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<h1>csgeom/quaternion.h</h1><a href="quaternion_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
<a name="l00002"></a>00002 <span class="comment">    Copyright (C) 2000 by Norman Kramer</span>
<a name="l00003"></a>00003 <span class="comment">                  2006 by Marten Svanfeldt </span>
<a name="l00004"></a>00004 <span class="comment"></span>
<a name="l00005"></a>00005 <span class="comment">    This library is free software; you can redistribute it and/or</span>
<a name="l00006"></a>00006 <span class="comment">    modify it under the terms of the GNU Library General Public</span>
<a name="l00007"></a>00007 <span class="comment">    License as published by the Free Software Foundation; either</span>
<a name="l00008"></a>00008 <span class="comment">    version 2 of the License, or (at your option) any later version.</span>
<a name="l00009"></a>00009 <span class="comment"></span>
<a name="l00010"></a>00010 <span class="comment">    This library is distributed in the hope that it will be useful,</span>
<a name="l00011"></a>00011 <span class="comment">    but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
<a name="l00012"></a>00012 <span class="comment">    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU</span>
<a name="l00013"></a>00013 <span class="comment">    Library General Public License for more details.</span>
<a name="l00014"></a>00014 <span class="comment"></span>
<a name="l00015"></a>00015 <span class="comment">    You should have received a copy of the GNU Library General Public</span>
<a name="l00016"></a>00016 <span class="comment">    License along with this library; if not, write to the Free</span>
<a name="l00017"></a>00017 <span class="comment">    Software Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.</span>
<a name="l00018"></a>00018 <span class="comment">*/</span>
<a name="l00019"></a>00019 
<a name="l00020"></a>00020 <span class="preprocessor">#ifndef __CS_QUATERNION_H__</span>
<a name="l00021"></a>00021 <span class="preprocessor"></span><span class="preprocessor">#define __CS_QUATERNION_H__</span>
<a name="l00022"></a>00022 <span class="preprocessor"></span>
<a name="l00030"></a>00030 <span class="preprocessor">#include "csextern.h"</span>
<a name="l00031"></a>00031 <span class="preprocessor">#include "<a class="code" href="csqsqrt_8h.html" title="Fast computation of sqrt(x) and 1/sqrt(x).">csqsqrt.h</a>"</span>
<a name="l00032"></a>00032 
<a name="l00033"></a>00033 <span class="preprocessor">#include "<a class="code" href="vector3_8h.html" title="3D vector.">csgeom/vector3.h</a>"</span>
<a name="l00034"></a>00034 
<a name="l00035"></a>00035 <span class="keyword">class </span><a class="code" href="classcsMatrix3.html" title="A 3x3 matrix.">csMatrix3</a>;
<a name="l00036"></a>00036 
<a name="l00041"></a><a class="code" href="classcsQuaternion.html">00041</a> <span class="keyword">class </span>CS_CRYSTALSPACE_EXPORT <a class="code" href="classcsQuaternion.html" title="Class for a quaternion.">csQuaternion</a>
<a name="l00042"></a>00042 {
<a name="l00043"></a>00043 <span class="keyword">public</span>:
<a name="l00044"></a>00044   <span class="comment">// Constructors</span>
<a name="l00045"></a>00045 
<a name="l00047"></a><a class="code" href="classcsQuaternion.html#1eca5df58b648fd96474ce78ac8524df">00047</a>   <a class="code" href="classcsQuaternion.html" title="Class for a quaternion.">csQuaternion</a> ()
