WebSVN – gelsvn – Diff – /trunk/src/CGLA/Quatd.h


/* ----------------------------------------------------------------------- *
 * This file is part of GEL, http://www.imm.dtu.dk/GEL
 * Copyright (C) the authors and DTU Informatics
 * For license and list of authors, see ../../doc/intro.pdf
 * ----------------------------------------------------------------------- */
 
/** @file Quatd.h
 * @brief Double based quaternion class
 */
 
#ifndef __CGLA_QUATD_H__
#define __CGLA_QUATD_H__
 
#include "ArithQuat.h"
#include "Vec3d.h"
#include "Vec4d.h"
#include "Mat3x3d.h"
#include "Mat4x4d.h"
 
 
namespace CGLA {
 
  /** \brief A float based Quaterinion class. 
 
	Quaternions are algebraic entities useful for rotation. */
 
	class Quatd : public ArithQuat<double,Vec3d,Quatd>
  {
  public:
		Quatd() : ArithQuat<double, Vec3d, Quatd>() {}
 
    /// Construct quaternion from vector and scalar
    Quatd(const Vec3d& imaginary, double real = 1.0) : ArithQuat<double, Vec3d, Quatd>(imaginary, real) {}
 
    /// Construct quaternion from four scalars
    Quatd(double x, double y, double z, double _qw) :  ArithQuat<double, Vec3d, Quatd>(x,y,z,_qw) {}
 
		/// Construct quaternion from a 4D vector
		explicit Quatd(const Vec4d& v) : ArithQuat<double, Vec3d, Quatd>(v[0], v[1], v[2], v[3]) {}
 
	
		/// Get a 3x3 rotation matrix from a quaternion
    Mat3x3d get_Mat3x3d() const
    {
      double s = 2.0/norm();
      // note that the all q_*q_ are used twice (optimize)
      return Mat3x3d(Vec3d(1.0 - s*(qv[1]*qv[1] + qv[2]*qv[2]),
			         s*(qv[0]*qv[1] - qw*qv[2]),
			         s*(qv[0]*qv[2] + qw*qv[1])),
		     Vec3d(      s*(qv[0]*qv[1] + qw*qv[2]),
  			   1.0 - s*(qv[0]*qv[0] + qv[2]*qv[2]),
			         s*(qv[1]*qv[2] - qw*qv[0])),
		     Vec3d(      s*(qv[0]*qv[2] - qw*qv[1]),
			         s*(qv[1]*qv[2] + qw*qv[0]),
			   1.0 - s*(qv[0]*qv[0] + qv[1]*qv[1])));
    }
 
    /// Get a 4x4 rotation matrix from a quaternion
    Mat4x4d get_Mat4x4d() const
    {
      double s = 2/norm();
      // note that the all q_*q_ are used twice (optimize?)
      return Mat4x4d(Vec4d(1.0 - s*(qv[1]*qv[1] + qv[2]*qv[2]),
			         s*(qv[0]*qv[1] - qw*qv[2]),
			         s*(qv[0]*qv[2] + qw*qv[1]),
		           0.0),
		     Vec4d(      s*(qv[0]*qv[1] + qw*qv[2]),
			   1.0 - s*(qv[0]*qv[0] + qv[2]*qv[2]),
			         s*(qv[1]*qv[2] - qw*qv[0]),
			   0.0),
		     Vec4d(      s*(qv[0]*qv[2] - qw*qv[1]),
			         s*(qv[1]*qv[2] + qw*qv[0]),
			   1.0 - s*(qv[0]*qv[0] + qv[1]*qv[1]),
			   0.0),
		     Vec4d(0.0, 0.0, 0.0, 1.0));
    }
		
	/// Create an identity quaternion
  inline Quatd identity_Quatd()
  {
    return Quatd(Vec3d(0.0));
  }
 
	};
 
