TaoDeQuaternion.h

/* Copyright (c) 2005 Arachi, Inc. and Stanford University. All rights reserved.
 *
 * Permission is hereby granted, free of charge, to any person obtaining
 * a copy of this software and associated documentation files (the
 * "Software"), to deal in the Software without restriction, including
 * without limitation the rights to use, copy, modify, merge, publish,
 * distribute, sublicense, and/or sell copies of the Software, and to
 * permit persons to whom the Software is furnished to do so, subject
 * to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included
 * in all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
 * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
 * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
 * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
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 * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */

#ifndef _deQuaternion_h
#define _deQuaternion_h

class deQuaternion
{
public:
  inline deQuaternion() { identity(); }
  
  inline deQuaternion(deFloat qx, deFloat qy, deFloat qz, deFloat qw) { set(qx, qy, qz, qw); }
  
  inline deQuaternion(deQuaternion const & orig) {
    for (size_t ii(0); ii < DE_QUATERNION_SIZE; ++ii)
      _data[ii] = orig._data[ii];
  }
  
  operator deFloat*() { return _data; }
  operator const deFloat*() const { return _data; }
  deFloat& operator[](const deInt i) { return _data[i]; }
  const deFloat& operator[](const deInt i) const { return _data[i]; }
  DE_MATH_API void operator=(const deQuaternion& q);
  DE_MATH_API deInt operator==(const deQuaternion& q);
  DE_MATH_API void operator+=(const deQuaternion& q);
  DE_MATH_API void operator-=(const deQuaternion& q);
  DE_MATH_API void operator*=(const deFloat s);
  DE_MATH_API void identity();
  DE_MATH_API void zero();
  DE_MATH_API deFloat dot(const deQuaternion& q);
  DE_MATH_API void normalize();
  DE_MATH_API void get(deVector3& axis, deFloat &angle) const;
  DE_MATH_API void set(const deMatrix3& m);
  DE_MATH_API void set(const deInt axis, const deFloat angle);
  DE_MATH_API void set(const deVector3& axis, const deFloat angle);
  DE_MATH_API void set(const deFloat x, const deFloat y, const deFloat z, const deFloat w);
  DE_MATH_API void set(const deFloat* q);
  DE_MATH_API void eulerZYX(const deVector3& v);
  DE_MATH_API void negate(const deQuaternion& q);
  DE_MATH_API void inverse(const deQuaternion& q);
  DE_MATH_API void add(const deQuaternion& q1, const deQuaternion& q2);
  DE_MATH_API void subtract(const deQuaternion& q1, const deQuaternion& q2);
  DE_MATH_API void multiply(const deQuaternion& q1, const deQuaternion& q2);
  DE_MATH_API void inversedMultiply(const deQuaternion& q1, const deQuaternion& q2);
  DE_MATH_API void multiplyInversed(const deQuaternion& q1, const deQuaternion& q2);
  // dq = E omega
  // dq = 0.5 q_tilde omega
  DE_MATH_API void velocity(const deQuaternion& q, const deVector3& omega);

  DE_MATH_API void consistentSign(const deQuaternion& q, const deQuaternion& qg);
  DE_MATH_API void slerp(const deQuaternion& q, const deQuaternion& qg, const deFloat t, const deFloat addedSpins);

  DE_MATH_API void lerp(const deQuaternion& q, const deQuaternion& qg, const deFloat t);

private:
  deFloat _data[DE_QUATERNION_SIZE];
};

#endif // _deQuaternion_h