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Diffstat (limited to 'code/splines/math_quaternion.h')
| -rwxr-xr-x | code/splines/math_quaternion.h | 190 |
1 files changed, 190 insertions, 0 deletions
diff --git a/code/splines/math_quaternion.h b/code/splines/math_quaternion.h new file mode 100755 index 0000000..f960aea --- /dev/null +++ b/code/splines/math_quaternion.h @@ -0,0 +1,190 @@ +/*
+===========================================================================
+Copyright (C) 1999-2005 Id Software, Inc.
+
+This file is part of Quake III Arena source code.
+
+Quake III Arena source code is free software; you can redistribute it
+and/or modify it under the terms of the GNU General Public License as
+published by the Free Software Foundation; either version 2 of the License,
+or (at your option) any later version.
+
+Quake III Arena source code is distributed in the hope that it will be
+useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with Foobar; if not, write to the Free Software
+Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+===========================================================================
+*/
+#ifndef __MATH_QUATERNION_H__
+#define __MATH_QUATERNION_H__
+
+#include <assert.h>
+#include <math.h>
+
+class idVec3_t;
+class angles_t;
+class mat3_t;
+
+class quat_t {
+public:
+ float x;
+ float y;
+ float z;
+ float w;
+
+ quat_t();
+ quat_t( float x, float y, float z, float w );
+
+ friend void toQuat( idVec3_t &src, quat_t &dst );
+ friend void toQuat( angles_t &src, quat_t &dst );
+ friend void toQuat( mat3_t &src, quat_t &dst );
+
+ float *vec4( void );
+
+ float operator[]( int index ) const;
+ float &operator[]( int index );
+
+ void set( float x, float y, float z, float w );
+
+ void operator=( quat_t a );
+
+ friend quat_t operator+( quat_t a, quat_t b );
+ quat_t &operator+=( quat_t a );
+
+ friend quat_t operator-( quat_t a, quat_t b );
+ quat_t &operator-=( quat_t a );
+
+ friend quat_t operator*( quat_t a, float b );
+ friend quat_t operator*( float a, quat_t b );
+ quat_t &operator*=( float a );
+
+ friend int operator==( quat_t a, quat_t b );
+ friend int operator!=( quat_t a, quat_t b );
+
+ float Length( void );
+ quat_t &Normalize( void );
+
+ quat_t operator-();
+};
+
+inline quat_t::quat_t() {
+}
+
+inline quat_t::quat_t( float x, float y, float z, float w ) {
+ this->x = x;
+ this->y = y;
+ this->z = z;
+ this->w = w;
+}
+
+inline float *quat_t::vec4( void ) {
+ return &x;
+}
+
+inline float quat_t::operator[]( int index ) const {
+ assert( ( index >= 0 ) && ( index < 4 ) );
+ return ( &x )[ index ];
+}
+
+inline float& quat_t::operator[]( int index ) {
+ assert( ( index >= 0 ) && ( index < 4 ) );
+ return ( &x )[ index ];
+}
+
+inline void quat_t::set( float x, float y, float z, float w ) {
+ this->x = x;
+ this->y = y;
+ this->z = z;
+ this->w = w;
+}
+
+inline void quat_t::operator=( quat_t a ) {
+ x = a.x;
+ y = a.y;
+ z = a.z;
+ w = a.w;
+}
+
+inline quat_t operator+( quat_t a, quat_t b ) {
+ return quat_t( a.x + b.x, a.y + b.y, a.z + b.z, a.w + b.w );
+}
+
+inline quat_t& quat_t::operator+=( quat_t a ) {
+ x += a.x;
+ y += a.y;
+ z += a.z;
+ w += a.w;
+
+ return *this;
+}
+
+inline quat_t operator-( quat_t a, quat_t b ) {
+ return quat_t( a.x - b.x, a.y - b.y, a.z - b.z, a.w - b.w );
+}
+
+inline quat_t& quat_t::operator-=( quat_t a ) {
+ x -= a.x;
+ y -= a.y;
+ z -= a.z;
+ w -= a.w;
+
+ return *this;
+}
+
+inline quat_t operator*( quat_t a, float b ) {
+ return quat_t( a.x * b, a.y * b, a.z * b, a.w * b );
+}
+
+inline quat_t operator*( float a, quat_t b ) {
+ return b * a;
+}
+
+inline quat_t& quat_t::operator*=( float a ) {
+ x *= a;
+ y *= a;
+ z *= a;
+ w *= a;
+
+ return *this;
+}
+
+inline int operator==( quat_t a, quat_t b ) {
+ return ( ( a.x == b.x ) && ( a.y == b.y ) && ( a.z == b.z ) && ( a.w == b.w ) );
+}
+
+inline int operator!=( quat_t a, quat_t b ) {
+ return ( ( a.x != b.x ) || ( a.y != b.y ) || ( a.z != b.z ) && ( a.w != b.w ) );
+}
+
+inline float quat_t::Length( void ) {
+ float length;
+
+ length = x * x + y * y + z * z + w * w;
+ return ( float )sqrt( length );
+}
+
+inline quat_t& quat_t::Normalize( void ) {
+ float length;
+ float ilength;
+
+ length = this->Length();
+ if ( length ) {
+ ilength = 1 / length;
+ x *= ilength;
+ y *= ilength;
+ z *= ilength;
+ w *= ilength;
+ }
+
+ return *this;
+}
+
+inline quat_t quat_t::operator-() {
+ return quat_t( -x, -y, -z, -w );
+}
+
+#endif /* !__MATH_QUATERNION_H__ */
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