<a name="l00048"></a>00048     : v (0.0f), w (1.0f)
<a name="l00049"></a>00049   {}
<a name="l00050"></a>00050 
<a name="l00052"></a><a class="code" href="classcsQuaternion.html#1d983b790c9cd744dbb6e9f3efa80f1d">00052</a>   <a class="code" href="classcsQuaternion.html" title="Class for a quaternion.">csQuaternion</a> (<span class="keywordtype">float</span> x, <span class="keywordtype">float</span> y, <span class="keywordtype">float</span> z, <span class="keywordtype">float</span> w)
<a name="l00053"></a>00053     : v (x, y, z), w (w)
<a name="l00054"></a>00054   {}
<a name="l00055"></a>00055 
<a name="l00057"></a><a class="code" href="classcsQuaternion.html#0b5583015315667c3637854d83052755">00057</a>   <a class="code" href="classcsQuaternion.html" title="Class for a quaternion.">csQuaternion</a> (<span class="keyword">const</span> <a class="code" href="classcsVector3.html" title="A 3D vector.">csVector3</a>&amp; v, <span class="keywordtype">float</span> w)
<a name="l00058"></a>00058     : v (v), w (w)
<a name="l00059"></a>00059   {}
<a name="l00060"></a>00060 
<a name="l00062"></a><a class="code" href="classcsQuaternion.html#a6fbdb5f42ddd888de2a130ddd91e603">00062</a>   <a class="code" href="classcsQuaternion.html" title="Class for a quaternion.">csQuaternion</a> (<span class="keyword">const</span> <a class="code" href="classcsQuaternion.html" title="Class for a quaternion.">csQuaternion</a>&amp; q)
<a name="l00063"></a>00063     : v (q.v), w (q.w)
<a name="l00064"></a>00064   {}
<a name="l00065"></a>00065 
<a name="l00069"></a><a class="code" href="classcsQuaternion.html#6e579ea3cfe13cf1d46706dd0df3b030">00069</a>   <span class="keyword">inline</span> <span class="keywordtype">void</span> Set (<span class="keywordtype">float</span> x, <span class="keywordtype">float</span> y, <span class="keywordtype">float</span> z, <span class="keywordtype">float</span> w)
<a name="l00070"></a>00070   {
<a name="l00071"></a>00071     v.x = x;
<a name="l00072"></a>00072     v.y = y; 
<a name="l00073"></a>00073     v.z = z;
<a name="l00074"></a>00074     this-&gt;w = w;
<a name="l00075"></a>00075   }
<a name="l00076"></a>00076   
<a name="l00078"></a><a class="code" href="classcsQuaternion.html#76a59612cfb658bdf16da2de10e2f46b">00078</a>   <span class="keyword">inline</span> <span class="keywordtype">void</span> SetIdentity () 
<a name="l00079"></a>00079   {
<a name="l00080"></a>00080     v.Set (0.0f); w = 1.0f;
<a name="l00081"></a>00081   }
<a name="l00082"></a>00082 
<a name="l00084"></a><a class="code" href="classcsQuaternion.html#7e560b152a5350de6cd3c47c9f95d2b9">00084</a>   <span class="keyword">inline</span> <span class="keyword">friend</span> <a class="code" href="classcsQuaternion.html" title="Class for a quaternion.">csQuaternion</a> <a class="code" href="cscolor_8h.html#4152cd06665dffa1b7bded50af1bbe34" title="Add two colors.">operator+ </a>(<span class="keyword">const</span> <a class="code" href="classcsQuaternion.html" title="Class for a quaternion.">csQuaternion</a>&amp; q1, 
<a name="l00085"></a>00085     <span class="keyword">const</span> <a class="code" href="classcsQuaternion.html" title="Class for a quaternion.">csQuaternion</a>&amp; q2)
<a name="l00086"></a>00086   {
<a name="l00087"></a>00087     <span class="keywordflow">return</span> <a class="code" href="classcsQuaternion.html" title="Class for a quaternion.">csQuaternion</a> (q1.<a class="code" href="classcsQuaternion.html#a407d47bab7dfdf6948e599eccd79a06">v</a>+q2.<a class="code" href="classcsQuaternion.html#a407d47bab7dfdf6948e599eccd79a06">v</a>, q1.<a class="code" href="classcsQuaternion.html#77388b014a6e241a550ce32c7aa381e4">w</a>+q2.<a class="code" href="classcsQuaternion.html#77388b014a6e241a550ce32c7aa381e4">w</a>);
