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