64 lines
2.5 KiB
C++
64 lines
2.5 KiB
C++
/*! \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 PIMathVectorT3d({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];
|
|
};
|
|
|
|
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
|