Quaternion.h

/***************************************************************************
 *   This file is part of OpenCAL: Open Computer Animation Library         *
 *   I created OpenCAL as my master's thesis Computer Science (multimedia) *
 *   at the tUL university in Diepenbeek, Belgium                          *
 *                                                                         *
 *   Copyright (C) 2003-2004 by Jeroen Dierckx                             *
 *   jeroen.dierckx@student.luc.ac.be                                      *
 *                                                                         *
 ***************************************************************************/

#ifndef OPENCAL_UTILS_QUATERNION_H
#define OPENCAL_UTILS_QUATERNION_H

// Includes
#include <OpenCAL/global.h>
#include <OpenCAL/Vector3.h>
#include <OpenCAL/Matrix33.h>

namespace OpenCAL
{
    namespace Utils
    {
        class OPENCAL_API Quaternion
        {
        protected:
            // Member variables
            float m_scalar;
            Vector3 m_vector;

        public:
            // Static member variables
            static const Quaternion identity;

        public:
            // Constructors and destructor
            Quaternion();
            Quaternion(float scalar, const Vector3 &vector);
            virtual ~Quaternion();

            // Get functions
            float getScalar() const { return m_scalar; }
            const Vector3 &getVector() const { return m_vector; }

            // Set functions
            void setScalar(float scalar) { m_scalar = scalar; }
            void setVector(const Vector3 &vector) { m_vector = vector; }

            // Operator functions
            Quaternion operator+(const Quaternion &q) const; 
            Quaternion operator-(const Quaternion &q) const; 
            Quaternion operator*(const Quaternion &q) const; 
            Quaternion operator*(const Vector3 &v) const; 
            Quaternion operator*(float factor) const; 
            Quaternion operator/(float factor) const; 

            void operator+=(const Quaternion &q);
            void operator-=(const Quaternion &q);
            void operator*=(const Quaternion &q);
            void operator*=(const Vector3 &v);
            void operator*=(float factor);
            void operator/=(float factor);

            Quaternion operator-() const; 

            bool operator==(const Quaternion &q) const; 
            bool operator!=(const Quaternion &q) const; 

            // Cast operators
            operator Matrix33() const { return toMatrix33(); }

            // Magnitude
            float magnitude() const;
            float magnitudeSquared() const;

            // Inverse
            void inverse();
            Quaternion inversed() const;
            void inversed(Quaternion *q) const;

            // Normalization
            void normalize();
            Quaternion normalized() const;
            void normalized(Quaternion *q) const;

            // Dot product
            float dotProduct(const Quaternion &q) const;

            // Slerp (linear interpolation between unit quaternions)
            void slerp(float u, const Quaternion &dest) { slerp(u, *this, dest); }
            void slerp(float u, const Quaternion &source, const Quaternion &dest) { *this = slerped(u, source, dest); }
            Quaternion slerped(float u, const Quaternion &dest) const { return slerped(u, *this, dest); }
            Quaternion slerped(float u, const Quaternion &source, const Quaternion &dest) const;

            Quaternion blended(float u, const Quaternion &dest) const { return slerped(u, dest); }

            // Axis - Angle rotation
            static Quaternion createFromAxisAngle(const Vector3 &axis, float degrees);
            void fromAxisAngle(const Vector3 &axis, float degrees);
            void toAxisAngle(Vector3 *axis, float *degrees) const;

            // Euler angle rotation
            void fromEulerAngle(float rotX, float rotY, float rotZ);
            void fromEulerAngle(const Vector3 &rot);
            Vector3 toEulerAngle() const;
            void toEulerAngle(float *rotX, float *rotY, float *rotZ) const;
            void toEulerAngle(Vector3 *rot) const;

            // Matrix rotation
            void fromMatrix33(const Matrix33 &matrix);
            Matrix33 toMatrix33() const;
            void toMatrix33(Matrix33 *matrix) const;

            // Other functions
            void print() const;

        // Friend functions
        friend Quaternion operator*(const Vector3 &v, const Quaternion &q);
        friend Quaternion operator*(float factor, const Quaternion &q);
        friend Quaternion operator/(float factor, const Quaternion &q);
        friend std::ostream &operator<<(std::ostream &stream, const Quaternion &q);
        };
    }
}

#endif // OPENCAL_UTILS_QUATERNION_H

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