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91<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">// Copyright (C) 2002-2012 Nikolaus Gebhardt</span>
92<a name="l00002"></a>00002 <span class="comment">// This file is part of the &quot;Irrlicht Engine&quot;.</span>
93<a name="l00003"></a>00003 <span class="comment">// For conditions of distribution and use, see copyright notice in irrlicht.h</span>
94<a name="l00004"></a>00004
95<a name="l00005"></a>00005 <span class="preprocessor">#ifndef __IRR_QUATERNION_H_INCLUDED__</span>
96<a name="l00006"></a>00006 <span class="preprocessor"></span><span class="preprocessor">#define __IRR_QUATERNION_H_INCLUDED__</span>
97<a name="l00007"></a>00007 <span class="preprocessor"></span>
98<a name="l00008"></a>00008 <span class="preprocessor">#include &quot;<a class="code" href="irr_types_8h.html">irrTypes.h</a>&quot;</span>
99<a name="l00009"></a>00009 <span class="preprocessor">#include &quot;<a class="code" href="irr_math_8h.html">irrMath.h</a>&quot;</span>
100<a name="l00010"></a>00010 <span class="preprocessor">#include &quot;<a class="code" href="matrix4_8h.html">matrix4.h</a>&quot;</span>
101<a name="l00011"></a>00011 <span class="preprocessor">#include &quot;<a class="code" href="vector3d_8h.html">vector3d.h</a>&quot;</span>
102<a name="l00012"></a>00012
103<a name="l00013"></a>00013 <span class="comment">// Between Irrlicht 1.7 and Irrlicht 1.8 the quaternion-matrix conversions got fixed.</span>
104<a name="l00014"></a>00014 <span class="comment">// This define disables all involved functions completely to allow finding all places </span>
105<a name="l00015"></a>00015 <span class="comment">// where the wrong conversions had been in use.</span>
106<a name="l00016"></a><a class="code" href="quaternion_8h.html#a8d461cd143e35079fac38317cee885e9">00016</a> <span class="preprocessor">#define IRR_TEST_BROKEN_QUATERNION_USE 0</span>
107<a name="l00017"></a>00017 <span class="preprocessor"></span>
108<a name="l00018"></a>00018 <span class="keyword">namespace </span>irr
109<a name="l00019"></a>00019 {
110<a name="l00020"></a>00020 <span class="keyword">namespace </span>core
111<a name="l00021"></a>00021 {
112<a name="l00022"></a>00022
113<a name="l00024"></a>00024
114<a name="l00026"></a><a class="code" href="classirr_1_1core_1_1quaternion.html">00026</a> <span class="keyword">class </span><a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>
115<a name="l00027"></a>00027 {
116<a name="l00028"></a>00028 <span class="keyword">public</span>:
117<a name="l00029"></a>00029
118<a name="l00031"></a><a class="code" href="classirr_1_1core_1_1quaternion.html#af19629224bc2ed3a3ecbc335309099c8">00031</a> <a class="code" href="classirr_1_1core_1_1quaternion.html#af19629224bc2ed3a3ecbc335309099c8" title="Default Constructor.">quaternion</a>() : <a class="code" href="classirr_1_1core_1_1quaternion.html#a69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>(0.0f), <a class="code" href="classirr_1_1core_1_1quaternion.html#a7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a>(0.0f), <a class="code" href="classirr_1_1core_1_1quaternion.html#a9080571243e191219aca47758b8638a1">Z</a>(0.0f), <a class="code" href="classirr_1_1core_1_1quaternion.html#abd35ca07eda3783a00b27ff9a49e43b8">W</a>(1.0f) {}
119<a name="l00032"></a>00032
120<a name="l00034"></a><a class="code" href="classirr_1_1core_1_1quaternion.html#a7bff9d1ca51483f96094fa5ac9d97342">00034</a> <a class="code" href="classirr_1_1core_1_1quaternion.html#a7bff9d1ca51483f96094fa5ac9d97342" title="Constructor.">quaternion</a>(<a class="code" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> x, <a class="code" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> y, <a class="code" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> z, <a class="code" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> w) : <a class="code" href="classirr_1_1core_1_1quaternion.html#a69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>(x), <a class="code" href="classirr_1_1core_1_1quaternion.html#a7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a>(y), <a class="code" href="classirr_1_1core_1_1quaternion.html#a9080571243e191219aca47758b8638a1">Z</a>(z), <a class="code" href="classirr_1_1core_1_1quaternion.html#abd35ca07eda3783a00b27ff9a49e43b8">W</a>(w) { }
121<a name="l00035"></a>00035
122<a name="l00037"></a>00037 <a class="code" href="classirr_1_1core_1_1quaternion.html#af19629224bc2ed3a3ecbc335309099c8" title="Default Constructor.">quaternion</a>(<a class="code" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> x, <a class="code" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> y, <a class="code" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> z);
123<a name="l00038"></a>00038
124<a name="l00040"></a>00040 <a class="code" href="classirr_1_1core_1_1quaternion.html#af19629224bc2ed3a3ecbc335309099c8" title="Default Constructor.">quaternion</a>(<span class="keyword">const</span> <a class="code" href="classirr_1_1core_1_1vector3d.html">vector3df</a>&amp; vec);
125<a name="l00041"></a>00041
126<a name="l00042"></a>00042 <span class="preprocessor">#if !IRR_TEST_BROKEN_QUATERNION_USE</span>
127<a name="l00043"></a>00043 <span class="preprocessor"></span>
128<a name="l00044"></a>00044 <a class="code" href="classirr_1_1core_1_1quaternion.html#af19629224bc2ed3a3ecbc335309099c8" title="Default Constructor.">quaternion</a>(<span class="keyword">const</span> <a class="code" href="classirr_1_1core_1_1_c_matrix4.html" title="4x4 matrix. Mostly used as transformation matrix for 3d calculations.">matrix4</a>&amp; mat);
129<a name="l00045"></a>00045 <span class="preprocessor">#endif</span>
130<a name="l00046"></a>00046 <span class="preprocessor"></span>