<a name="l00088"></a>00088   }
<a name="l00089"></a>00089 
<a name="l00091"></a><a class="code" href="classcsQuaternion.html#367664bc3992c5c7f04383d81d6e23ee">00091</a>   <span class="keyword">inline</span> <a class="code" href="classcsQuaternion.html" title="Class for a quaternion.">csQuaternion</a>&amp; operator+= (<span class="keyword">const</span> <a class="code" href="classcsQuaternion.html" title="Class for a quaternion.">csQuaternion</a>&amp; q)
<a name="l00092"></a>00092   {
<a name="l00093"></a>00093     v += q.<a class="code" href="classcsQuaternion.html#a407d47bab7dfdf6948e599eccd79a06">v</a>; w += q.<a class="code" href="classcsQuaternion.html#77388b014a6e241a550ce32c7aa381e4">w</a>;
<a name="l00094"></a>00094     <span class="keywordflow">return</span> *<span class="keyword">this</span>;
<a name="l00095"></a>00095   }
<a name="l00096"></a>00096 
<a name="l00098"></a><a class="code" href="classcsQuaternion.html#02f37de21e474674b9523a82c78ab7b2">00098</a>   <span class="keyword">inline</span> <span class="keyword">friend</span> <a class="code" href="classcsQuaternion.html" title="Class for a quaternion.">csQuaternion</a> <a class="code" href="cscolor_8h.html#55e738db674cbea902cb06597df8dacf" title="Subtract two colors.">operator- </a>(<span class="keyword">const</span> <a class="code" href="classcsQuaternion.html" title="Class for a quaternion.">csQuaternion</a>&amp; q1, 
<a name="l00099"></a>00099     <span class="keyword">const</span> <a class="code" href="classcsQuaternion.html" title="Class for a quaternion.">csQuaternion</a>&amp; q2)
<a name="l00100"></a>00100   {
<a name="l00101"></a>00101     <span class="keywordflow">return</span> <a class="code" href="classcsQuaternion.html" title="Class for a quaternion.">csQuaternion</a> (q1.<a class="code" href="classcsQuaternion.html#a407d47bab7dfdf6948e599eccd79a06">v</a>-q2.<a class="code" href="classcsQuaternion.html#a407d47bab7dfdf6948e599eccd79a06">v</a>, q1.<a class="code" href="classcsQuaternion.html#77388b014a6e241a550ce32c7aa381e4">w</a>-q2.<a class="code" href="classcsQuaternion.html#77388b014a6e241a550ce32c7aa381e4">w</a>);
<a name="l00102"></a>00102   }
<a name="l00103"></a>00103 
<a name="l00105"></a><a class="code" href="classcsQuaternion.html#5526ed345b80c03c72954265b4999b99">00105</a>   <span class="keyword">inline</span> <a class="code" href="classcsQuaternion.html" title="Class for a quaternion.">csQuaternion</a>&amp; operator-= (<span class="keyword">const</span> <a class="code" href="classcsQuaternion.html" title="Class for a quaternion.">csQuaternion</a>&amp; q)
<a name="l00106"></a>00106   {
<a name="l00107"></a>00107     v -= q.<a class="code" href="classcsQuaternion.html#a407d47bab7dfdf6948e599eccd79a06">v</a>; w -= q.<a class="code" href="classcsQuaternion.html#77388b014a6e241a550ce32c7aa381e4">w</a>;
<a name="l00108"></a>00108     <span class="keywordflow">return</span> *<span class="keyword">this</span>;
<a name="l00109"></a>00109   }
<a name="l00110"></a>00110   
