summaryrefslogtreecommitdiff
path: root/graphics/asymptote/quaternion.h
diff options
context:
space:
mode:
Diffstat (limited to 'graphics/asymptote/quaternion.h')
-rw-r--r--graphics/asymptote/quaternion.h114
1 files changed, 114 insertions, 0 deletions
diff --git a/graphics/asymptote/quaternion.h b/graphics/asymptote/quaternion.h
new file mode 100644
index 0000000000..f58a7445e5
--- /dev/null
+++ b/graphics/asymptote/quaternion.h
@@ -0,0 +1,114 @@
+/****************************************************************************
+
+ quaternion.h - A quaternion class
+
+ GLUI User Interface Toolkit (LGPL)
+ Copyright (c) 1998 Paul Rademacher
+
+ ---------------------------------------------------------------------
+
+ WWW: http://sourceforge.net/projects/glui/
+ Forums: http://sourceforge.net/forum/?group_id=92496
+
+ This library 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 2.1 of the License, or (at your option) any later version.
+
+ This library 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 library; if not, write to the Free Software
+ Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+
+*****************************************************************************/
+
+#ifndef GLUI_QUATERNION_H
+#define GLUI_QUATERNION_H
+
+#include "algebra3.h"
+#include <cstdio>
+
+/* this line defines a new type: pointer to a function which returns a */
+/* float and takes as argument a float */
+typedef float (*V_FCT_PTR)(float);
+
+/****************************************************************
+ * Quaternion *
+ ****************************************************************/
+
+class quat
+{
+ /*protected: */
+public:
+
+ vec3 v; /* vector component */
+ float s; /* scalar component */
+
+ /*public: */
+
+ /* Constructors */
+
+ quat();
+ quat(float x, float y, float z, float w);
+ quat(const vec3 &v, float s);
+ quat(float s, const vec3 &v);
+ quat(const float *d); /* copy from four-element float array */
+ quat(const double *f); /* copy from four-element double array */
+ quat(const quat &q); /* copy from other quat */
+
+ /* Assignment operators */
+
+ quat &operator = (const quat &v); /* assignment of a quat */
+ quat &operator += (const quat &v); /* incrementation by a quat */
+ quat &operator -= (const quat &v); /* decrementation by a quat */
+ quat &operator *= (float d); /* multiplication by a constant */
+ quat &operator /= (float d); /* division by a constant */
+
+ /* special functions */
+
+ float length() const; /* length of a quat */
+ float length2() const; /* squared length of a quat */
+ quat &normalize(); /* normalize a quat */
+ quat &apply(V_FCT_PTR fct); /* apply a func. to each component */
+ vec3 xform(const vec3 &v ); /* q*v*q-1 */
+ mat4 to_mat4() const;
+ void set_angle(float f); /* set rot angle (degrees) */
+ void scale_angle(float f); /* scale rot angle (degrees) */
+ float get_angle() const; /* set rot angle (degrees) */
+ vec3 get_axis() const; /* get axis */
+
+ void print( FILE *file, const char *name ) const; /* print to a file */
+
+ float &operator [] (int i); /* indexing */
+ const float &operator [] (int i) const; /* indexing */
+
+ void set(float x, float y, float z); /* set quat */
+ void set(const vec3 &v, float s); /* set quat */
+
+ /* friends */
+
+ friend quat operator - (const quat &v); /* -q1 */
+ friend quat operator + (const quat &a, const quat &b); /* q1 + q2 */
+ friend quat operator - (const quat &a, const quat &b); /* q1 - q2 */
+ friend quat operator * (const quat &a, float d); /* q1 * 3.0 */
+ friend quat operator * (float d, const quat &a); /* 3.0 * q1 */
+ friend quat operator * (const quat &a, const quat &b); /* q1 * q2 */
+ friend quat operator / (const quat &a, float d); /* q1 / 3.0 */
+ friend int operator == (const quat &a, const quat &b); /* q1 == q2 ? */
+ friend int operator != (const quat &a, const quat &b); /* q1 != q2 ? */
+ friend void swap(quat &a, quat &b); /* swap q1 &q2 */
+ /*friend quat min(const quat &a, const quat &b); -- min(q1, q2) */
+ /*friend quat max(const quat &a, const quat &b); -- max(q1, q2) */
+ friend quat prod(const quat &a, const quat &b); /* term by term mult*/
+};
+
+/* Utility functions */
+
+quat quat_identity(); /* Returns quaternion identity element */
+quat quat_slerp(const quat &from, const quat &to, float t);
+
+#endif