|
ctquat.h00001 /* 00002 Dynamics/Kinematics modeling and simulation library. 00003 Copyright (C) 1999 by Michael Alexander Ewert and Noah Gibbs 00004 00005 This library is free software; you can redistribute it and/or 00006 modify it under the terms of the GNU Library General Public 00007 License as published by the Free Software Foundation; either 00008 version 2 of the License, or (at your option) any later version. 00009 00010 This library is distributed in the hope that it will be useful, 00011 but WITHOUT ANY WARRANTY; without even the implied warranty of 00012 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 00013 Library General Public License for more details. 00014 00015 You should have received a copy of the GNU Library General Public 00016 License along with this library; if not, write to the Free 00017 Software Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. 00018 00019 */ 00020 00021 #ifndef __CTQUATERNION_H__ 00022 #define __CTQUATERNION_H__ 00023 00024 #include "csgeom/quaterni.h" 00025 #include "csphyzik/ctvector.h" 00026 #include "csphyzik/ctmatrix.h" 00027 00028 class ctQuaternion : public csQuaternion { 00029 public: 00030 ctQuaternion (float r, float x, float y, float z) 00031 : csQuaternion ( r, x, y, z ) {} 00032 00033 ctQuaternion (ctVector3 x) 00034 : csQuaternion ( csVector3(x[0], x[1], x[2]) ) {} 00035 00036 ctQuaternion(csVector3 x) 00037 : csQuaternion ( csVector3(x[0], x[1], x[2]) ) {} 00038 00039 ctQuaternion(csQuaternion q) 00040 : csQuaternion ( q.r, q.x, q.y, q.z ) {} 00041 00042 ctQuaternion () {} 00043 ~ctQuaternion () {} 00044 00045 ctMatrix3 to_matrix (); 00046 void from_matrix (ctMatrix3& M); 00047 00049 ctVector3 Rotate (ctVector3 pt) 00050 { 00051 ctQuaternion p (pt); 00052 ctQuaternion qConj (r, -x, -y, -z); 00053 00054 p = ctQuaternion (*this * p); 00055 p *= qConj; 00056 return ctVector3 (p.x, p.y, p.z); 00057 } 00058 }; 00059 00060 #endif // __CTQUATERNION_H__ 00061 Generated for Crystal Space by doxygen 1.2.5 written by Dimitri van Heesch, ©1997-2000 |