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101 lines
3.7 KiB
C++
101 lines
3.7 KiB
C++
//##################################################################################################
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//
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// Custom Visualization Core library
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// Copyright (C) 2011-2013 Ceetron AS
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//
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// This library may be used under the terms of either the GNU General Public License or
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// the GNU Lesser General Public License as follows:
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//
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// GNU General Public License Usage
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// This library is free software: you can redistribute it and/or modify
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// it under the terms of the GNU General Public License as published by
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// the Free Software Foundation, either version 3 of the License, or
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// (at your option) any later version.
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//
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// This library is distributed in the hope that it will be useful, but WITHOUT ANY
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// WARRANTY; without even the implied warranty of MERCHANTABILITY or
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// FITNESS FOR A PARTICULAR PURPOSE.
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//
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// See the GNU General Public License at <<http://www.gnu.org/licenses/gpl.html>>
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// for more details.
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//
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// GNU Lesser General Public License Usage
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// This library is free software; you can redistribute it and/or modify
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// it under the terms of the GNU Lesser General Public License as published by
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// the Free Software Foundation; either version 2.1 of the License, or
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// (at your option) any later version.
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//
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// This library is distributed in the hope that it will be useful, but WITHOUT ANY
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// WARRANTY; without even the implied warranty of MERCHANTABILITY or
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// FITNESS FOR A PARTICULAR PURPOSE.
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//
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// See the GNU Lesser General Public License at <<http://www.gnu.org/licenses/lgpl-2.1.html>>
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// for more details.
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//
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//##################################################################################################
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#pragma once
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#include "cvfVector3.h"
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namespace cvf {
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//==================================================================================================
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//
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// This class implements a quaternion
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//
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//==================================================================================================
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template<typename S>
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class Quat
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{
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public:
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Quat();
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Quat(S x, S y, S z, S w);
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Quat(const Quat& other);
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template<typename T>
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explicit Quat(const T& other);
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Quat& operator=(const Quat& rhs);
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bool operator==(const Quat& rhs) const;
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bool operator!=(const Quat& rhs) const;
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const S& x() const { return m_x; } ///< Get the X element of the quaternion
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const S& y() const { return m_y; } ///< Get the Y element of the quaternion
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const S& z() const { return m_z; } ///< Get the Z element of the quaternion
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const S& w() const { return m_w; } ///< Get the W element of the quaternion
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S& x() { return m_x; } ///< Get a reference to the X element of the quaternion. E.g. x() = 2;
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S& y() { return m_y; } ///< Get a reference to the Y element of the quaternion. E.g. y() = 2;
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S& z() { return m_z; } ///< Get a reference to the Z element of the quaternion. E.g. z() = 2;
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S& w() { return m_w; } ///< Get a reference to the W element of the quaternion. E.g. w() = 2;
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void set(S x, S y, S z, S w);
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bool normalize();
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// The setFromAxisAngle() function is left as a placeholder to illustrate naming of functions
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void setFromAxisAngle(Vector3<S> rotationAxis, S angle);
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void toAxisAngle(Vector3<S>* rotationAxis, S* angle) const;
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Matrix3<S> toMatrix3() const;
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Matrix4<S> toMatrix4() const;
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static Quat fromAxisAngle(Vector3<S> rotationAxis, S angle);
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static Quat fromRotationMatrix(const Matrix4<S>& rotMat);
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private:
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S m_x;
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S m_y;
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S m_z;
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S m_w;
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};
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typedef Quat<float> Quatf;
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typedef Quat<double> Quatd;
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}
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#include "cvfQuat.inl"
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