<a name="l00112"></a><a class="code" href="classcsQuaternion.html#1c9cc07e1d426a8e0f1c272e0f1e686b">00112</a>   <span class="keyword">inline</span> <span class="keyword">friend</span> <a class="code" href="classcsQuaternion.html" title="Class for a quaternion.">csQuaternion</a> <a class="code" href="cscolor_8h.html#55e738db674cbea902cb06597df8dacf" title="Subtract two colors.">operator- </a>(<span class="keyword">const</span> <a class="code" href="classcsQuaternion.html" title="Class for a quaternion.">csQuaternion</a>&amp; q)
<a name="l00113"></a>00113   {
<a name="l00114"></a>00114     <span class="keywordflow">return</span> <a class="code" href="classcsQuaternion.html" title="Class for a quaternion.">csQuaternion</a> (-q.<a class="code" href="classcsQuaternion.html#a407d47bab7dfdf6948e599eccd79a06">v</a>, -q.<a class="code" href="classcsQuaternion.html#77388b014a6e241a550ce32c7aa381e4">w</a>);
<a name="l00115"></a>00115   }
<a name="l00116"></a>00116 
<a name="l00118"></a><a class="code" href="classcsQuaternion.html#8e56703b4177b0f63b9b1e998768a3ab">00118</a>   <span class="keyword">inline</span> <span class="keyword">friend</span> <a class="code" href="classcsQuaternion.html" title="Class for a quaternion.">csQuaternion</a> <a class="code" href="cscolor_8h.html#c99c344a2408f1e1928b247db5d64365" title="Multiply two colors.">operator* </a>(<span class="keyword">const</span> <a class="code" href="classcsQuaternion.html" title="Class for a quaternion.">csQuaternion</a>&amp; q1,
<a name="l00119"></a>00119     <span class="keyword">const</span> <a class="code" href="classcsQuaternion.html" title="Class for a quaternion.">csQuaternion</a>&amp; q2)
<a name="l00120"></a>00120   {
<a name="l00121"></a>00121     <span class="keywordflow">return</span> <a class="code" href="classcsQuaternion.html" title="Class for a quaternion.">csQuaternion</a> (q1.<a class="code" href="classcsQuaternion.html#a407d47bab7dfdf6948e599eccd79a06">v</a>*q2.<a class="code" href="classcsQuaternion.html#77388b014a6e241a550ce32c7aa381e4">w</a> + q1.<a class="code" href="classcsQuaternion.html#77388b014a6e241a550ce32c7aa381e4">w</a>*q2.<a class="code" href="classcsQuaternion.html#a407d47bab7dfdf6948e599eccd79a06">v</a> + q1.<a class="code" href="classcsQuaternion.html#a407d47bab7dfdf6948e599eccd79a06">v</a>%q2.<a class="code" href="classcsQuaternion.html#a407d47bab7dfdf6948e599eccd79a06">v</a>, 
<a name="l00122"></a>00122       q1.<a class="code" href="classcsQuaternion.html#77388b014a6e241a550ce32c7aa381e4">w</a>*q2.<a class="code" href="classcsQuaternion.html#77388b014a6e241a550ce32c7aa381e4">w</a> - q1.<a class="code" href="classcsQuaternion.html#a407d47bab7dfdf6948e599eccd79a06">v</a>*q2.<a class="code" href="classcsQuaternion.html#a407d47bab7dfdf6948e599eccd79a06">v</a>);
<a name="l00123"></a>00123   }
<a name="l00124"></a>00124 
<a name="l00126"></a><a class="code" href="classcsQuaternion.html#97ba272a640745ae4ade2e88e27a9634">00126</a>   <span class="keyword">inline</span> <a class="code" href="classcsQuaternion.html" title="Class for a quaternion.">csQuaternion</a>&amp; operator*= (<span class="keyword">const</span> <a class="code" href="classcsQuaternion.html" title="Class for a quaternion.">csQuaternion</a>&amp; q)
<a name="l00127"></a>00127   {
<a name="l00128"></a>00128     <a class="code" href="classcsVector3.html" title="A 3D vector.">csVector3</a> newV = v*q.<a class="code" href="classcsQuaternion.html#77388b014a6e241a550ce32c7aa381e4">w</a> + w*q.<a class="code" href="classcsQuaternion.html#a407d47bab7dfdf6948e599eccd79a06">v</a> + v%q.<a class="code" href="classcsQuaternion.html#a407d47bab7dfdf6948e599eccd79a06">v</a>;
