105 lines
2.3 KiB
C++
105 lines
2.3 KiB
C++
// ==============================================================
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// This file is part of Glest Shared Library (www.glest.org)
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//
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// Copyright (C) 2001-2008 Martiño Figueroa
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//
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// You can redistribute this code and/or modify it under
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// the terms of the GNU General Public License as published
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// by the Free Software Foundation; either version 2 of the
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// License, or (at your option) any later version
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// ==============================================================
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#ifndef _SHARED_GRAPHICS_QUATERNION_H_
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#define _SHARED_GRAPHICS_QUATERNION_H_
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#include <string>
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#include "vec.h"
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#include "matrix.h"
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#include "leak_dumper.h"
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using namespace std;
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namespace Shared{ namespace Graphics{
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// =====================================================
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// class AxisAngle
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// =====================================================
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class AxisAngle{
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public:
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Vec3f axis;
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float angle;
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AxisAngle() {
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angle = 0.0f;
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}
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AxisAngle(const Vec3f &axis, float angle);
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};
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// =====================================================
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// class EulerAngles
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// =====================================================
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class EulerAngles{
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public:
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float x, y, z;
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EulerAngles() {
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x = 0.0f;
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y = 0.0f;
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z = 0.0f;
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}
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EulerAngles(float x, float y, float z);
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};
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// =====================================================
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// class Quaternion
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// =====================================================
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class Quaternion{
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private:
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float w;
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Vec3f v;
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public:
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Quaternion();
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Quaternion(float w, const Vec3f &v);
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Quaternion(const EulerAngles &eulerAngles);
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//Quaternion(const AxisAngle &axisAngle);
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//initializers
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void setMultIdentity();
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void setAddIdentity();
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void setAxisAngle(const AxisAngle &axisAngle);
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void setEuler(const EulerAngles &eulerAngles);
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//unary operators
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//float length();
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Quaternion conjugate();
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//void normalize();
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//binary operators
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Quaternion operator + (const Quaternion &q) const;
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Quaternion operator * (const Quaternion &q) const;
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void operator += (const Quaternion &q);
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void operator *= (const Quaternion &q);
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//ternary operators
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Quaternion lerp(float t, const Quaternion &q) const;
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//conversions
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Matrix3f toMatrix3() const;
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Matrix4f toMatrix4() const;
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//AxisAngle toAxisAngle() const;
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//local axis
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Vec3f getLocalXAxis() const;
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Vec3f getLocalYAxis() const;
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Vec3f getLocalZAxis() const;
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};
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}}//end namespace
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#endif
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