144 lines
4.7 KiB
C++
144 lines
4.7 KiB
C++
/*
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Open Asset Import Library (assimp)
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----------------------------------------------------------------------
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Copyright (c) 2006-2022, assimp team
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All rights reserved.
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Redistribution and use of this software in source and binary forms,
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with or without modification, are permitted provided that the
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following conditions are met:
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* Redistributions of source code must retain the above
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copyright notice, this list of conditions and the
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following disclaimer.
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* Redistributions in binary form must reproduce the above
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copyright notice, this list of conditions and the
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following disclaimer in the documentation and/or other
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materials provided with the distribution.
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* Neither the name of the assimp team, nor the names of its
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contributors may be used to endorse or promote products
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derived from this software without specific prior
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written permission of the assimp team.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
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LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
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THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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----------------------------------------------------------------------
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*/
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/** @file quaternion.h
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* @brief Quaternion structure, including operators when compiling in C++
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*/
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#pragma once
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#ifndef AI_QUATERNION_H_INC
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#define AI_QUATERNION_H_INC
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#ifdef __cplusplus
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#ifdef __GNUC__
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# pragma GCC system_header
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#endif
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#include <assimp/defs.h>
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// Forward declarations
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template <typename TReal> class aiVector3t;
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template <typename TReal> class aiMatrix3x3t;
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template <typename TReal> class aiMatrix4x4t;
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// ---------------------------------------------------------------------------
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/**
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* @brief This class represents a quaternion as a 4D vector.
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*/
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template <typename TReal>
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class aiQuaterniont {
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public:
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aiQuaterniont() AI_NO_EXCEPT : w(1.0), x(), y(), z() {}
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aiQuaterniont(TReal pw, TReal px, TReal py, TReal pz)
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: w(pw), x(px), y(py), z(pz) {}
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/**
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* @brief Construct from rotation matrix. Result is undefined if the matrix is not orthonormal.
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*/
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explicit aiQuaterniont( const aiMatrix3x3t<TReal>& pRotMatrix);
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/** Construct from euler angles */
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aiQuaterniont( TReal roty, TReal rotz, TReal rotx);
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/** Construct from an axis-angle pair */
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aiQuaterniont( aiVector3t<TReal> axis, TReal angle);
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/** Construct from a normalized quaternion stored in a vec3 */
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explicit aiQuaterniont( aiVector3t<TReal> normalized);
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/** Returns a matrix representation of the quaternion */
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aiMatrix3x3t<TReal> GetMatrix() const;
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bool operator== (const aiQuaterniont& o) const;
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bool operator!= (const aiQuaterniont& o) const;
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// transform vector by matrix
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aiQuaterniont& operator *= (const aiMatrix4x4t<TReal>& mat);
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bool Equal(const aiQuaterniont &o, TReal epsilon = ai_epsilon) const;
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/**
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* @brief Will normalize the quaternion representation.
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*/
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aiQuaterniont& Normalize();
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/**
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* @brief Will compute the quaternion conjugate. The result will be stored in the instance.
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*/
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aiQuaterniont& Conjugate();
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/**
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* @brief Rotate a point by this quaternion
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*/
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aiVector3t<TReal> Rotate(const aiVector3t<TReal>& in) const;
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/**
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* @brief Multiply two quaternions
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* @param two The other quaternion.
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* @return The result of the multiplication.
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*/
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aiQuaterniont operator * (const aiQuaterniont& two) const;
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/**
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* @brief Performs a spherical interpolation between two quaternions and writes the result into the third.
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* @param pOut Target object to received the interpolated rotation.
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* @param pStart Start rotation of the interpolation at factor == 0.
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* @param pEnd End rotation, factor == 1.
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* @param pFactor Interpolation factor between 0 and 1. Values outside of this range yield undefined results.
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*/
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static void Interpolate( aiQuaterniont& pOut, const aiQuaterniont& pStart,
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const aiQuaterniont& pEnd, TReal pFactor);
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//! w,x,y,z components of the quaternion
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TReal w, x, y, z;
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} ;
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using aiQuaternion = aiQuaterniont<ai_real>;
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#else
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struct aiQuaternion {
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ai_real w, x, y, z;
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};
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#endif
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#endif // AI_QUATERNION_H_INC
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