From 952c5c128f9efaea89d41d882c4ea3ade7df4591 Mon Sep 17 00:00:00 2001 From: zakk Date: Fri, 26 Aug 2005 04:48:05 +0000 Subject: Itsa me, quake3io! git-svn-id: svn://svn.icculus.org/quake3/trunk@2 edf5b092-35ff-0310-97b2-ce42778d08ea --- code/splines/math_quaternion.h | 190 +++++++++++++++++++++++++++++++++++++++++ 1 file changed, 190 insertions(+) create mode 100755 code/splines/math_quaternion.h (limited to 'code/splines/math_quaternion.h') 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 +#include + +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__ */ -- cgit v1.2.3