C:/Active/libraries/cxutils/2.0/include/cxutils/math/quaternion.h
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00001 00002 00003 00004 00005 00006 00007 00008 00009 00010 00011 00012 00013 00014 00015 00016 00017 00018 00019 00020 00021 00022 00023 00024 00025 00026 00027 00028 00029 00030 00031 00032 00033 00034 00035 00036 00037 00038 00039 00040 #ifndef __CXUTILS_MATH_QUATERNION_H 00041 #define __CXUTILS_MATH_QUATERNION_H 00042 00043 #include "cxutils/cxbase.h" 00044 #include "cxutils/math/point3d.h" 00045 00046 namespace CxUtils 00047 { 00058 class CX_UTILS_DLL Quaternion 00059 { 00060 public: 00061 Quaternion(); 00062 Quaternion(const Quaternion& q); 00063 Quaternion(const Point3D& p, const bool degrees = false); 00064 Quaternion(const double x, 00065 const double y, 00066 const double z); 00067 Quaternion(const Point3D &axis, 00068 const double angle, 00069 bool degrees = false); 00070 Quaternion(const double w, 00071 const double x, 00072 const double y, 00073 const double z); 00074 void CreateRotation(const Point3D &axis, 00075 const double angle, 00076 bool degrees = false); 00077 void CreateFromEuler(const double x, 00078 const double y, 00079 const double z, 00080 bool degrees = false); 00081 void ConvertToEuler(double& x, 00082 double& y, 00083 double& z, 00084 bool degrees = false) const; 00085 void CreateFromEuler(const Point3D& p, 00086 bool degrees = false); 00087 void ConvertToEuler(Point3D& p, 00088 bool degrees = false) const; 00089 Point3D ConvertToEuler(bool degrees = false) const; 00090 void SetRotationX(const double x, const bool degrees = false); 00091 void SetRotationY(const double y, const bool degrees = false); 00092 void SetRotationZ(const double z, const bool degrees = false); 00093 void Clear(); 00094 void Print(const bool euler = false, const bool degrees = true) const; 00095 double Norm() const; 00096 double Dot(const Quaternion&q) const; 00097 Point3D GetAxis() const; 00098 Quaternion Normalize() const; 00099 Quaternion Conjugate() const; 00100 Quaternion Invert() const; 00101 Point3D Rotate(const Point3D& p) const; 00102 Point3D RotateInverse(const Point3D& p) const; 00103 static double Norm(const Quaternion& q); 00104 static double Dot(const Quaternion& a, const Quaternion& b); 00105 static Quaternion Normalize(const Quaternion& q); 00106 static Quaternion Conjugate(const Quaternion& q); 00107 static Quaternion Invert(const Quaternion& q); 00108 static Quaternion Rotate(const Quaternion& q1, const Quaternion& q2); 00109 Quaternion& operator+=(const Quaternion& q); 00110 Quaternion operator+(const Quaternion& q) const; 00111 Quaternion& operator-=(const Quaternion& q); 00112 Quaternion operator-(const Quaternion& q) const; 00113 Quaternion& operator*=(const Quaternion& q); 00114 Quaternion operator*(const Quaternion& q) const; 00115 Quaternion& operator*=(const Point3D& p); 00116 Quaternion operator*(const Point3D& p) const; 00117 Quaternion& operator/=(const Quaternion& q); 00118 Quaternion operator/(const Quaternion& q) const; 00119 Quaternion& operator=(const Quaternion& q); 00120 Quaternion& operator=(const Point3D& p); 00121 double mW; 00122 double mX; 00123 double mY; 00124 double mZ; 00125 }; 00126 00127 CX_UTILS_DLL Quaternion operator~(const Quaternion& q); 00128 } 00129 00130 #endif 00131 /* End of File */