131<a name="l00048"></a>00048 <span class="keywordtype">bool</span> <a class="code" href="classirr_1_1core_1_1quaternion.html#a37ed741a0a63c8f829817c76dae0c4cc" title="Equalilty operator.">operator==</a>(<span class="keyword">const</span> <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>&amp; other) <span class="keyword">const</span>;
132<a name="l00049"></a>00049
133<a name="l00051"></a>00051 <span class="keywordtype">bool</span> <a class="code" href="classirr_1_1core_1_1quaternion.html#a23e1614821c307b91b4fa370a29da56a" title="inequality operator">operator!=</a>(<span class="keyword">const</span> <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>&amp; other) <span class="keyword">const</span>;
134<a name="l00052"></a>00052
135<a name="l00054"></a>00054 <span class="keyword">inline</span> <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>&amp; <a class="code" href="classirr_1_1core_1_1quaternion.html#a14e694153904d3026eac8c9f14a5df1c" title="Assignment operator.">operator=</a>(<span class="keyword">const</span> <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>&amp; other);
136<a name="l00055"></a>00055
137<a name="l00056"></a>00056 <span class="preprocessor">#if !IRR_TEST_BROKEN_QUATERNION_USE</span>
138<a name="l00057"></a>00057 <span class="preprocessor"></span>
139<a name="l00058"></a>00058 <span class="keyword">inline</span> <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>&amp; <a class="code" href="classirr_1_1core_1_1quaternion.html#a14e694153904d3026eac8c9f14a5df1c" title="Assignment operator.">operator=</a>(<span class="keyword">const</span> <a class="code" href="classirr_1_1core_1_1_c_matrix4.html" title="4x4 matrix. Mostly used as transformation matrix for 3d calculations.">matrix4</a>&amp; other);
140<a name="l00059"></a>00059 <span class="preprocessor">#endif</span>
141<a name="l00060"></a>00060 <span class="preprocessor"></span>
142<a name="l00062"></a>00062 <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a> <a class="code" href="classirr_1_1core_1_1quaternion.html#a8fa3541f577ba6daa583f936f7cdb978" title="Add operator.">operator+</a>(<span class="keyword">const</span> <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>&amp; other) <span class="keyword">const</span>;
143<a name="l00063"></a>00063
144<a name="l00065"></a>00065 <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a> <a class="code" href="classirr_1_1core_1_1quaternion.html#a740a2885a20005a62e8f24dffa1d48c7" title="Multiplication operator.">operator*</a>(<span class="keyword">const</span> <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>&amp; other) <span class="keyword">const</span>;
145<a name="l00066"></a>00066
146<a name="l00068"></a>00068 <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a> <a class="code" href="classirr_1_1core_1_1quaternion.html#a740a2885a20005a62e8f24dffa1d48c7" title="Multiplication operator.">operator*</a>(<a class="code" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> s) <span class="keyword">const</span>;
147<a name="l00069"></a>00069
148<a name="l00071"></a>00071 <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>&amp; <a class="code" href="classirr_1_1core_1_1quaternion.html#a933b6bf1ace6875068c5c01741bb4096" title="Multiplication operator with scalar.">operator*=</a>(<a class="code" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> s);
149<a name="l00072"></a>00072
150<a name="l00074"></a>00074 <a class="code" href="classirr_1_1core_1_1vector3d.html">vector3df</a> <a class="code" href="classirr_1_1core_1_1quaternion.html#a740a2885a20005a62e8f24dffa1d48c7" title="Multiplication operator.">operator*</a>(<span class="keyword">const</span> <a class="code" href="classirr_1_1core_1_1vector3d.html">vector3df</a>&amp; v) <span class="keyword">const</span>;
151<a name="l00075"></a>00075
152<a name="l00077"></a>00077 <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>&amp; <a class="code" href="classirr_1_1core_1_1quaternion.html#a933b6bf1ace6875068c5c01741bb4096" title="Multiplication operator with scalar.">operator*=</a>(<span class="keyword">const</span> <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>&amp; other);
153<a name="l00078"></a>00078
154<a name="l00080"></a>00080 <span class="keyword">inline</span> <a class="code" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> <a class="code" href="classirr_1_1core_1_1quaternion.html#a1ae4b20abb602514510b4134accc9978" title="Calculates the dot product.">dotProduct</a>(<span class="keyword">const</span> <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>&amp; other) <span class="keyword">const</span>;
155<a name="l00081"></a>00081
156<a name="l00083"></a>00083 <span class="keyword">inline</span> <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>&amp; <span class="keyword">set</span>(<a class="code" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> x, <a class="code" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> y, <a class="code" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> z, <a class="code" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> w);
157<a name="l00084"></a>00084
158<a name="l00086"></a>00086 <span class="keyword">inline</span> <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>&amp; <span class="keyword">set</span>(<a class="code" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> x, <a class="code" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> y, <a class="code" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> z);
159<a name="l00087"></a>00087
160<a name="l00089"></a>00089 <span class="keyword">inline</span> <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>&amp; <span class="keyword">set</span>(<span class="keyword">const</span> <a class="code" href="classirr_1_1core_1_1vector3d.html">core::vector3df</a>&amp; vec);
161<a name="l00090"></a>00090
