quaternion.h

00001 // quaternion.h (based on the Quaternion class from eris)
00002 //
00003 //  The WorldForge Project
00004 //  Copyright (C) 2002  The WorldForge Project
00005 //
00006 //  This program is free software; you can redistribute it and/or modify
00007 //  it under the terms of the GNU General Public License as published by
00008 //  the Free Software Foundation; either version 2 of the License, or
00009 //  (at your option) any later version.
00010 //
00011 //  This program is distributed in the hope that it will be useful,
00012 //  but WITHOUT ANY WARRANTY; without even the implied warranty of
00013 //  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00014 //  GNU General Public License for more details.
00015 //
00016 //  You should have received a copy of the GNU General Public License
00017 //  along with this program; if not, write to the Free Software
00018 //  Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
00019 //
00020 //  For information about WorldForge and its authors, please contact
00021 //  the Worldforge Web Site at http://www.worldforge.org.
00022 //
00023 
00024 // Author: Ron Steinke
00025 
00026 #ifndef WFMATH_QUATERNION_H
00027 #define WFMATH_QUATERNION_H
00028 
00029 #include <wfmath/const.h>
00030 #include <wfmath/vector.h>
00031 #include <wfmath/rotmatrix.h>
00032 
00033 namespace WFMath {
00034 
00036 
00040 class Quaternion
00041 {
00042  public:
00044   Quaternion () : m_valid(false) {}
00046 
00049   Quaternion (CoordType w_in, CoordType x_in, CoordType y_in, CoordType z_in);
00051   Quaternion (int axis, CoordType angle) {rotation(axis, angle);}
00053   Quaternion (const Vector<3>& axis, CoordType angle) {rotation(axis, angle);}
00055 
00058   explicit Quaternion (const Vector<3>& axis) {rotation(axis);} // angle == axis.mag()
00060   Quaternion (const Quaternion& p) : m_w(p.m_w), m_vec(p.m_vec),
00061                                      m_valid(p.m_valid), m_age(p.m_age) {}
00063   explicit Quaternion (const AtlasInType& a) {fromAtlas(a);}
00064 
00065   ~Quaternion() {}
00066 
00067   friend std::ostream& operator<<(std::ostream& os, const Quaternion& p);
00068   friend std::istream& operator>>(std::istream& is, Quaternion& p);
00069 
00071   AtlasOutType toAtlas() const;
00073   void fromAtlas(const AtlasInType& a);
00074 
00075   Quaternion& operator= (const Quaternion& rhs)
00076         {m_w = rhs.m_w; m_vec = rhs.m_vec; m_valid = rhs.m_valid; m_age = rhs.m_age; return *this;}
00077 
00078   // This regards q and -1*q as equal, since they give the
00079   // same RotMatrix<3>
00080   bool isEqualTo(const Quaternion &q, double epsilon = WFMATH_EPSILON) const;
00081 
00082   bool operator== (const Quaternion& rhs) const {return isEqualTo(rhs);}
00083   bool operator!= (const Quaternion& rhs) const {return !isEqualTo(rhs);}
00084 
00085   bool isValid() const {return m_valid;}
00086 
00088   Quaternion& identity() {m_w = 1; m_vec.zero(); m_valid = true; m_age = 0; return *this;} // Set to null rotation
00089 
00090   // Operators
00091 
00093   Quaternion& operator*= (const Quaternion& rhs);
00095   Quaternion& operator/= (const Quaternion& rhs);
00097   Quaternion operator* (const Quaternion& rhs) const {
00098     Quaternion out(*this);
00099     out *= rhs;
00100     return out;
00101   }
00103   Quaternion operator/ (const Quaternion& rhs) const {
00104     Quaternion out(*this);
00105     out /= rhs;
00106     return out;
00107   }
00108 
00109   // Functions
00110 
00111   // Returns "not_flip", similar to RotMatrix<>.toEuler()
00113 
00122   bool fromRotMatrix(const RotMatrix<3>& m);
00123 
00125   Quaternion inverse() const;
00126 
00128   Quaternion& rotate(const RotMatrix<3>&);
00129 
00131   Quaternion& rotate(const Quaternion& q) {return operator*=(q);}
00132 
00134   Quaternion& rotation(int axis, CoordType angle);
00136   Quaternion& rotation(const Vector<3>& axis, CoordType angle);
00138 
00141   Quaternion& rotation(const Vector<3>& axis); // angle == axis.mag()
00142 
00144   Quaternion& rotation(const Vector<3>& from, const Vector<3>& to);
00145 
00146   // documented elsewhere
00147   template<const int dim>
00148   friend Vector<3>& Vector<dim>::rotate(const Quaternion& q);
00149   template<const int dim>
00150   friend RotMatrix<3>& RotMatrix<dim>::fromQuaternion(const Quaternion& q,
00151                                                       const bool not_flip);
00152 
00154   CoordType scalar() const              {return m_w;}
00156   const Vector<3>& vector() const       {return m_vec;}
00157 
00159   void normalize();
00161   unsigned age() const {return m_age;}
00162 
00163  private:
00164   Quaternion(bool valid) : m_valid(valid), m_age(1) {}
00165   void checkNormalization() {if(m_age >= WFMATH_MAX_NORM_AGE && m_valid) normalize();}
00166   CoordType m_w;
00167   Vector<3> m_vec;
00168   bool m_valid;
00169   unsigned m_age;
00170 };
00171 
00172 } // namespace WFMath
00173 
00174 #endif  // WFMATH_QUATERNION_H

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