<a name="l00129"></a>00129     w = w*q.<a class="code" href="classcsQuaternion.html#77388b014a6e241a550ce32c7aa381e4">w</a> - v*q.<a class="code" href="classcsQuaternion.html#a407d47bab7dfdf6948e599eccd79a06">v</a>;
<a name="l00130"></a>00130     v = newV;
<a name="l00131"></a>00131     <span class="keywordflow">return</span> *<span class="keyword">this</span>;
<a name="l00132"></a>00132   }
<a name="l00133"></a>00133 
<a name="l00135"></a><a class="code" href="classcsQuaternion.html#d70f6243668af90f9c8e1a2533ecf1ad">00135</a>   <span class="keyword">inline</span> <span class="keyword">friend</span> <a class="code" href="classcsQuaternion.html" title="Class for a quaternion.">csQuaternion</a> <a class="code" href="cscolor_8h.html#c99c344a2408f1e1928b247db5d64365" title="Multiply two colors.">operator* </a>(<span class="keyword">const</span> <a class="code" href="classcsQuaternion.html" title="Class for a quaternion.">csQuaternion</a> q, <span class="keywordtype">float</span> f)
<a name="l00136"></a>00136   {
<a name="l00137"></a>00137     <span class="keywordflow">return</span> <a class="code" href="classcsQuaternion.html" title="Class for a quaternion.">csQuaternion</a> (q.<a class="code" href="classcsQuaternion.html#a407d47bab7dfdf6948e599eccd79a06">v</a>*f, q.<a class="code" href="classcsQuaternion.html#77388b014a6e241a550ce32c7aa381e4">w</a>*f);
<a name="l00138"></a>00138   }
<a name="l00139"></a>00139 
<a name="l00141"></a><a class="code" href="classcsQuaternion.html#8acccd515625c96e8eea2a4fbe65ddf5">00141</a>   <span class="keyword">inline</span> <span class="keyword">friend</span> <a class="code" href="classcsQuaternion.html" title="Class for a quaternion.">csQuaternion</a> <a class="code" href="cscolor_8h.html#c99c344a2408f1e1928b247db5d64365" title="Multiply two colors.">operator* </a>(<span class="keywordtype">float</span> f, <span class="keyword">const</span> <a class="code" href="classcsQuaternion.html" title="Class for a quaternion.">csQuaternion</a> q)
<a name="l00142"></a>00142   {
<a name="l00143"></a>00143     <span class="keywordflow">return</span> <a class="code" href="classcsQuaternion.html" title="Class for a quaternion.">csQuaternion</a> (q.<a class="code" href="classcsQuaternion.html#a407d47bab7dfdf6948e599eccd79a06">v</a>*f, q.<a class="code" href="classcsQuaternion.html#77388b014a6e241a550ce32c7aa381e4">w</a>*f);
<a name="l00144"></a>00144   }
<a name="l00145"></a>00145 
<a name="l00147"></a><a class="code" href="classcsQuaternion.html#35653ac7a26504c80d0132a6a45d9e75">00147</a>   <span class="keyword">inline</span> <span class="keyword">friend</span> <a class="code" href="classcsQuaternion.html" title="Class for a quaternion.">csQuaternion</a> <a class="code" href="cscolor_8h.html#a9b4d9b2f7603a763b65c580bf00eaad" title="Divide a color by a scalar.">operator/ </a>(<span class="keyword">const</span> <a class="code" href="classcsQuaternion.html" title="Class for a quaternion.">csQuaternion</a> q, <span class="keywordtype">float</span> f)
<a name="l00148"></a>00148   {
<a name="l00149"></a>00149     <span class="keywordtype">float</span> invF = 1.0f/f;
<a name="l00150"></a>00150     <span class="keywordflow">return</span> <a class="code" href="classcsQuaternion.html" title="Class for a quaternion.">csQuaternion</a> (q.<a class="code" href="classcsQuaternion.html#a407d47bab7dfdf6948e599eccd79a06">v</a>*invF, q.<a class="code" href="classcsQuaternion.html#77388b014a6e241a550ce32c7aa381e4">w</a>*invF);
<a name="l00151"></a>00151   }