162<a name="l00092"></a>00092 <span class="keyword">inline</span> <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>&amp; <span class="keyword">set</span>(<span class="keyword">const</span> <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">core::quaternion</a>&amp; quat);
163<a name="l00093"></a>00093
164<a name="l00095"></a>00095 <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="classirr_1_1core_1_1quaternion.html#aca274395cd033f21be8fd6f2a0e7f9b1" title="returns if this quaternion equals the other one, taking floating point rounding errors into account...">equals</a>(<span class="keyword">const</span> <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>&amp; other,
165<a name="l00096"></a>00096 <span class="keyword">const</span> <a class="code" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> tolerance = <a class="code" href="namespaceirr_1_1core.html#a9514dd34463a30102ef8836915cf9c4c">ROUNDING_ERROR_f32</a> ) <span class="keyword">const</span>;
166<a name="l00097"></a>00097
167<a name="l00099"></a>00099 <span class="keyword">inline</span> <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>&amp; <a class="code" href="classirr_1_1core_1_1quaternion.html#aac7a34ffd2a14a78de12d994539b94f9" title="Normalizes the quaternion.">normalize</a>();
168<a name="l00100"></a>00100
169<a name="l00101"></a>00101 <span class="preprocessor">#if !IRR_TEST_BROKEN_QUATERNION_USE</span>
170<a name="l00102"></a>00102 <span class="preprocessor"></span>
171<a name="l00103"></a>00103 <a class="code" href="classirr_1_1core_1_1_c_matrix4.html" title="4x4 matrix. Mostly used as transformation matrix for 3d calculations.">matrix4</a> <a class="code" href="classirr_1_1core_1_1quaternion.html#a4913dba1c8448eb1dae91f7476a90125" title="Creates a matrix from this quaternion.">getMatrix</a>() <span class="keyword">const</span>;
172<a name="l00104"></a>00104 <span class="preprocessor">#endif </span>
173<a name="l00105"></a>00105 <span class="preprocessor"></span>
174<a name="l00107"></a>00107 <span class="keywordtype">void</span> <a class="code" href="classirr_1_1core_1_1quaternion.html#a4913dba1c8448eb1dae91f7476a90125" title="Creates a matrix from this quaternion.">getMatrix</a>( <a class="code" href="classirr_1_1core_1_1_c_matrix4.html" title="4x4 matrix. Mostly used as transformation matrix for 3d calculations.">matrix4</a> &amp;dest, <span class="keyword">const</span> <a class="code" href="classirr_1_1core_1_1vector3d.html">core::vector3df</a> &amp;translation=<a class="code" href="classirr_1_1core_1_1vector3d.html">core::vector3df</a>() ) <span class="keyword">const</span>;
175<a name="l00108"></a>00108
176<a name="l00126"></a>00126 <span class="keywordtype">void</span> <a class="code" href="classirr_1_1core_1_1quaternion.html#a3d5efafd9f646ab5e86812797dc0b975">getMatrixCenter</a>( <a class="code" href="classirr_1_1core_1_1_c_matrix4.html" title="4x4 matrix. Mostly used as transformation matrix for 3d calculations.">matrix4</a> &amp;dest, <span class="keyword">const</span> <a class="code" href="classirr_1_1core_1_1vector3d.html">core::vector3df</a> &amp;center, <span class="keyword">const</span> <a class="code" href="classirr_1_1core_1_1vector3d.html">core::vector3df</a> &amp;translation ) <span class="keyword">const</span>;
177<a name="l00127"></a>00127
178<a name="l00129"></a>00129 <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classirr_1_1core_1_1quaternion.html#ad54809de078e19b7f95c7c0e466cbfa8" title="Creates a matrix from this quaternion.">getMatrix_transposed</a>( <a class="code" href="classirr_1_1core_1_1_c_matrix4.html" title="4x4 matrix. Mostly used as transformation matrix for 3d calculations.">matrix4</a> &amp;dest ) <span class="keyword">const</span>;
179<a name="l00130"></a>00130
180<a name="l00132"></a>00132 <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>&amp; <a class="code" href="classirr_1_1core_1_1quaternion.html#a2e286be8b088fa3ade0ab74880ea4508" title="Inverts this quaternion.">makeInverse</a>();
181<a name="l00133"></a>00133
182<a name="l00135"></a>00135
183<a name="l00141"></a>00141 <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>&amp; <a class="code" href="classirr_1_1core_1_1quaternion.html#a75b5cb2d26397f07399e79ea20f1aff1" title="Set this quaternion to the linear interpolation between two quaternions.">lerp</a>(<a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a> q1, <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a> q2, <a class="code" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> time);
184<a name="l00142"></a>00142
185<a name="l00144"></a>00144
186<a name="l00155"></a>00155 <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>&amp; <a class="code" href="classirr_1_1core_1_1quaternion.html#a91335e9fdb50c3cfc2042aa9a4bfdf68" title="Set this quaternion to the result of the spherical interpolation between two quaternions.">slerp</a>(<a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a> q1, <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a> q2,
187<a name="l00156"></a>00156 <a class="code" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> time, <a class="code" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> threshold=.05f);
188<a name="l00157"></a>00157
189<a name="l00159"></a>00159
190<a name="l00164"></a>00164 <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>&amp; <a class="code" href="classirr_1_1core_1_1quaternion.html#ab4f5eb86ef7a42a3021b810486faa8c8" title="Create quaternion from rotation angle and rotation axis.">fromAngleAxis</a> (<a class="code" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> angle, <span class="keyword">const</span> <a class="code" href="classirr_1_1core_1_1vector3d.html">vector3df</a>&amp; axis);
191<a name="l00165"></a>00165
