mirror of
https://github.com/juce-framework/JUCE.git
synced 2026-01-10 23:44:24 +00:00
100 lines
4 KiB
C++
100 lines
4 KiB
C++
/*
|
|
==============================================================================
|
|
|
|
This file is part of the JUCE library - "Jules' Utility Class Extensions"
|
|
Copyright 2004-11 by Raw Material Software Ltd.
|
|
|
|
------------------------------------------------------------------------------
|
|
|
|
JUCE can be redistributed and/or modified under the terms of the GNU General
|
|
Public License (Version 2), as published by the Free Software Foundation.
|
|
A copy of the license is included in the JUCE distribution, or can be found
|
|
online at www.gnu.org/licenses.
|
|
|
|
JUCE 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.
|
|
|
|
------------------------------------------------------------------------------
|
|
|
|
To release a closed-source product which uses JUCE, commercial licenses are
|
|
available: visit www.rawmaterialsoftware.com/juce for more information.
|
|
|
|
==============================================================================
|
|
*/
|
|
|
|
#ifndef __JUCE_QUATERNION_JUCEHEADER__
|
|
#define __JUCE_QUATERNION_JUCEHEADER__
|
|
|
|
#include "juce_Matrix3D.h"
|
|
#include "juce_Vector3D.h"
|
|
|
|
//==============================================================================
|
|
/**
|
|
Holds a quaternion (a 3D vector and a scalar value).
|
|
*/
|
|
template <typename Type>
|
|
class Quaternion
|
|
{
|
|
public:
|
|
Quaternion() noexcept : scalar() {}
|
|
Quaternion (const Quaternion& other) noexcept : vector (other.vector), scalar (other.scalar) {}
|
|
Quaternion (const Vector3D<Type>& vector_, const Type& scalar_) noexcept : vector (vector_), scalar (scalar_) {}
|
|
Quaternion (const Type& x, const Type& y, const Type& z, const Type& w) noexcept : vector (x, y, z), scalar (w) {}
|
|
|
|
/** Creates a quaternion from an angle and an axis. */
|
|
static Quaternion fromAngle (const Type& angle, const Vector3D<Type>& axis) noexcept
|
|
{
|
|
return Quaternion (axis.normalised() * std::sin (angle / (Type) 2), std::cos (angle / (Type) 2));
|
|
}
|
|
|
|
Quaternion& operator= (const Quaternion& other) noexcept
|
|
{
|
|
vector = other.vector;
|
|
scalar = other.scalar;
|
|
return *this;
|
|
}
|
|
|
|
Quaternion& operator*= (const Quaternion& other) noexcept
|
|
{
|
|
const Type oldScalar (scalar);
|
|
scalar = (scalar * other.scalar) - (vector * other.vector);
|
|
vector = (other.vector * oldScalar) + (vector * other.scalar) + (vector ^ other.vector);
|
|
return *this;
|
|
}
|
|
|
|
Type length() const noexcept { return std::sqrt (normal()); }
|
|
Type normal() const noexcept { return scalar * scalar + vector.lengthSquared(); }
|
|
|
|
Quaternion normalised() const noexcept
|
|
{
|
|
const Type len (length());
|
|
jassert (len > 0);
|
|
return Quaternion (vector / len, scalar / len);
|
|
}
|
|
|
|
/** Returns the matrix that will perform the rotation specified by this quaternion. */
|
|
Matrix3D<Type> getRotationMatrix() const noexcept
|
|
{
|
|
const Type norm (normal());
|
|
const Type s (norm > 0 ? ((Type) 2) / norm : 0);
|
|
const Type xs (s * vector.x), ys (s * vector.y), zs (s * vector.z);
|
|
const Type wx (xs * scalar), wy (ys * scalar), wz (zs * scalar);
|
|
const Type xx (xs * vector.x), xy (ys * vector.x), xz (zs * vector.x);
|
|
const Type yy (ys * vector.y), yz (zs * vector.y), zz (zs * vector.z);
|
|
|
|
return Matrix3D<Type> (((Type) 1) - (yy + zz), xy - wz, xz + wy, 0,
|
|
xy + wz, ((Type) 1) - (xx+ zz), yz - wx, 0,
|
|
xz - wy, yz + wx, ((Type) 1) - (xx + yy), 0,
|
|
0, 0, 0, (Type) 1);
|
|
}
|
|
|
|
/** The vector part of the quaternion. */
|
|
Vector3D<Type> vector;
|
|
|
|
/** The scalar part of the quaternion. */
|
|
Type scalar;
|
|
};
|
|
|
|
|
|
#endif // __JUCE_QUATERNION_JUCEHEADER__
|