}
#endif
 

Rev 501	Rev 595
-		1	`/* ----------------------------------------------------------------------- *`
-		2	`* This file is part of GEL, http://www.imm.dtu.dk/GEL`
-		3	`* Copyright (C) the authors and DTU Informatics`
-		4	`* For license and list of authors, see ../../doc/intro.pdf`
-		5	`* ----------------------------------------------------------------------- */`
-		6
-		7	`/** @file Quatd.h`
-		8	`* @brief Double based quaternion class`
-		9	`*/`
-		10
1	`#ifndef __CGLA_QUATD_H__`	11	`#ifndef __CGLA_QUATD_H__`
2	`#define __CGLA_QUATD_H__`	12	`#define __CGLA_QUATD_H__`
3		13
4	`#include "ArithQuat.h"`	14	`#include "ArithQuat.h"`
5	`#include "Vec3d.h"`	15	`#include "Vec3d.h"`
6	`#include "Vec4d.h"`	16	`#include "Vec4d.h"`
7	`#include "Mat3x3d.h"`	17	`#include "Mat3x3d.h"`
8	`#include "Mat4x4d.h"`	18	`#include "Mat4x4d.h"`
9		19
10		20
11	`namespace CGLA {`	21	`namespace CGLA {`
12		22
13	`/** \brief A float based Quaterinion class.`	23	`/** \brief A float based Quaterinion class.`
14		24
15	`Quaternions are algebraic entities useful for rotation. */`	25	`Quaternions are algebraic entities useful for rotation. */`
16		26
17	`class Quatd : public ArithQuat<double,Vec3d,Quatd>`	27	`class Quatd : public ArithQuat<double,Vec3d,Quatd>`
18	`{`	28	`{`
19	`public:`	29	`public:`
20	`Quatd() : ArithQuat<double, Vec3d, Quatd>() {}`	30	`Quatd() : ArithQuat<double, Vec3d, Quatd>() {}`
21		31
22	`/// Construct quaternion from vector and scalar`	32	`/// Construct quaternion from vector and scalar`
23	`Quatd(const Vec3d& imaginary, double real = 1.0) : ArithQuat<double, Vec3d, Quatd>(imaginary, real) {}`	33	`Quatd(const Vec3d& imaginary, double real = 1.0) : ArithQuat<double, Vec3d, Quatd>(imaginary, real) {}`
24		34
25	`/// Construct quaternion from four scalars`	35	`/// Construct quaternion from four scalars`
26	`Quatd(double x, double y, double z, double _qw) : ArithQuat<double, Vec3d, Quatd>(x,y,z,_qw) {}`	36	`Quatd(double x, double y, double z, double _qw) : ArithQuat<double, Vec3d, Quatd>(x,y,z,_qw) {}`
27		37
28	`/// Construct quaternion from a 4D vector`	38	`/// Construct quaternion from a 4D vector`
29	`explicit Quatd(const Vec4d& v) : ArithQuat<double, Vec3d, Quatd>(v[0], v[1], v[2], v[3]) {}`	39	`explicit Quatd(const Vec4d& v) : ArithQuat<double, Vec3d, Quatd>(v[0], v[1], v[2], v[3]) {}`
30		40
31		41
32	`/// Get a 3x3 rotation matrix from a quaternion`	42	`/// Get a 3x3 rotation matrix from a quaternion`
33	`Mat3x3d get_Mat3x3d() const`	43	`Mat3x3d get_Mat3x3d() const`