192<a name="l00167"></a>00167 <span class="keywordtype">void</span> <a class="code" href="classirr_1_1core_1_1quaternion.html#aa36e7548f62749238086832d9b693cad" title="Fills an angle (radians) around an axis (unit vector)">toAngleAxis</a> (<a class="code" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> &amp;angle, <a class="code" href="classirr_1_1core_1_1vector3d.html">core::vector3df</a>&amp; axis) <span class="keyword">const</span>;
193<a name="l00168"></a>00168
194<a name="l00170"></a>00170 <span class="keywordtype">void</span> <a class="code" href="classirr_1_1core_1_1quaternion.html#a651d5a90572f14b9a2a5c17caea0e764" title="Output this quaternion to an euler angle (radians)">toEuler</a>(<a class="code" href="classirr_1_1core_1_1vector3d.html">vector3df</a>&amp; euler) <span class="keyword">const</span>;
195<a name="l00171"></a>00171
196<a name="l00173"></a>00173 <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>&amp; <a class="code" href="classirr_1_1core_1_1quaternion.html#a3b4f6634670591f2c5be33aeaac2e928" title="Set quaternion to identity.">makeIdentity</a>();
197<a name="l00174"></a>00174
198<a name="l00176"></a>00176 <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>&amp; <a class="code" href="classirr_1_1core_1_1quaternion.html#a9da1b3ddfb9722f596a73abf5212c020" title="Set quaternion to represent a rotation from one vector to another.">rotationFromTo</a>(<span class="keyword">const</span> <a class="code" href="classirr_1_1core_1_1vector3d.html">vector3df</a>&amp; from, <span class="keyword">const</span> <a class="code" href="classirr_1_1core_1_1vector3d.html">vector3df</a>&amp; to);
199<a name="l00177"></a>00177
200<a name="l00179"></a><a class="code" href="classirr_1_1core_1_1quaternion.html#a69f2ee15363f0b9baa0b3cbb70091342">00179</a> <a class="code" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> <a class="code" href="classirr_1_1core_1_1quaternion.html#a69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>; <span class="comment">// vectorial (imaginary) part</span>
201<a name="l00180"></a><a class="code" href="classirr_1_1core_1_1quaternion.html#a7c571eaca7b5c9e5f5b8d7872d51dac9">00180</a> <a class="code" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> <a class="code" href="classirr_1_1core_1_1quaternion.html#a7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a>;
202<a name="l00181"></a><a class="code" href="classirr_1_1core_1_1quaternion.html#a9080571243e191219aca47758b8638a1">00181</a> <a class="code" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> <a class="code" href="classirr_1_1core_1_1quaternion.html#a9080571243e191219aca47758b8638a1">Z</a>;
203<a name="l00182"></a><a class="code" href="classirr_1_1core_1_1quaternion.html#abd35ca07eda3783a00b27ff9a49e43b8">00182</a> <a class="code" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> <a class="code" href="classirr_1_1core_1_1quaternion.html#abd35ca07eda3783a00b27ff9a49e43b8">W</a>; <span class="comment">// real part</span>
204<a name="l00183"></a>00183 };
205<a name="l00184"></a>00184
206<a name="l00185"></a>00185
207<a name="l00186"></a>00186 <span class="comment">// Constructor which converts euler angles to a quaternion</span>
208<a name="l00187"></a><a class="code" href="classirr_1_1core_1_1quaternion.html#a299947a6d5c4f3ac2aa64fcffcc11be0">00187</a> <span class="keyword">inline</span> <a class="code" href="classirr_1_1core_1_1quaternion.html#af19629224bc2ed3a3ecbc335309099c8" title="Default Constructor.">quaternion::quaternion</a>(<a class="code" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> x, <a class="code" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> y, <a class="code" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> z)
209<a name="l00188"></a>00188 {
210<a name="l00189"></a>00189 <span class="keyword">set</span>(x,y,z);
211<a name="l00190"></a>00190 }
212<a name="l00191"></a>00191
213<a name="l00192"></a>00192
214<a name="l00193"></a>00193 <span class="comment">// Constructor which converts euler angles to a quaternion</span>
215<a name="l00194"></a><a class="code" href="classirr_1_1core_1_1quaternion.html#af8d613780a8d0e3f2775f6f9086db3b0">00194</a> <span class="keyword">inline</span> <a class="code" href="classirr_1_1core_1_1quaternion.html#af19629224bc2ed3a3ecbc335309099c8" title="Default Constructor.">quaternion::quaternion</a>(<span class="keyword">const</span> <a class="code" href="classirr_1_1core_1_1vector3d.html">vector3df</a>&amp; vec)
216<a name="l00195"></a>00195 {
217<a name="l00196"></a>00196 <span class="keyword">set</span>(vec.<a class="code" href="classirr_1_1core_1_1vector3d.html#a8c9ed06774dc668112bcefacb6e7732b" title="X coordinate of the vector.">X</a>,vec.<a class="code" href="classirr_1_1core_1_1vector3d.html#af8f87c2fe0ce717ade7c3d7419302fbd" title="Y coordinate of the vector.">Y</a>,vec.<a class="code" href="classirr_1_1core_1_1vector3d.html#ac2beb702e718c3579971348981b220ed" title="Z coordinate of the vector.">Z</a>);
218<a name="l00197"></a>00197 }
219<a name="l00198"></a>00198
220<a name="l00199"></a>00199 <span class="preprocessor">#if !IRR_TEST_BROKEN_QUATERNION_USE</span>
221<a name="l00200"></a>00200 <span class="preprocessor"></span><span class="comment">// Constructor which converts a matrix to a quaternion</span>
222<a name="l00201"></a><a class="code" href="classirr_1_1core_1_1quaternion.html#a60b4e1a97224c18da64e49861b8d0107">00201</a> <span class="keyword">inline</span> <a class="code" href="classirr_1_1core_1_1quaternion.html#af19629224bc2ed3a3ecbc335309099c8" title="Default Constructor.">quaternion::quaternion</a>(<span class="keyword">const</span> <a class="code" href="classirr_1_1core_1_1_c_matrix4.html" title="4x4 matrix. Mostly used as transformation matrix for 3d calculations.">matrix4</a>&amp; mat)
223<a name="l00202"></a>00202 {
224<a name="l00203"></a>00203 (*this) = mat;
225<a name="l00204"></a>00204 }
