH
20 #define GEOM_QUAT_HH
21 
22 #include <iostream>
23 #include <boost/operators.hpp>
24 
26 
27 /*
28  Unit Quaternion
29 
30  math and code assembled from various places, among them:
31 
32  E.B. Dam, M. Koch, M. Lillholm, Technical Report DIKU-TR-98/5,
33  Department of Computer Science, University of Copenhagen
34 
35  boost quaternion example, (C) Copyright Hubert Holin 2001.
36  Distributed under the Boost Software License, Version 1.0.
37 
38  Python Computer Graphics Kit, original code by Matthias Baas (C) 2004
39  Distributed under the GPL v2.0
40 */
41 
42 namespace geom {
43 
44 class Mat3;
45 class Vec3;
46 
48 
55  private boost::additive<Quat>,
56  private boost::multiplicative<Quat, Real>,
57  private boost::multiplicative<Quat,Quat>
58 {
59 public:
60  Quat();
61 
62  Quat(Real w, Real x, Real y, Real z);
63 
64  // initialize with a rotation (in rad) around a given axis
65  Quat(Real angle, const geom::Vec3& axis);
66 
67  // initialize from a rotation matrix
68  Quat(const Mat3& rotmat);
69 
70  // return 3x3 rotation matrix
71  Mat3 ToRotationMatrix() const;
72 
73  Vec3 GetAxis() const;
74 
75  //get angle component
76  Real GetAngle() const;
77 
78  // operators
79 
80  // negateable
81  Quat operator-();
82  // addable
83  Quat& operator+=(const Quat& q);
84  // subtractable
85  Quat& operator-=(const Quat& q);
86  // multipliable with scalar
87  Quat& operator*=(Real s);
88  // multipliable with other quat
89  Quat& operator*=(const Quat& q);
90  // dividable with scalar
91  Quat& operator/=(Real s);
92  // dividable with other quat
93  Quat& operator/=(const Quat& q);
94  // comparable
95  bool operator==(const Quat& q) const;
96  bool operator!=(const Quat& q) const { return !this->operator==(q); }
97 
98  // Apply rotation to vector.
99  Vec3 Rotate(const Vec3& vec) const;
100 
101 
102  // these are public for direct value access
103  Real w,x,y,z;
104 };
105 
106 
108 
109 // inner product
110 Real DLLEXPORT_OST_GEOM Dot(const Quat& q0, const Quat& q1);
111 
112 // spherical linear interpolation, with t in range [0,1]
113 Quat DLLEXPORT_OST_GEOM Slerp(const Quat& q0, const Quat& q1, Real t);
114 
115 Quat DLLEXPORT_OST_GEOM Inv(const Quat& q);
116 Quat DLLEXPORT_OST_GEOM Exp(const Quat& q);
117 Quat DLLEXPORT_OST_GEOM Log(const Quat& q);
118 
119 //normalize quaternion
121 
122 DLLEXPORT_OST_GEOM std::ostream& operator<<(std::ostream& str, const Quat& q);
123 
124 } // ns
125 
126 #endif
Quat DLLEXPORT_OST_GEOM Normalize(const Quat &q)
float Real
Definition: base.hh:44
Quat DLLEXPORT_OST_GEOM Conjugate(const Quat &q)
Real DLLEXPORT_OST_GEOM Dot(const Quat &q0, const Quat &q1)
Quat DLLEXPORT_OST_GEOM Inv(const Quat &q)
bool DLLEXPORT_OST_GEOM operator==(const Line2 &l1, const Line2 &l2)
Quat DLLEXPORT_OST_GEOM Slerp(const Quat &q0, const Quat &q1, Real t)
Quat DLLEXPORT_OST_GEOM Log(const Quat &q)
Real z
Definition: quat.hh:103
Three dimensional vector class, using Real precision.
Definition: vec3.hh:43
bool operator!=(const Quat &q) const
Definition: quat.hh:96
unit quaternion
Definition: quat.hh:54
std::ostream & operator<<(std::ostream &os, const AlignedCuboid &c)
#define DLLEXPORT_OST_GEOM
DLLEXPORT Vec2 Rotate(const Vec2 &v, Real ang)
Rotation.
Quat DLLEXPORT_OST_GEOM Exp(const Quat &q)
DLLEXPORT_OST_IMG_BASE ImageHandle operator-(const ConstImageHandle &h, Real v)