mirror of
https://github.com/bulletphysics/bullet3
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88 lines
2.8 KiB
C++
88 lines
2.8 KiB
C++
// Bullet Continuous Collision Detection and Physics Library
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// Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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//
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// Quat.h
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//
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// Copyright (c) 2006 Simon Hobbs
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//
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// This software is provided 'as-is', without any express or implied warranty. In no event will the authors be held liable for any damages arising from the use of this software.
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//
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// Permission is granted to anyone to use this software for any purpose, including commercial applications, and to alter it and redistribute it freely, subject to the following restrictions:
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//
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// 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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//
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// 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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//
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// 3. This notice may not be removed or altered from any source distribution.
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#ifndef BULLET_QUAT_H
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#define BULLET_QUAT_H
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#include "Vector.h"
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class Matrix33;
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class Quat : public Vector4Base
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{
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public:
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BULLET_ALIGNED_NEW_AND_DELETE
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// constructors
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Quat();
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Quat(const Scalar& x, const Scalar& y, const Scalar& z, const Scalar& w);
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Quat(const Vector3& axis, const Scalar& angle);
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// construction to constant
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Quat(const Maths::IdentityTag&);
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// explicit constructors
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explicit Quat(const __m128 b);
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explicit Quat(const Vector3& v);
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explicit Quat(const Vector4& v);
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explicit Quat(const Matrix33& m);
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explicit Quat(const float* p);
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// assignment
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const Quat& operator=(const Quat& v);
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const Quat& operator=(const Maths::IdentityTag&);
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// in place operations
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void operator+=(const Quat& b);
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void operator-=(const Quat& b);
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void operator*=(const Quat& b);
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void operator*=(const Scalar& s);
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// operations
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friend const Quat operator-(const Quat& a);
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friend const Quat operator+(const Quat& a, const Quat& b);
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friend const Quat operator-(const Quat& a, const Quat& b);
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friend const Quat operator*(const Quat& a, const Quat& b);
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friend const Quat operator*(const Quat& a, const Scalar& s);
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friend const Quat operator*(const Scalar& s, const Quat& a);
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friend const Quat Inv(const Quat& a);
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friend const Scalar Dot(const Quat& a, const Quat& b);
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friend const Scalar Length(const Quat& a);
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friend const Quat Normalize(const Quat& a);
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friend const Scalar LengthFast(const Quat& a);
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friend const Quat NormalizeFast(const Quat& a);
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friend const Quat Slerp(const Quat& a, const Quat& b, const Scalar& t);
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friend const Quat Lerp(const Quat& a, const Quat& b, const Scalar& t);
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const Vector3 Rotate(const Vector3& v) const;
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void GetAngleAxis(Vector3& axis, Scalar& angle) const;
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// validation
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bool IsFinite() const;
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};
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#include "Quat.inl"
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#endif //BULLET_QUAT_H
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