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Пелипенко Иван
2020-08-19 00:47:05 +03:00
parent c582d8ff46
commit ccd6a9888f
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libs/main/math/piquaternion.h Normal file
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/*! \file piquaternion.h
* \brief Class for quaternions
*/
/*
PIP - Platform Independent Primitives
Class for quaternions
Ivan Pelipenko peri4ko@yandex.ru, Andrey Bychkov work.a.b@yandex.ru
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef PIQUATERNION_H
#define PIQUATERNION_H
#include "pimathmatrix.h"
class PIP_EXPORT PIQuaternion
{
friend PIQuaternion operator*(const PIQuaternion & q0, const PIQuaternion & q1);
friend PIQuaternion operator*(const double & a, const PIQuaternion & q);
public:
PIQuaternion(const PIMathVectorT3d & u = PIMathVectorT3d(), double a = 0.);
PIQuaternion conjugate() const {return PIQuaternion(-vector(), scalar());}
PIQuaternion rotated(const PIMathVectorT3d & u, double a) const;
void rotate(const PIMathVectorT3d & u, double a);
void normalize();
double & scalar() {return q[0];}
double scalar() const {return q[0];}
PIMathVectorT3d vector() const {return createVectorT3<double>(q[1], q[2], q[3]);}
PIMathVectorT3d eyler() const;
PIMathMatrixT33d rotationMatrix() const;
void axis(PIMathVectorT3d*ret) const;
static PIQuaternion fromEyler(double ax, double ay, double az);
static PIQuaternion fromRotationMatrix(const PIMathMatrixT33d & m);
static PIQuaternion fromAngles(double ax, double ay, double az);
static PIQuaternion fromAngles2(double ax, double ay, double az);
protected:
double q[4];
PIMathMatrixT44d makeMatrix() const;
};
PIP_EXPORT PIQuaternion operator *(const double & a, const PIQuaternion & q);
PIP_EXPORT PIQuaternion operator *(const PIQuaternion & q0, const PIQuaternion & q1);
inline PIQuaternion operator +(const PIQuaternion & q0, const PIQuaternion & q1) {return PIQuaternion(q0.vector() + q1.vector(), q0.scalar() + q1.scalar());}
inline PIQuaternion operator -(const PIQuaternion & q0, const PIQuaternion & q1) {return PIQuaternion(q0.vector() - q1.vector(), q0.scalar() - q1.scalar());}
inline PIQuaternion operator -(const PIQuaternion & q0) {return PIQuaternion(-q0.vector(), -q0.scalar());}
#endif // PIQUATERNION_H