34	`{`	44	`{`
35	`double s = 2.0/norm();`	45	`double s = 2.0/norm();`
36	`// note that the all q_*q_ are used twice (optimize)`	46	`// note that the all q_*q_ are used twice (optimize)`
37	`return Mat3x3d(Vec3d(1.0 - s(qv[1]qv[1] + qv[2]*qv[2]),`	47	`return Mat3x3d(Vec3d(1.0 - s(qv[1]qv[1] + qv[2]*qv[2]),`
38	`s(qv[0]qv[1] - qw*qv[2]),`	48	`s(qv[0]qv[1] - qw*qv[2]),`
39	`s(qv[0]qv[2] + qw*qv[1])),`	49	`s(qv[0]qv[2] + qw*qv[1])),`
40	`Vec3d( s(qv[0]qv[1] + qw*qv[2]),`	50	`Vec3d( s(qv[0]qv[1] + qw*qv[2]),`
41	`1.0 - s(qv[0]qv[0] + qv[2]*qv[2]),`	51	`1.0 - s(qv[0]qv[0] + qv[2]*qv[2]),`
42	`s(qv[1]qv[2] - qw*qv[0])),`	52	`s(qv[1]qv[2] - qw*qv[0])),`
43	`Vec3d( s(qv[0]qv[2] - qw*qv[1]),`	53	`Vec3d( s(qv[0]qv[2] - qw*qv[1]),`
44	`s(qv[1]qv[2] + qw*qv[0]),`	54	`s(qv[1]qv[2] + qw*qv[0]),`
45	`1.0 - s(qv[0]qv[0] + qv[1]*qv[1])));`	55	`1.0 - s(qv[0]qv[0] + qv[1]*qv[1])));`
46	`}`	56	`}`
47		57
48	`/// Get a 4x4 rotation matrix from a quaternion`	58	`/// Get a 4x4 rotation matrix from a quaternion`
49	`Mat4x4d get_Mat4x4d() const`	59	`Mat4x4d get_Mat4x4d() const`
50	`{`	60	`{`
51	`double s = 2/norm();`	61	`double s = 2/norm();`
52	`// note that the all q_*q_ are used twice (optimize?)`	62	`// note that the all q_*q_ are used twice (optimize?)`
53	`return Mat4x4d(Vec4d(1.0 - s(qv[1]qv[1] + qv[2]*qv[2]),`	63	`return Mat4x4d(Vec4d(1.0 - s(qv[1]qv[1] + qv[2]*qv[2]),`
54	`s(qv[0]qv[1] - qw*qv[2]),`	64	`s(qv[0]qv[1] - qw*qv[2]),`
55	`s(qv[0]qv[2] + qw*qv[1]),`	65	`s(qv[0]qv[2] + qw*qv[1]),`
56	`0.0),`	66	`0.0),`
57	`Vec4d( s(qv[0]qv[1] + qw*qv[2]),`	67	`Vec4d( s(qv[0]qv[1] + qw*qv[2]),`
58	`1.0 - s(qv[0]qv[0] + qv[2]*qv[2]),`	68	`1.0 - s(qv[0]qv[0] + qv[2]*qv[2]),`
59	`s(qv[1]qv[2] - qw*qv[0]),`	69	`s(qv[1]qv[2] - qw*qv[0]),`
60	`0.0),`	70	`0.0),`
61	`Vec4d( s(qv[0]qv[2] - qw*qv[1]),`	71	`Vec4d( s(qv[0]qv[2] - qw*qv[1]),`
62	`s(qv[1]qv[2] + qw*qv[0]),`	72	`s(qv[1]qv[2] + qw*qv[0]),`
63	`1.0 - s(qv[0]qv[0] + qv[1]*qv[1]),`	73	`1.0 - s(qv[0]qv[0] + qv[1]*qv[1]),`
64	`0.0),`	74	`0.0),`
65	`Vec4d(0.0, 0.0, 0.0, 1.0));`	75	`Vec4d(0.0, 0.0, 0.0, 1.0));`
66	`}`	76	`}`
67		77
68	`/// Create an identity quaternion`	78	`/// Create an identity quaternion`
69	`inline Quatd identity_Quatd()`	79	`inline Quatd identity_Quatd()`
70	`{`	80	`{`
71	`return Quatd(Vec3d(0.0));`	81	`return Quatd(Vec3d(0.0));`
72	`}`	82	`}`
73		83
74	`};`	84	`};`
75		85
76	`}`	86	`}`
77	`#endif`	87	`#endif`
78		88

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(root)/trunk/src/CGLA/Quatd.h – Rev 501 → 595