81 lines
2.4 KiB
C++
81 lines
2.4 KiB
C++
/*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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* Copyright 2011 Danny Robson <danny@nerdcruft.net>
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*/
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#ifndef __UTIL_QUATERNION_HPP
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#define __UTIL_QUATERNION_HPP
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#include "coord.hpp"
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#include "vector.hpp"
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#include "matrix.hpp"
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#include <ostream>
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namespace util {
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// quaternions must be 4 elements, but we include a size parameter so it
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// fits with the generic coord infrastructure more easily.
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//
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// specifically:
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// large regions of base code require a template template parameter with
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// size and type arguments, which is annoying to work around for this one
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// case.
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//
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// we protect against invalid instantiations through static_assert
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template <size_t S, typename T>
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struct quaternion : public coord::base<4,T,quaternion,coord::wxyz,coord::abcd> {
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static_assert (S == 4, "quaternions must be 4 elements");
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using coord::base<S,T,::util::quaternion,::util::coord::wxyz,::util::coord::abcd>::base;
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static quaternion angle_axis (T radians, vector<3,T> axis);
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static quaternion from_euler (vector<3,T>);
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static quaternion from_to (vector<3,T>, vector<3,T>);
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static quaternion look (vector<3,T> fwd, vector<3,T> up);
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matrix4<T> as_matrix (void) const;
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static const quaternion IDENTITY;
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};
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template <typename T>
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quaternion<4,T>
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conjugate (quaternion<4,T>);
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template <size_t S, typename T>
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quaternion<S,T>
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operator* (const quaternion<S,T>, const quaternion<S,T>);
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template <size_t S, typename T>
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quaternion<S,T>
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operator/ (const quaternion<S,T>, const quaternion<S,T>);
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typedef quaternion<4,float> quaternionf;
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typedef quaternion<4,double> quaterniond;
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template <typename T>
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vector3<T>
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rotate (vector3<T>, quaternion<4,T>);
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template <size_t S, typename T>
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std::ostream&
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operator<< (std::ostream&, quaternion<S,T>);
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}
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#endif
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