quaternion.h Source File

00001 //****************************************************************************//
00002 // quaternion.h                                                               //
00003 // Copyright (C) 2001, 2002 Bruno 'Beosil' Heidelberger                       //
00004 //****************************************************************************//
00005 // This library is free software; you can redistribute it and/or modify it    //
00006 // under the terms of the GNU Lesser General Public License as published by   //
00007 // the Free Software Foundation; either version 2.1 of the License, or (at    //
00008 // your option) any later version.                                            //
00009 //****************************************************************************//
00010 
00011 #ifndef CAL_QUATERNION_H
00012 #define CAL_QUATERNION_H
00013 
00014 //****************************************************************************//
00015 // Includes                                                                   //
00016 //****************************************************************************//
00017 
00018 #include "cal3d/global.h"
00019 
00020 //****************************************************************************//
00021 // Forward declarations                                                       //
00022 //****************************************************************************//
00023 
00024 class CalVector;
00025 
00026 //****************************************************************************//
00027 // Class declaration                                                          //
00028 //****************************************************************************//
00029 
00030  /*****************************************************************************/
00034 class CAL3D_API CalQuaternion
00035 {
00036 // member variables
00037 public:
00038   float x;
00039   float y;
00040   float z;
00041   float w;
00042 
00043 // constructors/destructor
00044 public:
00045   CalQuaternion();
00046   CalQuaternion(const CalQuaternion& q);
00047   CalQuaternion(float qx, float qy, float qz, float qw);
00048   ~CalQuaternion();
00049 
00050 // member functions 
00051 public:
00052   float& operator[](unsigned int index);
00053   const float& operator[](unsigned int index) const;
00054   void operator=(const CalQuaternion& q);
00055   void operator*=(const CalQuaternion& q);
00056   void operator*=(const CalVector& v);
00057   friend CAL3D_API CalQuaternion operator*(const CalQuaternion& q, const CalQuaternion& r);
00058   void blend(float d, const CalQuaternion& q);
00059   void clear();
00060   void conjugate();
00061   void invert();
00062   void set(float qx, float qy, float qz, float qw);
00063   friend CAL3D_API CalQuaternion shortestArc( const CalVector& from, const CalVector& to );
00064 };
00065 
00066 #endif
00067 
00068 //****************************************************************************//