379 lines
8.7 KiB
C
379 lines
8.7 KiB
C
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#ifndef __MATH_QUAT_H__
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#define __MATH_QUAT_H__
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/*
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===============================================================================
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Quaternion
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===============================================================================
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*/
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class idVec3;
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class idAngles;
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class idRotation;
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class idMat3;
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class idMat4;
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class idCQuat;
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class idQuat {
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public:
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float x;
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float y;
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float z;
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float w;
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idQuat( void );
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idQuat( float x, float y, float z, float w );
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void Set( float x, float y, float z, float w );
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float operator[]( int index ) const;
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float & operator[]( int index );
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idQuat operator-() const;
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idQuat & operator=( const idQuat &a );
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idQuat operator+( const idQuat &a ) const;
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idQuat & operator+=( const idQuat &a );
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idQuat operator-( const idQuat &a ) const;
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idQuat & operator-=( const idQuat &a );
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idQuat operator*( const idQuat &a ) const;
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idVec3 operator*( const idVec3 &a ) const;
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idQuat operator*( float a ) const;
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idQuat & operator*=( const idQuat &a );
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idQuat & operator*=( float a );
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friend idQuat operator*( const float a, const idQuat &b );
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friend idVec3 operator*( const idVec3 &a, const idQuat &b );
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bool Compare( const idQuat &a ) const; // exact compare, no epsilon
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bool Compare( const idQuat &a, const float epsilon ) const; // compare with epsilon
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bool operator==( const idQuat &a ) const; // exact compare, no epsilon
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bool operator!=( const idQuat &a ) const; // exact compare, no epsilon
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idQuat Inverse( void ) const;
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float Length( void ) const;
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idQuat & Normalize( void );
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float CalcW( void ) const;
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int GetDimension( void ) const;
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idAngles ToAngles( void ) const;
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idRotation ToRotation( void ) const;
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idMat3 ToMat3( void ) const;
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idMat4 ToMat4( void ) const;
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idCQuat ToCQuat( void ) const;
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idVec3 ToAngularVelocity( void ) const;
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const float * ToFloatPtr( void ) const;
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float * ToFloatPtr( void );
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const char * ToString( int precision = 2 ) const;
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idQuat & Slerp( const idQuat &from, const idQuat &to, float t );
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};
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ID_INLINE idQuat::idQuat( void ) {
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}
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ID_INLINE idQuat::idQuat( float x, float y, float z, float w ) {
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this->x = x;
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this->y = y;
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this->z = z;
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this->w = w;
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}
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ID_INLINE float idQuat::operator[]( int index ) const {
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assert( ( index >= 0 ) && ( index < 4 ) );
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return ( &x )[ index ];
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}
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ID_INLINE float& idQuat::operator[]( int index ) {
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assert( ( index >= 0 ) && ( index < 4 ) );
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return ( &x )[ index ];
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}
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ID_INLINE idQuat idQuat::operator-() const {
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return idQuat( -x, -y, -z, -w );
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}
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ID_INLINE idQuat &idQuat::operator=( const idQuat &a ) {
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x = a.x;
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y = a.y;
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z = a.z;
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w = a.w;
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return *this;
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}
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ID_INLINE idQuat idQuat::operator+( const idQuat &a ) const {
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return idQuat( x + a.x, y + a.y, z + a.z, w + a.w );
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}
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ID_INLINE idQuat& idQuat::operator+=( const idQuat &a ) {
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x += a.x;
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y += a.y;
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z += a.z;
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w += a.w;
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return *this;
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}
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ID_INLINE idQuat idQuat::operator-( const idQuat &a ) const {
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return idQuat( x - a.x, y - a.y, z - a.z, w - a.w );
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}
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ID_INLINE idQuat& idQuat::operator-=( const idQuat &a ) {
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x -= a.x;
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y -= a.y;
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z -= a.z;
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w -= a.w;
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return *this;
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}
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ID_INLINE idQuat idQuat::operator*( const idQuat &a ) const {
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return idQuat( w*a.x + x*a.w + y*a.z - z*a.y,
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w*a.y + y*a.w + z*a.x - x*a.z,
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w*a.z + z*a.w + x*a.y - y*a.x,
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w*a.w - x*a.x - y*a.y - z*a.z );
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}
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ID_INLINE idVec3 idQuat::operator*( const idVec3 &a ) const {
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#if 0
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// it's faster to do the conversion to a 3x3 matrix and multiply the vector by this 3x3 matrix
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return ( ToMat3() * a );
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#else
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// result = this->Inverse() * idQuat( a.x, a.y, a.z, 0.0f ) * (*this)
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float xx = x * x;
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float zz = z * z;
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float ww = w * w;
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float yy = y * y;
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float xw2 = x*w*2.0f;
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float xy2 = x*y*2.0f;
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float xz2 = x*z*2.0f;
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float yw2 = y*w*2.0f;
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float yz2 = y*z*2.0f;
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float zw2 = z*w*2.0f;
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return idVec3(
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( xx - yy - zz + ww ) * a.x + ( xy2 + zw2 ) * a.y + ( xz2 - yw2 ) * a.z,
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( xy2 - zw2 ) * a.x + ( -xx + yy - zz + ww )* a.y + ( yz2 + xw2 ) * a.z,
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( xz2 + yw2 ) * a.x + ( yz2 - xw2 ) * a.y + ( -xx - yy + zz + ww )* a.z );
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#endif
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}
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ID_INLINE idQuat idQuat::operator*( float a ) const {
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return idQuat( x * a, y * a, z * a, w * a );
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}
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ID_INLINE idQuat operator*( const float a, const idQuat &b ) {
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return b * a;
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}
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ID_INLINE idVec3 operator*( const idVec3 &a, const idQuat &b ) {
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return b * a;
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}
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ID_INLINE idQuat& idQuat::operator*=( const idQuat &a ) {
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*this = *this * a;
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return *this;
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}
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ID_INLINE idQuat& idQuat::operator*=( float a ) {
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x *= a;
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y *= a;
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z *= a;
