OpenSG: OSGQuaternion.h Source File

00001 /*---------------------------------------------------------------------------*\
00002  *                                OpenSG                                     *
00003  *                                                                           *
00004  *                                                                           *
00005  *             Copyright (C) 2000-2002 by the OpenSG Forum                   *
00006  *                                                                           *
00007  *                            www.opensg.org                                 *
00008  *                                                                           *
00009  *   contact: dirk@opensg.org, gerrit.voss@vossg.org, jbehr@zgdv.de          *
00010  *                                                                           *
00011 \*---------------------------------------------------------------------------*/
00012 /*---------------------------------------------------------------------------*\
00013  *                                License                                    *
00014  *                                                                           *
00015  * This library is free software; you can redistribute it and/or modify it   *
00016  * under the terms of the GNU Library General Public License as published    *
00017  * by the Free Software Foundation, version 2.                               *
00018  *                                                                           *
00019  * This library is distributed in the hope that it will be useful, but       *
00020  * WITHOUT ANY WARRANTY; without even the implied warranty of                *
00021  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU         *
00022  * Library General Public License for more details.                          *
00023  *                                                                           *
00024  * You should have received a copy of the GNU Library General Public         *
00025  * License along with this library; if not, write to the Free Software       *
00026  * Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.                 *
00027  *                                                                           *
00028 \*---------------------------------------------------------------------------*/
00029 /*---------------------------------------------------------------------------*\
00030  *                                Changes                                    *
00031  *                                                                           *
00032  *                                                                           *
00033  *                                                                           *
00034  *                                                                           *
00035  *                                                                           *
00036  *                                                                           *
00037 \*---------------------------------------------------------------------------*/
00038 
00039 #ifndef _OSGQUATERNION_H_
00040 #define _OSGQUATERNION_H_
00041 #ifdef __sgi
00042 #pragma once
00043 #endif
00044 
00045 #include <OSGBaseTypes.h>
00046 #include <OSGBaseFunctions.h>
00047 
00048 #include <OSGVector.h>
00049 #include <OSGMatrix.h>
00050 
00051 OSG_BEGIN_NAMESPACE
00052 
00056 template <class ValueTypeT>
00057 class QuaternionBase
00058 {
00059     /*==========================  PUBLIC  =================================*/
00060 
00061   public:
00062 
00063     /*---------------------------------------------------------------------*/
00067     typedef VectorInterface     <ValueTypeT,
00068                                  VecStorage3<ValueTypeT> > VectorType;
00069     typedef TransformationMatrix<ValueTypeT>               MatrixType;
00070 
00071 
00073     /*---------------------------------------------------------------------*/
00077     static const QuaternionBase &identity(void                          );
00078 
00079     static       QuaternionBase slerp    (const QuaternionBase &rot0,
00080                                           const QuaternionBase &rot1,
00081                                           const ValueTypeT      t       );
00082 
00084     /*---------------------------------------------------------------------*/
00088                 QuaternionBase(      void                               );
00089                 QuaternionBase(const QuaternionBase &source             );
00090     explicit    QuaternionBase(const MatrixType     &matrix             );
00091                 QuaternionBase(const VectorType     &axis,
00092                                const ValueTypeT      angle              );
00093                 QuaternionBase(const VectorType     &rotateFrom,
00094                                const VectorType     &rotateTo           );
00095 
00097     /*---------------------------------------------------------------------*/
00101     virtual ~QuaternionBase(void);
00102 
00104     /*---------------------------------------------------------------------*/
00108     void setIdentity      (       void                  );
00109 
00110     void setValueAsAxisRad(const  ValueTypeT *valsP     );
00111     void setValueAsAxisDeg(const  ValueTypeT *valsP     );
00112     void setValueAsQuat   (const  ValueTypeT *valsP     );
00113 
00114     void setValueAsAxisRad(const  ValueTypeT  x,
00115                            const  ValueTypeT  y,
00116                            const  ValueTypeT  z,
00117                            const  ValueTypeT  w         );
00118     void setValueAsAxisDeg(const  ValueTypeT  x,
00119                            const  ValueTypeT  y,
00120                            const  ValueTypeT  z,
00121                            const  ValueTypeT  w         );