226<a name="l00205"></a>00205 <span class="preprocessor">#endif</span>
227<a name="l00206"></a>00206 <span class="preprocessor"></span>
228<a name="l00207"></a>00207 <span class="comment">// equal operator</span>
229<a name="l00208"></a><a class="code" href="classirr_1_1core_1_1quaternion.html#a37ed741a0a63c8f829817c76dae0c4cc">00208</a> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="classirr_1_1core_1_1quaternion.html#a37ed741a0a63c8f829817c76dae0c4cc" title="Equalilty operator.">quaternion::operator==</a>(<span class="keyword">const</span> <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>&amp; other)<span class="keyword"> const</span>
230<a name="l00209"></a>00209 <span class="keyword"></span>{
231<a name="l00210"></a>00210 <span class="keywordflow">return</span> ((<a class="code" href="classirr_1_1core_1_1quaternion.html#a69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a> == other.<a class="code" href="classirr_1_1core_1_1quaternion.html#a69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>) &amp;&amp;
232<a name="l00211"></a>00211 (<a class="code" href="classirr_1_1core_1_1quaternion.html#a7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a> == other.<a class="code" href="classirr_1_1core_1_1quaternion.html#a7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a>) &amp;&amp;
233<a name="l00212"></a>00212 (<a class="code" href="classirr_1_1core_1_1quaternion.html#a9080571243e191219aca47758b8638a1">Z</a> == other.<a class="code" href="classirr_1_1core_1_1quaternion.html#a9080571243e191219aca47758b8638a1">Z</a>) &amp;&amp;
234<a name="l00213"></a>00213 (<a class="code" href="classirr_1_1core_1_1quaternion.html#abd35ca07eda3783a00b27ff9a49e43b8">W</a> == other.<a class="code" href="classirr_1_1core_1_1quaternion.html#abd35ca07eda3783a00b27ff9a49e43b8">W</a>));
235<a name="l00214"></a>00214 }
236<a name="l00215"></a>00215
237<a name="l00216"></a>00216 <span class="comment">// inequality operator</span>
238<a name="l00217"></a><a class="code" href="classirr_1_1core_1_1quaternion.html#a23e1614821c307b91b4fa370a29da56a">00217</a> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="classirr_1_1core_1_1quaternion.html#a23e1614821c307b91b4fa370a29da56a" title="inequality operator">quaternion::operator!=</a>(<span class="keyword">const</span> <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>&amp; other)<span class="keyword"> const</span>
239<a name="l00218"></a>00218 <span class="keyword"></span>{
240<a name="l00219"></a>00219 <span class="keywordflow">return</span> !(*<span class="keyword">this</span> == other);
241<a name="l00220"></a>00220 }
242<a name="l00221"></a>00221
243<a name="l00222"></a>00222 <span class="comment">// assignment operator</span>
244<a name="l00223"></a><a class="code" href="classirr_1_1core_1_1quaternion.html#a14e694153904d3026eac8c9f14a5df1c">00223</a> <span class="keyword">inline</span> <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>&amp; <a class="code" href="classirr_1_1core_1_1quaternion.html#a14e694153904d3026eac8c9f14a5df1c" title="Assignment operator.">quaternion::operator=</a>(<span class="keyword">const</span> <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>&amp; other)
245<a name="l00224"></a>00224 {
246<a name="l00225"></a>00225 <a class="code" href="classirr_1_1core_1_1quaternion.html#a69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a> = other.<a class="code" href="classirr_1_1core_1_1quaternion.html#a69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>;
247<a name="l00226"></a>00226 <a class="code" href="classirr_1_1core_1_1quaternion.html#a7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a> = other.<a class="code" href="classirr_1_1core_1_1quaternion.html#a7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a>;
248<a name="l00227"></a>00227 <a class="code" href="classirr_1_1core_1_1quaternion.html#a9080571243e191219aca47758b8638a1">Z</a> = other.<a class="code" href="classirr_1_1core_1_1quaternion.html#a9080571243e191219aca47758b8638a1">Z</a>;
249<a name="l00228"></a>00228 <a class="code" href="classirr_1_1core_1_1quaternion.html#abd35ca07eda3783a00b27ff9a49e43b8">W</a> = other.<a class="code" href="classirr_1_1core_1_1quaternion.html#abd35ca07eda3783a00b27ff9a49e43b8">W</a>;
250<a name="l00229"></a>00229 <span class="keywordflow">return</span> *<span class="keyword">this</span>;
251<a name="l00230"></a>00230 }
252<a name="l00231"></a>00231
253<a name="l00232"></a>00232 <span class="preprocessor">#if !IRR_TEST_BROKEN_QUATERNION_USE</span>
254<a name="l00233"></a>00233 <span class="preprocessor"></span><span class="comment">// matrix assignment operator</span>
255<a name="l00234"></a><a class="code" href="classirr_1_1core_1_1quaternion.html#aed887a4f908b44aa13ef5f77291134f0">00234</a> <span class="keyword">inline</span> <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>&amp; <a class="code" href="classirr_1_1core_1_1quaternion.html#a14e694153904d3026eac8c9f14a5df1c" title="Assignment operator.">quaternion::operator=</a>(<span class="keyword">const</span> <a class="code" href="classirr_1_1core_1_1_c_matrix4.html" title="4x4 matrix. Mostly used as transformation matrix for 3d calculations.">matrix4</a>&amp; m)
256<a name="l00235"></a>00235 {
257<a name="l00236"></a>00236 <span class="keyword">const</span> <a class="code" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> diag = m[0] + m[5] + m[10] + 1;
258<a name="l00237"></a>00237
259<a name="l00238"></a>00238 <span class="keywordflow">if</span>( diag &gt; 0.0f )
260<a name="l00239"></a>00239 {
261<a name="l00240"></a>00240 <span class="keyword">const</span> <a class="code" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> scale = sqrtf(diag) * 2.0f; <span class="comment">// get scale from diagonal</span>
262<a name="l00241"></a>00241
