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/* ----------------------------------------------------------------------- *
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* This file is part of GEL, http://www.imm.dtu.dk/GEL
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* Copyright (C) the authors and DTU Informatics
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* For license and list of authors, see ../../doc/intro.pdf
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* ----------------------------------------------------------------------- */
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/** @file Quatf.h
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* @brief float based quaternion class
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*/
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#ifndef __CGLA_QUATF_H__
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#define __CGLA_QUATF_H__
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#include "ArithQuat.h"
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#include "Vec3f.h"
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#include "Vec4f.h"
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#include "Mat3x3f.h"
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#include "Mat4x4f.h"
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namespace CGLA {
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/** \brief A float based Quaterinion class.
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Quaternions are algebraic entities useful for rotation. */
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class Quatf : public ArithQuat<float,Vec3f,Quatf>
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{
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public:
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Quatf() : ArithQuat<float, Vec3f, Quatf>() {}
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/// Construct quaternion from vector and scalar
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Quatf(const Vec3f& imaginary, float real = 1.0f) : ArithQuat<float, Vec3f, Quatf>(imaginary, real) {}
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/// Construct quaternion from four scalars
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Quatf(float x, float y, float z, float _qw) : ArithQuat<float, Vec3f, Quatf>(x,y,z,_qw) {}
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/// Construct quaternion from a 4D vector
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explicit Quatf(const Vec4f& v) : ArithQuat<float, Vec3f, Quatf>(v[0], v[1], v[2], v[3]) {}
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/// Get a 3x3 rotation matrix from a quaternion
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Mat3x3f get_Mat3x3f() const
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{
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float s = 2/norm();
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// note that the all q_*q_ are used twice (optimize)
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return Mat3x3f(Vec3f(1.0f - s*(qv[1]*qv[1] + qv[2]*qv[2]),
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s*(qv[0]*qv[1] - qw*qv[2]),
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s*(qv[0]*qv[2] + qw*qv[1])),
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Vec3f( s*(qv[0]*qv[1] + qw*qv[2]),
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1.0f - s*(qv[0]*qv[0] + qv[2]*qv[2]),
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s*(qv[1]*qv[2] - qw*qv[0])),
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Vec3f( s*(qv[0]*qv[2] - qw*qv[1]),
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s*(qv[1]*qv[2] + qw*qv[0]),
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1.0f - s*(qv[0]*qv[0] + qv[1]*qv[1])));
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}
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/// Get a 4x4 rotation matrix from a quaternion
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Mat4x4f get_Mat4x4f() const
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{
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float s = 2.0f/norm();
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// note that the all q_*q_ are used twice (optimize?)
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return Mat4x4f(Vec4f(1.0f - s*(qv[1]*qv[1] + qv[2]*qv[2]),
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s*(qv[0]*qv[1] - qw*qv[2]),
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s*(qv[0]*qv[2] + qw*qv[1]),
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0.0f),
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Vec4f( s*(qv[0]*qv[1] + qw*qv[2]),
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1.0f - s*(qv[0]*qv[0] + qv[2]*qv[2]),
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s*(qv[1]*qv[2] - qw*qv[0]),
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0.0f),
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Vec4f( s*(qv[0]*qv[2] - qw*qv[1]),
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s*(qv[1]*qv[2] + qw*qv[0]),
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1.0f - s*(qv[0]*qv[0] + qv[1]*qv[1]),
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0.0f),
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Vec4f(0.0f, 0.0f, 0.0f, 1.0f));
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}
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/// Create an identity quaternion
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inline Quatf identity_Quatf()
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{
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return Quatf(Vec3f(0.0f));
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}
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};
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}
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#endif
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