ESyS-Particle  4.0.1
Quaternion.h
00001 
00002 //                                                         //
00003 // Copyright (c) 2003-2011 by The University of Queensland //
00004 // Earth Systems Science Computational Centre (ESSCC)      //
00005 // http://www.uq.edu.au/esscc                              //
00006 //                                                         //
00007 // Primary Business: Brisbane, Queensland, Australia       //
00008 // Licensed under the Open Software License version 3.0    //
00009 // http://www.opensource.org/licenses/osl-3.0.php          //
00010 //                                                         //
00012 
00013 #ifndef _QUATERNION_H
00014 #define _QUATERNION_H
00015 
00016 #define DO_INLINE_QUATERNION 1
00017 
00018 #if DO_INLINE_QUATERNION >= 1
00019 #define QUATERNION_INLINE inline
00020 #else
00021 #define QUATERNION_INLINE
00022 #endif
00023 
00024 #include <math.h>
00025 #include "Foundation/vec3.h"
00026 
00027 class Matrix3;
00028 
00029 class Quaternion
00030 {
00031 private:
00032   Vec3   vector;
00033   double scalar;
00034 
00035 public:
00036   //  Constructors
00037   QUATERNION_INLINE Quaternion();
00038   QUATERNION_INLINE Quaternion(double, const Vec3 &);
00039 
00040   //  Copy Constructor
00041   QUATERNION_INLINE Quaternion(const Quaternion &);
00042 
00043   //  Destructor
00044   QUATERNION_INLINE ~Quaternion() {};
00045 
00046   //  Assignment
00047   QUATERNION_INLINE Quaternion& operator=(const Quaternion&);
00048 
00049   //  Output
00050   QUATERNION_INLINE std::ostream& output(std::ostream&) const;
00051   QUATERNION_INLINE std::istream& input(std::istream& ci);
00052 
00053   //  Math
00054   QUATERNION_INLINE bool operator==(const Quaternion&) const;
00055   QUATERNION_INLINE bool operator!=(const Quaternion&) const;
00056 
00057   QUATERNION_INLINE Quaternion operator+(const Quaternion&) const;
00058   QUATERNION_INLINE Quaternion operator-(const Quaternion&) const;
00059   QUATERNION_INLINE Quaternion operator-() const;
00060   QUATERNION_INLINE friend Quaternion operator*(double, const Quaternion&);
00061   QUATERNION_INLINE Quaternion operator*(double) const;
00062   QUATERNION_INLINE Quaternion operator*(const Quaternion&) const;
00063   QUATERNION_INLINE Quaternion operator/(const Quaternion&) const;
00064 
00065   QUATERNION_INLINE Quaternion& operator+=(const Quaternion&);
00066   QUATERNION_INLINE Quaternion& operator-=(const Quaternion&);
00067   QUATERNION_INLINE Quaternion& operator*=(double);
00068   QUATERNION_INLINE Quaternion& operator*=(const Quaternion&);
00069   QUATERNION_INLINE Quaternion& operator/=(const Quaternion&);
00070 
00071   QUATERNION_INLINE Quaternion inverse() const;
00072 
00073   QUATERNION_INLINE void normalize();
00074 
00075   QUATERNION_INLINE double length() const;
00076 
00077   QUATERNION_INLINE Matrix3 to_matrix() const;
00078 
00079   //  Access Functions
00080   QUATERNION_INLINE Vec3 return_vec() const { return vector; };
00081   QUATERNION_INLINE double return_sca() const { return scalar; };
00082 
00083   QUATERNION_INLINE void set_vector(const Vec3 &v)  { vector = v; }
00084   QUATERNION_INLINE void set_scalar(double d) { scalar = d; }
00085 
00091   QUATERNION_INLINE Vec3 asAngleAxis() const;
00092 
00096   typedef std::pair<double,Vec3> AngleAxisPair;
00102   QUATERNION_INLINE AngleAxisPair asAngleAxisPair() const;
00103 };
00104 
00105 QUATERNION_INLINE std::ostream& operator<<(std::ostream&, const Quaternion &);
00106 QUATERNION_INLINE std::istream& operator>>(std::istream&, Quaternion &);
00107 
00108 #if DO_INLINE_QUATERNION >= 1
00109 #include "Foundation/Quaternion.hpp"
00110 #endif
00111 
00112 #endif