263<a name="l00242"></a>00242 <span class="comment">// TODO: speed this up</span>
264<a name="l00243"></a>00243 <a class="code" href="classirr_1_1core_1_1quaternion.html#a69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a> = (m[6] - m[9]) / scale;
265<a name="l00244"></a>00244 <a class="code" href="classirr_1_1core_1_1quaternion.html#a7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a> = (m[8] - m[2]) / scale;
266<a name="l00245"></a>00245 <a class="code" href="classirr_1_1core_1_1quaternion.html#a9080571243e191219aca47758b8638a1">Z</a> = (m[1] - m[4]) / scale;
267<a name="l00246"></a>00246 <a class="code" href="classirr_1_1core_1_1quaternion.html#abd35ca07eda3783a00b27ff9a49e43b8">W</a> = 0.25f * scale;
268<a name="l00247"></a>00247 }
269<a name="l00248"></a>00248 <span class="keywordflow">else</span>
270<a name="l00249"></a>00249 {
271<a name="l00250"></a>00250 <span class="keywordflow">if</span> (m[0]&gt;m[5] &amp;&amp; m[0]&gt;m[10])
272<a name="l00251"></a>00251 {
273<a name="l00252"></a>00252 <span class="comment">// 1st element of diag is greatest value</span>
274<a name="l00253"></a>00253 <span class="comment">// find scale according to 1st element, and double it</span>
275<a name="l00254"></a>00254 <span class="keyword">const</span> <a class="code" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> scale = sqrtf(1.0f + m[0] - m[5] - m[10]) * 2.0f;
276<a name="l00255"></a>00255
277<a name="l00256"></a>00256 <span class="comment">// TODO: speed this up</span>
278<a name="l00257"></a>00257 <a class="code" href="classirr_1_1core_1_1quaternion.html#a69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a> = 0.25f * scale;
279<a name="l00258"></a>00258 <a class="code" href="classirr_1_1core_1_1quaternion.html#a7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a> = (m[4] + m[1]) / scale;
280<a name="l00259"></a>00259 <a class="code" href="classirr_1_1core_1_1quaternion.html#a9080571243e191219aca47758b8638a1">Z</a> = (m[2] + m[8]) / scale;
281<a name="l00260"></a>00260 <a class="code" href="classirr_1_1core_1_1quaternion.html#abd35ca07eda3783a00b27ff9a49e43b8">W</a> = (m[6] - m[9]) / scale;
282<a name="l00261"></a>00261 }
283<a name="l00262"></a>00262 <span class="keywordflow">else</span> <span class="keywordflow">if</span> (m[5]&gt;m[10])
284<a name="l00263"></a>00263 {
285<a name="l00264"></a>00264 <span class="comment">// 2nd element of diag is greatest value</span>
286<a name="l00265"></a>00265 <span class="comment">// find scale according to 2nd element, and double it</span>
287<a name="l00266"></a>00266 <span class="keyword">const</span> <a class="code" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> scale = sqrtf(1.0f + m[5] - m[0] - m[10]) * 2.0f;
288<a name="l00267"></a>00267
289<a name="l00268"></a>00268 <span class="comment">// TODO: speed this up</span>
290<a name="l00269"></a>00269 <a class="code" href="classirr_1_1core_1_1quaternion.html#a69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a> = (m[4] + m[1]) / scale;
291<a name="l00270"></a>00270 <a class="code" href="classirr_1_1core_1_1quaternion.html#a7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a> = 0.25f * scale;
292<a name="l00271"></a>00271 <a class="code" href="classirr_1_1core_1_1quaternion.html#a9080571243e191219aca47758b8638a1">Z</a> = (m[9] + m[6]) / scale;
293<a name="l00272"></a>00272 <a class="code" href="classirr_1_1core_1_1quaternion.html#abd35ca07eda3783a00b27ff9a49e43b8">W</a> = (m[8] - m[2]) / scale;
294<a name="l00273"></a>00273 }
295<a name="l00274"></a>00274 <span class="keywordflow">else</span>
296<a name="l00275"></a>00275 {
297<a name="l00276"></a>00276 <span class="comment">// 3rd element of diag is greatest value</span>
298<a name="l00277"></a>00277 <span class="comment">// find scale according to 3rd element, and double it</span>
299<a name="l00278"></a>00278 <span class="keyword">const</span> <a class="code" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> scale = sqrtf(1.0f + m[10] - m[0] - m[5]) * 2.0f;
300<a name="l00279"></a>00279
301<a name="l00280"></a>00280 <span class="comment">// TODO: speed this up</span>
302<a name="l00281"></a>00281 <a class="code" href="classirr_1_1core_1_1quaternion.html#a69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a> = (m[8] + m[2]) / scale;
303<a name="l00282"></a>00282 <a class="code" href="classirr_1_1core_1_1quaternion.html#a7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a> = (m[9] + m[6]) / scale;
304<a name="l00283"></a>00283 <a class="code" href="classirr_1_1core_1_1quaternion.html#a9080571243e191219aca47758b8638a1">Z</a> = 0.25f * scale;
305<a name="l00284"></a>00284 <a class="code" href="classirr_1_1core_1_1quaternion.html#abd35ca07eda3783a00b27ff9a49e43b8">W</a> = (m[1] - m[4]) / scale;
306<a name="l00285"></a>00285 }
307<a name="l00286"></a>00286 }
308<a name="l00287"></a>00287
309<a name="l00288"></a>00288 <span class="keywordflow">return</span> <a class="code" href="classirr_1_1core_1_1quaternion.html#aac7a34ffd2a14a78de12d994539b94f9" title="Normalizes the quaternion.">normalize</a>();
310<a name="l00289"></a>00289 }
311<a name="l00290"></a>00290 <span class="preprocessor">#endif</span>
312<a name="l00291"></a>00291 <span class="preprocessor"></span>
313<a name="l00292"></a>00292
314<a name="l00293"></a>00293 <span class="comment">// multiplication operator</span>
315<a name="l00294"></a><a class="code" href="classirr_1_1core_1_1quaternion.html#a740a2885a20005a62e8f24dffa1d48c7">00294</a> <span class="keyword">inline</span> <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a> <a class="code" href="classirr_1_1core_1_1quaternion.html#a740a2885a20005a62e8f24dffa1d48c7" title="Multiplication operator.">quaternion::operator*</a>(<span class="keyword">const</span> <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>&amp; other)<span class="keyword"> const</span>
