| commit | author | age | ||
| 45edef | 1 | /************************************************************************ |
| JS | 2 | |
| 3 | POLHEMUS PROPRIETARY | |
| 4 | ||
| 5 | Polhemus | |
| 6 | P.O. Box 560 | |
| 7 | Colchester, Vermont 05446 | |
| 8 | (802) 655-3159 | |
| 9 | ||
| 10 | ||
| 11 | ||
| 12 | ||
| 13 | Copyright © 2005 by Polhemus | |
| 14 | All Rights Reserved. | |
| 15 | ||
| 16 | ||
| 17 | *************************************************************************/ | |
| 18 | ||
| 19 | // Quaternion.h: interface for the CQuaternion class. | |
| 20 | // | |
| 21 | ////////////////////////////////////////////////////////////////////// | |
| 22 | ||
| 23 | #if !defined(AFX_QUATERNION_H__D76D8B96_F74D_41A4_869E_C3A397F9AA7A__INCLUDED_) | |
| 24 | #define AFX_QUATERNION_H__D76D8B96_F74D_41A4_869E_C3A397F9AA7A__INCLUDED_ | |
| 25 | ||
| 26 | const float PI=3.14159265f; | |
| 27 | const float DEG2RADS=PI/180.0f; | |
| 28 | ||
| 29 | ||
| 30 | class CQuaternion | |
| 31 | { | |
| 32 | private: | |
| 33 | void Normalize(); | |
| 34 | float q0; | |
| 35 | float q1; | |
| 36 | float q2; | |
| 37 | float q3; | |
| 38 | public: | |
| 39 | CQuaternion Slerp(const CQuaternion& q, float t) const; | |
| 40 | CQuaternion operator+(const CQuaternion& q1) const; | |
| 41 | void GetAngle(float& a,bool deg=true); | |
| 42 | void SetFromEulers(float* eul, bool deg=true); | |
| 43 | void MakeLargestElementPos(); | |
| 44 | static void Quats2Eul(float* eul,float* quats,bool isDeg=true); | |
| 45 | static void Eul2Quat(float* quat,float* eul,bool isDeg=true); | |
| 46 | bool IsIdentity(); | |
| 47 | void SetQuatVals(const float w,const float x,const float y,const float z); | |
| 48 | void SetQuatVals(const float val[4]); | |
| 49 | float GetQuatVal(int ind) const; | |
| 50 | void GetQuatVal(float vals[4]) const; | |
| 51 | CQuaternion operator-(const CQuaternion& quat)const; | |
| 52 | CQuaternion GetDeltaQuat(const CQuaternion& quat) const; | |
| 53 | void GetAxisAngle(float vect[3],float& angle,bool deg=true) const; | |
| 54 | CQuaternion operator -() const; | |
| 55 | CQuaternion operator*(const CQuaternion& quat2) const; | |
| 56 | CQuaternion operator*(const float ) const; | |
| 57 | void operator *=(const CQuaternion &quat); | |
| 58 | void GetAttMat(float mat[3][3]) const; | |
| 59 | void GetEuler(float aer[3],bool deg=true) const; | |
| 60 | void GetEuler(float& az,float& el,float& rl,bool deg=true) const; | |
| 61 | CQuaternion(const float vect[3],float angle,bool deg=true); | |
| 62 | CQuaternion(float q0,float q1,float q2,float q3); | |
| 63 | CQuaternion(const float q[4]); | |
| 64 | CQuaternion(float az, float el,float roll,bool deg=true); | |
| 65 | CQuaternion(); | |
| 66 | virtual ~CQuaternion(); | |
| 67 | ||
| 68 | }; | |
| 69 | ||
| 70 | #endif // !defined(AFX_QUATERNION_H__D76D8B96_F74D_41A4_869E_C3A397F9AA7A__INCLUDED_) | |