<a name="l00152"></a>00152 
<a name="l00154"></a><a class="code" href="classcsQuaternion.html#f663d624797882564052c720d9c39c26">00154</a>   <span class="keyword">inline</span> <span class="keyword">friend</span> <a class="code" href="classcsQuaternion.html" title="Class for a quaternion.">csQuaternion</a> <a class="code" href="cscolor_8h.html#a9b4d9b2f7603a763b65c580bf00eaad" title="Divide a color by a scalar.">operator/ </a>(<span class="keywordtype">float</span> f, <span class="keyword">const</span> <a class="code" href="classcsQuaternion.html" title="Class for a quaternion.">csQuaternion</a> q)
<a name="l00155"></a>00155   {
<a name="l00156"></a>00156     <span class="keywordtype">float</span> invF = 1.0f/f;
<a name="l00157"></a>00157     <span class="keywordflow">return</span> <a class="code" href="classcsQuaternion.html" title="Class for a quaternion.">csQuaternion</a> (q.<a class="code" href="classcsQuaternion.html#a407d47bab7dfdf6948e599eccd79a06">v</a>*invF, q.<a class="code" href="classcsQuaternion.html#77388b014a6e241a550ce32c7aa381e4">w</a>*invF);
<a name="l00158"></a>00158   }
<a name="l00159"></a>00159 
<a name="l00161"></a><a class="code" href="classcsQuaternion.html#96832857d94613c81eb0b78f9e5d386a">00161</a>   <span class="keyword">inline</span> <a class="code" href="classcsQuaternion.html" title="Class for a quaternion.">csQuaternion</a> GetConjugate ()<span class="keyword"> const</span>
<a name="l00162"></a>00162 <span class="keyword">  </span>{
<a name="l00163"></a>00163     <span class="keywordflow">return</span> <a class="code" href="classcsQuaternion.html" title="Class for a quaternion.">csQuaternion</a> (-v, w);
<a name="l00164"></a>00164   }
<a name="l00165"></a>00165 
<a name="l00167"></a><a class="code" href="classcsQuaternion.html#707c2114ce2ed9a2ee24a302b03a7b2f">00167</a>   <span class="keyword">inline</span> <span class="keywordtype">void</span> Conjugate () 
<a name="l00168"></a>00168   {
<a name="l00169"></a>00169     v = -v;
<a name="l00170"></a>00170   }
<a name="l00171"></a>00171 
<a name="l00173"></a><a class="code" href="classcsQuaternion.html#6cd4be24181c41d53d03eacb06ad4b0a">00173</a>   <span class="keyword">inline</span> <span class="keywordtype">float</span> Dot (<span class="keyword">const</span> <a class="code" href="classcsQuaternion.html" title="Class for a quaternion.">csQuaternion</a>&amp; q)<span class="keyword"> const</span>
<a name="l00174"></a>00174 <span class="keyword">  </span>{
<a name="l00175"></a>00175     <span class="keywordflow">return</span> v*q.<a class="code" href="classcsQuaternion.html#a407d47bab7dfdf6948e599eccd79a06">v</a> + w*q.<a class="code" href="classcsQuaternion.html#77388b014a6e241a550ce32c7aa381e4">w</a>;
<a name="l00176"></a>00176   }
<a name="l00177"></a>00177 
<a name="l00179"></a><a class="code" href="classcsQuaternion.html#58488e01c582f7241c5984b69248d2ff">00179</a>   <span class="keyword">inline</span> <span class="keywordtype">float</span> SquaredNorm ()<span class="keyword"> const</span>
<a name="l00180"></a>00180 <span class="keyword">  </span>{
<a name="l00181"></a>00181     <span class="keywordflow">return</span> Dot (*<span class="keyword">this</span>);
<a name="l00182"></a>00182   }
<a name="l00183"></a>00183 
<a name="l00185"></a><a class="code" href="classcsQuaternion.html#7a0f8b754a58122690ea6fda3ec438d5">00185</a>   <span class="keyword">inline</span> <span class="keywordtype">float</span> Norm ()<span class="keyword"> const</span>