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w *= a;
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return *this;
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}
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ID_INLINE bool idQuat::Compare( const idQuat &a ) const {
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return ( ( x == a.x ) && ( y == a.y ) && ( z == a.z ) && ( w == a.w ) );
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}
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ID_INLINE bool idQuat::Compare( const idQuat &a, const float epsilon ) const {
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if ( idMath::Fabs( x - a.x ) > epsilon ) {
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return false;
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}
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if ( idMath::Fabs( y - a.y ) > epsilon ) {
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return false;
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}
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if ( idMath::Fabs( z - a.z ) > epsilon ) {
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return false;
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}
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if ( idMath::Fabs( w - a.w ) > epsilon ) {
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return false;
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}
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return true;
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}
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ID_INLINE bool idQuat::operator==( const idQuat &a ) const {
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return Compare( a );
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}
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ID_INLINE bool idQuat::operator!=( const idQuat &a ) const {
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return !Compare( a );
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}
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ID_INLINE void idQuat::Set( float x, float y, float z, float w ) {
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this->x = x;
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this->y = y;
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this->z = z;
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this->w = w;
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}
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ID_INLINE idQuat idQuat::Inverse( void ) const {
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return idQuat( -x, -y, -z, w );
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}
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ID_INLINE float idQuat::Length( void ) const {
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float len;
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len = x * x + y * y + z * z + w * w;
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return idMath::Sqrt( len );
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}
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ID_INLINE idQuat& idQuat::Normalize( void ) {
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float len;
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float ilength;
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len = this->Length();
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if ( len ) {
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ilength = 1 / len;
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x *= ilength;
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y *= ilength;
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z *= ilength;
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w *= ilength;
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}
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return *this;
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}
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ID_INLINE float idQuat::CalcW( void ) const {
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// take the absolute value because floating point rounding may cause the dot of x,y,z to be larger than 1
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return idMath::Sqrt( fabs( 1.0f - ( x * x + y * y + z * z ) ) );
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}
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ID_INLINE int idQuat::GetDimension( void ) const {
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return 4;
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}
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ID_INLINE const float *idQuat::ToFloatPtr( void ) const {
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return &x;
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}
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ID_INLINE float *idQuat::ToFloatPtr( void ) {
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return &x;
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}
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/*
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===============================================================================
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Compressed quaternion
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===============================================================================
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*/
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class idCQuat {
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public:
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float x;
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float y;
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float z;
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idCQuat( void );
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idCQuat( float x, float y, float z );
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void Set( float x, float y, float z );
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float operator[]( int index ) const;
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float & operator[]( int index );
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bool Compare( const idCQuat &a ) const; // exact compare, no epsilon
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bool Compare( const idCQuat &a, const float epsilon ) const; // compare with epsilon
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bool operator==( const idCQuat &a ) const; // exact compare, no epsilon
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bool operator!=( const idCQuat &a ) const; // exact compare, no epsilon
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int GetDimension( void ) const;
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idAngles ToAngles( void ) const;
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idRotation ToRotation( void ) const;
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idMat3 ToMat3( void ) const;
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idMat4 ToMat4( void ) const;
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idQuat ToQuat( void ) const;
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const float * ToFloatPtr( void ) const;
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float * ToFloatPtr( void );
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const char * ToString( int precision = 2 ) const;
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};
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ID_INLINE idCQuat::idCQuat( void ) {
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}
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ID_INLINE idCQuat::idCQuat( float x, float y, float z ) {
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this->x = x;
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this->y = y;
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this->z = z;
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}
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ID_INLINE void idCQuat::Set( float x, float y, float z ) {
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this->x = x;
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this->y = y;
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this->z = z;
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}
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ID_INLINE float idCQuat::operator[]( int index ) const {
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assert( ( index >= 0 ) && ( index < 3 ) );
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return ( &x )[ index ];
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}
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ID_INLINE float& idCQuat::operator[]( int index ) {
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assert( ( index >= 0 ) && ( index < 3 ) );
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return ( &x )[ index ];
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}
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ID_INLINE bool idCQuat::Compare( const idCQuat &a ) const {
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return ( ( x == a.x ) && ( y == a.y ) && ( z == a.z ) );
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}
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ID_INLINE bool idCQuat::Compare( const idCQuat &a, const float epsilon ) const {
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if ( idMath::Fabs( x - a.x ) > epsilon ) {
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return false;
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}
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if ( idMath::Fabs( y - a.y ) > epsilon ) {
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return false;
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}
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if ( idMath::Fabs( z - a.z ) > epsilon ) {
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return false;
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}
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return true;
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}
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ID_INLINE bool idCQuat::operator==( const idCQuat &a ) const {
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return Compare( a );
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}
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ID_INLINE bool idCQuat::operator!=( const idCQuat &a ) const {
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return !Compare( a );
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}
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ID_INLINE int idCQuat::GetDimension( void ) const {
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return 3;
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}
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ID_INLINE idQuat idCQuat::ToQuat( void ) const {
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// take the absolute value because floating point rounding may cause the dot of x,y,z to be larger than 1
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return idQuat( x, y, z, idMath::Sqrt( fabs( 1.0f - ( x * x + y * y + z * z ) ) ) );
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}
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ID_INLINE const float *idCQuat::ToFloatPtr( void ) const {
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return &x;
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}
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ID_INLINE float *idCQuat::ToFloatPtr( void ) {
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return &x;
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}
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#endif /* !__MATH_QUAT_H__ */
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