mirror of
https://github.com/juce-framework/JUCE.git
synced 2026-01-10 23:44:24 +00:00
107 lines
4.2 KiB
C++
107 lines
4.2 KiB
C++
/*
|
|
==============================================================================
|
|
|
|
This file is part of the JUCE framework.
|
|
Copyright (c) Raw Material Software Limited
|
|
|
|
JUCE is an open source framework subject to commercial or open source
|
|
licensing.
|
|
|
|
By downloading, installing, or using the JUCE framework, or combining the
|
|
JUCE framework with any other source code, object code, content or any other
|
|
copyrightable work, you agree to the terms of the JUCE End User Licence
|
|
Agreement, and all incorporated terms including the JUCE Privacy Policy and
|
|
the JUCE Website Terms of Service, as applicable, which will bind you. If you
|
|
do not agree to the terms of these agreements, we will not license the JUCE
|
|
framework to you, and you must discontinue the installation or download
|
|
process and cease use of the JUCE framework.
|
|
|
|
JUCE End User Licence Agreement: https://juce.com/legal/juce-8-licence/
|
|
JUCE Privacy Policy: https://juce.com/juce-privacy-policy
|
|
JUCE Website Terms of Service: https://juce.com/juce-website-terms-of-service/
|
|
|
|
Or:
|
|
|
|
You may also use this code under the terms of the AGPLv3:
|
|
https://www.gnu.org/licenses/agpl-3.0.en.html
|
|
|
|
THE JUCE FRAMEWORK IS PROVIDED "AS IS" WITHOUT ANY WARRANTY, AND ALL
|
|
WARRANTIES, WHETHER EXPRESSED OR IMPLIED, INCLUDING WARRANTY OF
|
|
MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE, ARE DISCLAIMED.
|
|
|
|
==============================================================================
|
|
*/
|
|
|
|
namespace juce
|
|
{
|
|
|
|
//==============================================================================
|
|
/**
|
|
Holds a quaternion (a 3D vector and a scalar value).
|
|
|
|
@tags{OpenGL}
|
|
*/
|
|
template <typename Type>
|
|
class Quaternion
|
|
{
|
|
public:
|
|
Quaternion() noexcept : scalar() {}
|
|
Quaternion (const Quaternion& other) noexcept : vector (other.vector), scalar (other.scalar) {}
|
|
Quaternion (Vector3D<Type> vectorPart, Type scalarPart) noexcept : vector (vectorPart), scalar (scalarPart) {}
|
|
Quaternion (Type x, Type y, Type z, Type w) noexcept : vector (x, y, z), scalar (w) {}
|
|
|
|
/** Creates a quaternion from an angle and an axis. */
|
|
static Quaternion fromAngle (Type angle, Vector3D<Type> axis) noexcept
|
|
{
|
|
return Quaternion (axis.normalised() * std::sin (angle / (Type) 2), std::cos (angle / (Type) 2));
|
|
}
|
|
|
|
Quaternion& operator= (Quaternion other) noexcept
|
|
{
|
|
vector = other.vector;
|
|
scalar = other.scalar;
|
|
return *this;
|
|
}
|
|
|
|
Quaternion& operator*= (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;
|
|
};
|
|
|
|
} // namespace juce
|