00122     void setValueAsQuat   (const  ValueTypeT  x,
00123                            const  ValueTypeT  y,
00124                            const  ValueTypeT  z,
00125                            const  ValueTypeT  w         );
00126 
00127     void setValue         (const  MatrixType &matrix    );
00128 
00129     void setValueAsAxisRad(const  VectorType &axis,    
00130                                   ValueTypeT  angle     );
00131     void setValueAsAxisDeg(const  VectorType &axis,
00132                                   ValueTypeT  angle     );
00133 
00134     void setValue         (const  VectorType &rotateFrom,
00135                            const  VectorType &rotateTo  );
00136 
00137     void setValueAsAxisRad(const  Char8       *str      );
00138     void setValueAsAxisDeg(const  Char8       *str      );
00139     void setValueAsQuat   (const  Char8       *str      );
00140 
00141     void setValue         (const  ValueTypeT alpha,
00142                            const  ValueTypeT beta,
00143                            const  ValueTypeT gamma      );
00144 
00146     /*---------------------------------------------------------------------*/
00150     const ValueTypeT *getValues        (void               ) const;
00151 
00152           void        getValueAsAxisDeg(ValueTypeT &x,
00153                                         ValueTypeT &y,
00154                                         ValueTypeT &z,
00155                                         ValueTypeT &w      ) const;
00156           void        getValueAsAxisRad(ValueTypeT &x,
00157                                         ValueTypeT &y,
00158                                         ValueTypeT &z,
00159                                         ValueTypeT &w      ) const;
00160           void        getValueAsQuat   (ValueTypeT &x,
00161                                         ValueTypeT &y,
00162                                         ValueTypeT &z,
00163                                         ValueTypeT &w      ) const;
00164 
00165           void       getValueAsAxisRad (VectorType &axis, 
00166                                         ValueTypeT &radians) const;
00167           void       getValueAsAxisDeg (VectorType &axis, 
00168                                         ValueTypeT &degrees) const;
00169           void       getValue          (MatrixType &matrix ) const;
00170           void       getValuesOnly     (MatrixType &matrix ) const;
00171 
00172           ValueTypeT x                 (void               ) const;
00173           ValueTypeT y                 (void               ) const;
00174           ValueTypeT z                 (void               ) const;
00175           ValueTypeT w                 (void               ) const;
00176 
00178     /*---------------------------------------------------------------------*/
00182           ValueTypeT      length    (void                        ) const;
00183           void            normalize (void                        );
00184 
00185           void            invert    (void                        );
00186     const QuaternionBase  inverse   (void                        ) const;
00187 
00188           void            multVec   (const VectorType &src,
00189                                            VectorType &dst       ) const;
00190 
00191           void            scaleAngle(      ValueTypeT scaleFactor);
00192 
00193           void            slerpThis (const QuaternionBase &rot0,
00194                                      const QuaternionBase &rot1,
00195                                      const ValueTypeT      t     );
00196 
00197           void            mult      (const QuaternionBase &other );
00198           void            multLeft  (const QuaternionBase &other );
00199 
00200           bool            equals    (const QuaternionBase &rot,
00201                                      const ValueTypeT tolerance  ) const;
00202 
00204     /*---------------------------------------------------------------------*/
00208           ValueTypeT &operator [](const UInt32 index);
00209     const ValueTypeT &operator [](const UInt32 index) const;
00210 
00212     /*---------------------------------------------------------------------*/
00216     void operator *=(const QuaternionBase &other);
00217 
00219     /*---------------------------------------------------------------------*/
00223     const QuaternionBase& operator = (const QuaternionBase &source);
00224 
00226     /*---------------------------------------------------------------------*/
00230     bool operator == (const QuaternionBase &other) const;
00231     bool operator != (const QuaternionBase &other) const;
00232 
00234     /*=========================  PROTECTED  ===============================*/
00235 
00236   protected:
00237 
00238     static void slerp(const QuaternionBase &rot0,
00239                       const QuaternionBase &rot1,
00240                             QuaternionBase &result,
00241                       const ValueTypeT      t);
00242 
00243            void mult (const ValueTypeT rVal1[4],
00244                       const ValueTypeT rVal2[4]);
00245 
00246     /*==========================  PRIVATE  ================================*/
00247 
00248   private:
00249 
00250     enum ElementIndices
00251     {
00252         Q_X = 0,
00253         Q_Y = 1,
00254         Q_Z = 2,
00255         Q_W = 3
00256     };
00257 
00258     static QuaternionBase _identity;
00259 
00260            ValueTypeT     _quat[4];
00261 };
00262 
00263 template <class ValueTypeT> 
00264 std::ostream &operator <<(      std::ostream               &os, 
00265                           const QuaternionBase<ValueTypeT> &obj);
00266 
00272 typedef QuaternionBase<Real32> Quaternion;
00273 
00274 OSG_END_NAMESPACE
00275 
00276 #include <OSGQuaternion.inl>
00277 
00278 #define OSGQUATERNION_HEADER_CVSID "@(#)$Id: $"
00279 
00280 #endif /* _OSGQUATERNION_H_ */