316<a name="l00295"></a>00295 <span class="keyword"></span>{
317<a name="l00296"></a>00296 <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a> tmp;
318<a name="l00297"></a>00297
319<a name="l00298"></a>00298 tmp.<a class="code" href="classirr_1_1core_1_1quaternion.html#abd35ca07eda3783a00b27ff9a49e43b8">W</a> = (other.<a class="code" href="classirr_1_1core_1_1quaternion.html#abd35ca07eda3783a00b27ff9a49e43b8">W</a> * <a class="code" href="classirr_1_1core_1_1quaternion.html#abd35ca07eda3783a00b27ff9a49e43b8">W</a>) - (other.<a class="code" href="classirr_1_1core_1_1quaternion.html#a69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a> * <a class="code" href="classirr_1_1core_1_1quaternion.html#a69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>) - (other.<a class="code" href="classirr_1_1core_1_1quaternion.html#a7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a> * <a class="code" href="classirr_1_1core_1_1quaternion.html#a7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a>) - (other.<a class="code" href="classirr_1_1core_1_1quaternion.html#a9080571243e191219aca47758b8638a1">Z</a> * <a class="code" href="classirr_1_1core_1_1quaternion.html#a9080571243e191219aca47758b8638a1">Z</a>);
320<a name="l00299"></a>00299 tmp.<a class="code" href="classirr_1_1core_1_1quaternion.html#a69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a> = (other.<a class="code" href="classirr_1_1core_1_1quaternion.html#abd35ca07eda3783a00b27ff9a49e43b8">W</a> * <a class="code" href="classirr_1_1core_1_1quaternion.html#a69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>) + (other.<a class="code" href="classirr_1_1core_1_1quaternion.html#a69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a> * <a class="code" href="classirr_1_1core_1_1quaternion.html#abd35ca07eda3783a00b27ff9a49e43b8">W</a>) + (other.<a class="code" href="classirr_1_1core_1_1quaternion.html#a7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a> * <a class="code" href="classirr_1_1core_1_1quaternion.html#a9080571243e191219aca47758b8638a1">Z</a>) - (other.<a class="code" href="classirr_1_1core_1_1quaternion.html#a9080571243e191219aca47758b8638a1">Z</a> * <a class="code" href="classirr_1_1core_1_1quaternion.html#a7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a>);
321<a name="l00300"></a>00300 tmp.<a class="code" href="classirr_1_1core_1_1quaternion.html#a7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a> = (other.<a class="code" href="classirr_1_1core_1_1quaternion.html#abd35ca07eda3783a00b27ff9a49e43b8">W</a> * <a class="code" href="classirr_1_1core_1_1quaternion.html#a7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a>) + (other.<a class="code" href="classirr_1_1core_1_1quaternion.html#a7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a> * <a class="code" href="classirr_1_1core_1_1quaternion.html#abd35ca07eda3783a00b27ff9a49e43b8">W</a>) + (other.<a class="code" href="classirr_1_1core_1_1quaternion.html#a9080571243e191219aca47758b8638a1">Z</a> * <a class="code" href="classirr_1_1core_1_1quaternion.html#a69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>) - (other.<a class="code" href="classirr_1_1core_1_1quaternion.html#a69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a> * <a class="code" href="classirr_1_1core_1_1quaternion.html#a9080571243e191219aca47758b8638a1">Z</a>);
322<a name="l00301"></a>00301 tmp.<a class="code" href="classirr_1_1core_1_1quaternion.html#a9080571243e191219aca47758b8638a1">Z</a> = (other.<a class="code" href="classirr_1_1core_1_1quaternion.html#abd35ca07eda3783a00b27ff9a49e43b8">W</a> * <a class="code" href="classirr_1_1core_1_1quaternion.html#a9080571243e191219aca47758b8638a1">Z</a>) + (other.<a class="code" href="classirr_1_1core_1_1quaternion.html#a9080571243e191219aca47758b8638a1">Z</a> * <a class="code" href="classirr_1_1core_1_1quaternion.html#abd35ca07eda3783a00b27ff9a49e43b8">W</a>) + (other.<a class="code" href="classirr_1_1core_1_1quaternion.html#a69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a> * <a class="code" href="classirr_1_1core_1_1quaternion.html#a7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a>) - (other.<a class="code" href="classirr_1_1core_1_1quaternion.html#a7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a> * <a class="code" href="classirr_1_1core_1_1quaternion.html#a69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>);
323<a name="l00302"></a>00302
324<a name="l00303"></a>00303 <span class="keywordflow">return</span> tmp;
325<a name="l00304"></a>00304 }
326<a name="l00305"></a>00305
327<a name="l00306"></a>00306
328<a name="l00307"></a>00307 <span class="comment">// multiplication operator</span>
329<a name="l00308"></a><a class="code" href="classirr_1_1core_1_1quaternion.html#ae320e6a2c6fc1b6ab579645f1056a310">00308</a> <span class="keyword">inline</span> <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a> <a class="code" href="classirr_1_1core_1_1quaternion.html#a740a2885a20005a62e8f24dffa1d48c7" title="Multiplication operator.">quaternion::operator*</a>(<a class="code" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> s)<span class="keyword"> const</span>
330<a name="l00309"></a>00309 <span class="keyword"></span>{
331<a name="l00310"></a>00310 <span class="keywordflow">return</span> <a class="code" href="classirr_1_1core_1_1quaternion.html#af19629224bc2ed3a3ecbc335309099c8" title="Default Constructor.">quaternion</a>(s*<a class="code" href="classirr_1_1core_1_1quaternion.html#a69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>, s*<a class="code" href="classirr_1_1core_1_1quaternion.html#a7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a>, s*<a class="code" href="classirr_1_1core_1_1quaternion.html#a9080571243e191219aca47758b8638a1">Z</a>, s*<a class="code" href="classirr_1_1core_1_1quaternion.html#abd35ca07eda3783a00b27ff9a49e43b8">W</a>);