<a name="l00186"></a>00186 <span class="keyword">  </span>{
<a name="l00187"></a>00187     <span class="keywordflow">return</span> <a class="code" href="group__floating__point.html#g9859e75fb5b3a67f9082e45fe02d80cd" title="This routine computes sqrt(x) very quickly on Intel and PowerPC platforms.">csQsqrt</a> (SquaredNorm ());
<a name="l00188"></a>00188   }
<a name="l00189"></a>00189 
<a name="l00195"></a><a class="code" href="classcsQuaternion.html#8040ba73d6654d9d8bd4778d04a06be5">00195</a>   <span class="keyword">inline</span> <a class="code" href="classcsQuaternion.html" title="Class for a quaternion.">csQuaternion</a> Unit ()<span class="keyword"> const</span>
<a name="l00196"></a>00196 <span class="keyword">  </span>{
<a name="l00197"></a>00197     <span class="keywordflow">return</span> (*<span class="keyword">this</span>) / Norm ();
<a name="l00198"></a>00198   }
<a name="l00199"></a>00199 
<a name="l00203"></a><a class="code" href="classcsQuaternion.html#5adf0beea2a6d69b870cf24c15890a0b">00203</a>   <span class="keyword">inline</span> <a class="code" href="classcsVector3.html" title="A 3D vector.">csVector3</a> Rotate (<span class="keyword">const</span> <a class="code" href="classcsVector3.html" title="A 3D vector.">csVector3</a>&amp; src)<span class="keyword"> const</span>
<a name="l00204"></a>00204 <span class="keyword">  </span>{
<a name="l00205"></a>00205     <a class="code" href="classcsQuaternion.html" title="Class for a quaternion.">csQuaternion</a> p (src, 0);
<a name="l00206"></a>00206     <a class="code" href="classcsQuaternion.html" title="Class for a quaternion.">csQuaternion</a> q = *<span class="keyword">this</span> * p;
<a name="l00207"></a>00207     q *= GetConjugate ();
<a name="l00208"></a>00208     <span class="keywordflow">return</span> q.<a class="code" href="classcsQuaternion.html#a407d47bab7dfdf6948e599eccd79a06">v</a>;
<a name="l00209"></a>00209   }
<a name="l00210"></a>00210 
<a name="l00218"></a><a class="code" href="classcsQuaternion.html#0d16521fe5df37816e887c89442c8f8b">00218</a>   <span class="keyword">inline</span> <span class="keywordtype">void</span> SetAxisAngle (<span class="keyword">const</span> <a class="code" href="classcsVector3.html" title="A 3D vector.">csVector3</a>&amp; axis, <span class="keywordtype">float</span> angle)
<a name="l00219"></a>00219   {
<a name="l00220"></a>00220     v = axis * sinf (angle / 2.0f);
<a name="l00221"></a>00221     w = cosf (angle / 2.0f);
<a name="l00222"></a>00222   }
<a name="l00223"></a>00223 
<a name="l00231"></a><a class="code" href="classcsQuaternion.html#4f7c1c744b3656ee29f2e37c0e6813a7">00231</a>   <span class="keyword">inline</span> <span class="keywordtype">void</span> GetAxisAngle (<a class="code" href="classcsVector3.html" title="A 3D vector.">csVector3</a>&amp; axis, <span class="keywordtype">float</span>&amp; angle)<span class="keyword"> const</span>
<a name="l00232"></a>00232 <span class="keyword">  </span>{
<a name="l00233"></a>00233     angle = 2.0f * acosf (w);
<a name="l00234"></a>00234     <span class="keywordflow">if</span> (v.SquaredNorm () != 0)
<a name="l00235"></a>00235       axis = v.<a class="code" href="classcsVector3.html#dfe6a123b665375450d78bf47eee2b77" title="Returns the unit vector in the direction of this vector.">Unit</a> ();
<a name="l00236"></a>00236     <span class="keywordflow">else</span>
<a name="l00237"></a>00237       axis.<a class="code" href="classcsVector3.html#2d705cdca75eafea8df1400583509e88" title="Set the value of this vector.">Set</a> (1.0f, 0.0f, 0.0f);
