source: projectionDesigner/tag/ProjectionDesigner_1.1.5/projdesigner/include/gmtl/Quat.h @ 2

Last change on this file since 2 was 2, checked in by Torben Dannhauer, 10 years ago
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1/************************************************************** ggt-head beg
2 *
3 * GGT: Generic Graphics Toolkit
4 *
5 * Original Authors:
6 *   Allen Bierbaum
7 *
8 * -----------------------------------------------------------------
9 * File:          Quat.h,v
10 * Date modified: 2005/06/06 15:36:03
11 * Version:       1.25
12 * -----------------------------------------------------------------
13 *
14 *********************************************************** ggt-head end */
15/*************************************************************** ggt-cpr beg
16*
17* GGT: The Generic Graphics Toolkit
18* Copyright (C) 2001,2002 Allen Bierbaum
19*
20* This library is free software; you can redistribute it and/or
21* modify it under the terms of the GNU Lesser General Public
22* License as published by the Free Software Foundation; either
23* version 2.1 of the License, or (at your option) any later version.
24*
25* This library is distributed in the hope that it will be useful,
26* but WITHOUT ANY WARRANTY; without even the implied warranty of
27* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
28* Lesser General Public License for more details.
29*
30* You should have received a copy of the GNU Lesser General Public
31* License along with this library; if not, write to the Free Software
32* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
33*
34 ************************************************************ ggt-cpr end */
35#ifndef _GMTL_QUAT_H_
36#define _GMTL_QUAT_H_
37
38#include <gmtl/Defines.h>
39#include <gmtl/Vec.h>
40 
41namespace gmtl
42{
43
44/** Quat: Class to encapsulate quaternion behaviors.
45 *
46 * this Quaternion is ordered in memory: x,y,z,w.
47 * @see Quatf
48 * @see Quatd
49 *
50 * Note: The code for most of these routines was built using the following
51 * references
52 *
53 * References:
54 * <ul>
55 * <li>   Advanced Animation and Rendering Techniques: pp363-365
56 * <li>   Animating Rotation with Quaternion Curves,  Ken Shoemake,
57 *           SIGGRAPH Proceedings Vol 19, Number 3, 1985
58 * <li>   Quaternion Calculus for Animation,  Ken Shoemake SIGGRAPH course
59 *           notes 1989
60 * <li>   Game Developer Magazine: Feb 98, pg.34-42
61 * <li>   Motivation for the use of Quaternions to perform transformations
62 *           http://www.rust.net/~kgeoinfo/quat1.htm
63 * <li>   On quaternions; or on a new system of imaginaries in algebra,
64 *           Sir William Rowan Hamilton, Philosophical Magazine, xxv,
65 *           pp. 10-13 (July 1844)
66 * <li>   You also can find more on quaternions at
67 *    <ul>
68 *    <li>  http://www.gamasutra.com/features/19980703/quaternions_01.htm and at
69 *    <li>  http://archive.ncsa.uiuc.edu/VEG/VPS/emtc/quaternions/index.html
70 *    </ul>
71 * <li>   Or search on google....
72 * </ul>
73 * @ingroup Types
74 */
75template <typename DATA_TYPE>
76class Quat
77{
78public:
79   /** use this to declare single value types of the same type as this matrix.
80    */
81   typedef DATA_TYPE DataType;
82
83   enum Params { Size = 4 };
84
85   /** default constructor, initializes to quaternion multiplication identity
86    *  [x,y,z,w] == [0,0,0,1].
87    *  NOTE: the addition identity is [0,0,0,0]
88    */
89   Quat()
90      : mData( (DATA_TYPE)0.0, (DATA_TYPE)0.0, (DATA_TYPE)0.0, (DATA_TYPE)1.0 )
91   {
92   }
93   
94   /** data constructor, initializes to quaternion multiplication identity
95    *  [x,y,z,w] == [0,0,0,1].
96    *  NOTE: the addition identity is [0,0,0,0]
97    */
98   Quat( const DATA_TYPE& x, const DATA_TYPE& y, const DATA_TYPE& z,
99         const DATA_TYPE& w )
100      : mData( x, y, z, w )
101   {
102   }
103
104   /** copy constructor
105    */
106   Quat( const Quat<DATA_TYPE>& q ) : mData( q.mData )
107   {
108   }
109
110   /** directly set the quaternion's values
111    *  @pre x,y,z,w should be normalized
112    *  @post the quaternion is set with the given values
113    */
114   void set( const DATA_TYPE x, const DATA_TYPE y, const DATA_TYPE z, const DATA_TYPE w )
115   {
116      mData.set( x, y, z, w );
117   }
118
119   /** get the raw data elements of the quaternion.
120    *  @post sets the given variables to the quaternion's x, y, z, and w values
121    */
122   void get( DATA_TYPE& x, DATA_TYPE& y, DATA_TYPE& z, DATA_TYPE& w ) const
123   {
124      x = mData[Xelt];
125      y = mData[Yelt];
126      z = mData[Zelt];
127      w = mData[Welt];
128   }
129
130   /** bracket operator.
131    *  raw data accessor.
132    *
133    * <h3> "Example (access raw data element in a Quat):" </h3>
134    * \code
135    *    Quatf q;
136    *    q[Xelt] = 0.001231176f;
137    *    q[Yelt] = 0.1222f;
138    *    q[Zelt] = 0.721f;
139    *    q[Welt] = 0.982323f;
140    * \endcode
141    *
142    * @see VectorIndex
143    */
144   DATA_TYPE& operator[]( const int x )
145   {
146      gmtlASSERT( x >= 0 && x < 4 && "out of bounds error" );
147      return mData[x];
148   }
149
150   /** bracket operator  (const version).
151    * raw data accessor.
152    *
153    * <h3> "Example (access raw data element in a Quat):" </h3>
154    * \code
155    *    Quatf q;
156    *    float rads = acos( q[Welt] ) / 2.0f;
157    * \endcode
158    *
159    * @see VectorIndex
160    */
161   const DATA_TYPE& operator[]( const int x ) const
162   {
163      gmtlASSERT( x >= 0 && x < 4 && "out of bounds error" );
164      return mData[x];
165   }
166
167   /** Get a DATA_TYPE pointer to the quat internal data.
168    * @post Returns a ptr to the head of the quat data
169    */
170   const DATA_TYPE*  getData() const { return (DATA_TYPE*)mData.getData();}
171
172public:
173   // Order x, y, z, w
174   Vec<DATA_TYPE, 4> mData;
175};
176
177const Quat<float> QUAT_MULT_IDENTITYF( 0.0f, 0.0f, 0.0f, 1.0f );
178const Quat<float> QUAT_ADD_IDENTITYF( 0.0f, 0.0f, 0.0f, 0.0f );
179const Quat<float> QUAT_IDENTITYF( QUAT_MULT_IDENTITYF );
180const Quat<double> QUAT_MULT_IDENTITYD( 0.0, 0.0, 0.0, 1.0 );
181const Quat<double> QUAT_ADD_IDENTITYD( 0.0, 0.0, 0.0, 0.0 );
182const Quat<double> QUAT_IDENTITYD( QUAT_MULT_IDENTITYD );
183
184typedef Quat<float> Quatf;
185typedef Quat<double> Quatd;
186
187} // end of namespace gmtl
188
189#endif
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