Subversion Repositories gelsvn

Rev

Rev 306 | Go to most recent revision | Details | Compare with Previous | Last modification | View Log | RSS feed

Rev Author Line No. Line
48 jrf 1 
#ifndef __CGLA_QUATF_H__
2 
#define __CGLA_QUATF_H__
3 
 
306 jrf 4 
#include "ArithQuat.h"
48 jrf 5 
#include "Vec3f.h"
6 
#include "Vec4f.h"
7 
#include "Mat3x3f.h"
8 
#include "Mat4x4f.h"
9 
 
306 jrf 10 
 
48 jrf 11 
namespace CGLA {
12 
 
89 jab 13 
  /** \brief A float based Quaterinion class.
48 jrf 14 
 
89 jab 15 
	Quaternions are algebraic entities useful for rotation. */
16 
 
306 jrf 17 
	class Quatf : public ArithQuat<float,Vec3f,Quatf>
48 jrf 18 
  {
19 
  public:
306 jrf 20 
		Quatf() : ArithQuat<float, Vec3f, Quatf>() {}
48 jrf 21 
 
22 
    /// Construct quaternion from vector and scalar
306 jrf 23 
    Quatf(const Vec3f& imaginary, float real = 1.0f) : ArithQuat<float, Vec3f, Quatf>(imaginary, real) {}
48 jrf 24 
 
25 
    /// Construct quaternion from four scalars
306 jrf 26 
    Quatf(float x, float y, float z, float _qw) :  ArithQuat<float, Vec3f, Quatf>(x,y,z,_qw) {}
48 jrf 27 
 
306 jrf 28 
		/// Construct quaternion from a 4D vector
29 
		explicit Quatf(const Vec4f& v) : ArithQuat<float, Vec3f, Quatf>(v[0], v[1], v[2], v[3]) {}
48 jrf 30 
 
306 jrf 31 
 
32 
		/// Get a 3x3 rotation matrix from a quaternion
33 
    Mat3x3f get_Mat3x3f() const
48 jrf 34 
    {
49 jrf 35 
      float s = 2/norm();
36 
      // note that the all q_*q_ are used twice (optimize)
501 jrf 37 
      return Mat3x3f(Vec3f(1.0f - s*(qv[1]*qv[1] + qv[2]*qv[2]),
49 jrf 38 
			         s*(qv[0]*qv[1] - qw*qv[2]),
39 
			         s*(qv[0]*qv[2] + qw*qv[1])),
40 
		     Vec3f(      s*(qv[0]*qv[1] + qw*qv[2]),
501 jrf 41 
  			   1.0f - s*(qv[0]*qv[0] + qv[2]*qv[2]),
49 jrf 42 
			         s*(qv[1]*qv[2] - qw*qv[0])),
43 
		     Vec3f(      s*(qv[0]*qv[2] - qw*qv[1]),
44 
			         s*(qv[1]*qv[2] + qw*qv[0]),
501 jrf 45 
			   1.0f - s*(qv[0]*qv[0] + qv[1]*qv[1])));
49 jrf 46 
    }
48 jrf 47 
 
48 
    /// Get a 4x4 rotation matrix from a quaternion
306 jrf 49 
    Mat4x4f get_Mat4x4f() const
49 jrf 50 
    {
501 jrf 51 
      float s = 2.0f/norm();
49 jrf 52 
      // note that the all q_*q_ are used twice (optimize?)
501 jrf 53 
      return Mat4x4f(Vec4f(1.0f - s*(qv[1]*qv[1] + qv[2]*qv[2]),
49 jrf 54 
			         s*(qv[0]*qv[1] - qw*qv[2]),
55 
			         s*(qv[0]*qv[2] + qw*qv[1]),
501 jrf 56 
		           0.0f),
49 jrf 57 
		     Vec4f(      s*(qv[0]*qv[1] + qw*qv[2]),
501 jrf 58 
			   1.0f - s*(qv[0]*qv[0] + qv[2]*qv[2]),
49 jrf 59 
			         s*(qv[1]*qv[2] - qw*qv[0]),
501 jrf 60 
			   0.0f),
49 jrf 61 
		     Vec4f(      s*(qv[0]*qv[2] - qw*qv[1]),
62 
			         s*(qv[1]*qv[2] + qw*qv[0]),
501 jrf 63 
			   1.0f - s*(qv[0]*qv[0] + qv[1]*qv[1]),
64 
			   0.0f),
65 
		     Vec4f(0.0f, 0.0f, 0.0f, 1.0f));
49 jrf 66 
    }
306 jrf 67 
 
68 
	/// Create an identity quaternion
48 jrf 69 
  inline Quatf identity_Quatf()
70 
  {
501 jrf 71 
    return Quatf(Vec3f(0.0f));
48 jrf 72 
  }
73 
 
306 jrf 74 
	};
48 jrf 75 
 
76 
}
77 
#endif