<a name="l00238"></a>00238   }
<a name="l00239"></a>00239 
<a name="l00243"></a>00243   <span class="keywordtype">void</span> SetEulerAngles (<span class="keyword">const</span> <a class="code" href="classcsVector3.html" title="A 3D vector.">csVector3</a>&amp; angles);
<a name="l00244"></a>00244 
<a name="l00248"></a>00248   <a class="code" href="classcsVector3.html" title="A 3D vector.">csVector3</a> GetEulerAngles () <span class="keyword">const</span>; 
<a name="l00249"></a>00249 
<a name="l00253"></a>00253   <span class="keywordtype">void</span> SetMatrix (<span class="keyword">const</span> <a class="code" href="classcsMatrix3.html" title="A 3x3 matrix.">csMatrix3</a>&amp; matrix);
<a name="l00254"></a>00254 
<a name="l00258"></a>00258   <a class="code" href="classcsMatrix3.html" title="A 3x3 matrix.">csMatrix3</a> GetMatrix () <span class="keyword">const</span>;
<a name="l00259"></a>00259 
<a name="l00264"></a>00264   <a class="code" href="classcsQuaternion.html" title="Class for a quaternion.">csQuaternion</a> NLerp (<span class="keyword">const</span> <a class="code" href="classcsQuaternion.html" title="Class for a quaternion.">csQuaternion</a>&amp; q2, <span class="keywordtype">float</span> t) <span class="keyword">const</span>;
<a name="l00265"></a>00265 
<a name="l00270"></a>00270   <a class="code" href="classcsQuaternion.html" title="Class for a quaternion.">csQuaternion</a> SLerp (<span class="keyword">const</span> <a class="code" href="classcsQuaternion.html" title="Class for a quaternion.">csQuaternion</a>&amp; q2, <span class="keywordtype">float</span> t) <span class="keyword">const</span>;
<a name="l00271"></a>00271 
<a name="l00275"></a>00275   <a class="code" href="classcsQuaternion.html" title="Class for a quaternion.">csQuaternion</a> Log () <span class="keyword">const</span>;
<a name="l00276"></a>00276 
<a name="l00280"></a>00280   <a class="code" href="classcsQuaternion.html" title="Class for a quaternion.">csQuaternion</a> Exp () <span class="keyword">const</span>;
<a name="l00281"></a>00281 
<a name="l00287"></a>00287   <a class="code" href="classcsQuaternion.html" title="Class for a quaternion.">csQuaternion</a> Squad (<span class="keyword">const</span> <a class="code" href="classcsQuaternion.html" title="Class for a quaternion.">csQuaternion</a> &amp; t1, <span class="keyword">const</span> <a class="code" href="classcsQuaternion.html" title="Class for a quaternion.">csQuaternion</a> &amp; t2,
<a name="l00288"></a>00288     <span class="keyword">const</span> <a class="code" href="classcsQuaternion.html" title="Class for a quaternion.">csQuaternion</a> &amp; q, <span class="keywordtype">float</span> t) <span class="keyword">const</span>;
<a name="l00289"></a>00289 
<a name="l00290"></a>00290   <span class="comment">// Data</span>
<a name="l00291"></a><a class="code" href="classcsQuaternion.html#a407d47bab7dfdf6948e599eccd79a06">00291</a>   <a class="code" href="classcsVector3.html" title="A 3D vector.">csVector3</a> v;
<a name="l00292"></a><a class="code" href="classcsQuaternion.html#77388b014a6e241a550ce32c7aa381e4">00292</a>   <span class="keywordtype">float</span> w;
<a name="l00293"></a>00293 };
<a name="l00294"></a>00294 
<a name="l00297"></a>00297 <span class="preprocessor">#endif // __CS_QUATERNION_H__</span>
<a name="l00298"></a>00298 <span class="preprocessor"></span>
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