332<a name="l00311"></a>00311 }
333<a name="l00312"></a>00312
334<a name="l00313"></a>00313
335<a name="l00314"></a>00314 <span class="comment">// multiplication operator</span>
336<a name="l00315"></a><a class="code" href="classirr_1_1core_1_1quaternion.html#a933b6bf1ace6875068c5c01741bb4096">00315</a> <span class="keyword">inline</span> <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>&amp; <a class="code" href="classirr_1_1core_1_1quaternion.html#a933b6bf1ace6875068c5c01741bb4096" title="Multiplication operator with scalar.">quaternion::operator*=</a>(<a class="code" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> s)
337<a name="l00316"></a>00316 {
338<a name="l00317"></a>00317 <a class="code" href="classirr_1_1core_1_1quaternion.html#a69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>*=s;
339<a name="l00318"></a>00318 <a class="code" href="classirr_1_1core_1_1quaternion.html#a7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a>*=s;
340<a name="l00319"></a>00319 <a class="code" href="classirr_1_1core_1_1quaternion.html#a9080571243e191219aca47758b8638a1">Z</a>*=s;
341<a name="l00320"></a>00320 <a class="code" href="classirr_1_1core_1_1quaternion.html#abd35ca07eda3783a00b27ff9a49e43b8">W</a>*=s;
342<a name="l00321"></a>00321 <span class="keywordflow">return</span> *<span class="keyword">this</span>;
343<a name="l00322"></a>00322 }
344<a name="l00323"></a>00323
345<a name="l00324"></a>00324 <span class="comment">// multiplication operator</span>
346<a name="l00325"></a><a class="code" href="classirr_1_1core_1_1quaternion.html#ad6b251ec3861ae7be90ac0ddc0cd44f4">00325</a> <span class="keyword">inline</span> <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>&amp; <a class="code" href="classirr_1_1core_1_1quaternion.html#a933b6bf1ace6875068c5c01741bb4096" title="Multiplication operator with scalar.">quaternion::operator*=</a>(<span class="keyword">const</span> <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>&amp; other)
347<a name="l00326"></a>00326 {
348<a name="l00327"></a>00327 <span class="keywordflow">return</span> (*<span class="keyword">this</span> = other * (*<span class="keyword">this</span>));
349<a name="l00328"></a>00328 }
350<a name="l00329"></a>00329
351<a name="l00330"></a>00330 <span class="comment">// add operator</span>
352<a name="l00331"></a><a class="code" href="classirr_1_1core_1_1quaternion.html#a8fa3541f577ba6daa583f936f7cdb978">00331</a> <span class="keyword">inline</span> <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a> <a class="code" href="classirr_1_1core_1_1quaternion.html#a8fa3541f577ba6daa583f936f7cdb978" title="Add operator.">quaternion::operator+</a>(<span class="keyword">const</span> <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>&amp; b)<span class="keyword"> const</span>
353<a name="l00332"></a>00332 <span class="keyword"></span>{
354<a name="l00333"></a>00333 <span class="keywordflow">return</span> <a class="code" href="classirr_1_1core_1_1quaternion.html#af19629224bc2ed3a3ecbc335309099c8" title="Default Constructor.">quaternion</a>(<a class="code" href="classirr_1_1core_1_1quaternion.html#a69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>+b.<a class="code" href="classirr_1_1core_1_1quaternion.html#a69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>, <a class="code" href="classirr_1_1core_1_1quaternion.html#a7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a>+b.<a class="code" href="classirr_1_1core_1_1quaternion.html#a7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a>, <a class="code" href="classirr_1_1core_1_1quaternion.html#a9080571243e191219aca47758b8638a1">Z</a>+b.<a class="code" href="classirr_1_1core_1_1quaternion.html#a9080571243e191219aca47758b8638a1">Z</a>, <a class="code" href="classirr_1_1core_1_1quaternion.html#abd35ca07eda3783a00b27ff9a49e43b8">W</a>+b.<a class="code" href="classirr_1_1core_1_1quaternion.html#abd35ca07eda3783a00b27ff9a49e43b8">W</a>);
355<a name="l00334"></a>00334 }
356<a name="l00335"></a>00335
357<a name="l00336"></a>00336 <span class="preprocessor">#if !IRR_TEST_BROKEN_QUATERNION_USE</span>
358<a name="l00337"></a>00337 <span class="preprocessor"></span><span class="comment">// Creates a matrix from this quaternion</span>
359<a name="l00338"></a><a class="code" href="classirr_1_1core_1_1quaternion.html#a4913dba1c8448eb1dae91f7476a90125">00338</a> <span class="keyword">inline</span> <a class="code" href="classirr_1_1core_1_1_c_matrix4.html" title="4x4 matrix. Mostly used as transformation matrix for 3d calculations.">matrix4</a> <a class="code" href="classirr_1_1core_1_1quaternion.html#a4913dba1c8448eb1dae91f7476a90125" title="Creates a matrix from this quaternion.">quaternion::getMatrix</a>()<span class="keyword"> const</span>
360<a name="l00339"></a>00339 <span class="keyword"></span>{
361<a name="l00340"></a>00340 <a class="code" href="classirr_1_1core_1_1_c_matrix4.html" title="4x4 matrix. Mostly used as transformation matrix for 3d calculations.">core::matrix4</a> m;
362<a name="l00341"></a>00341 <a class="code" href="classirr_1_1core_1_1quaternion.html#a4913dba1c8448eb1dae91f7476a90125" title="Creates a matrix from this quaternion.">getMatrix</a>(m);
363<a name="l00342"></a>00342 <span class="keywordflow">return</span> m;
364<a name="l00343"></a>00343 }
365<a name="l00344"></a>00344 <span class="preprocessor">#endif</span>
366<a name="l00345"></a>00345 <span class="preprocessor"></span>
367<a name="l00349"></a><a class="code" href="classirr_1_1core_1_1quaternion.html#aed6c208834ad8d3ae484bfd694e7ece0">00349</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classirr_1_1core_1_1quaternion.html#a4913dba1c8448eb1dae91f7476a90125" title="Creates a matrix from this quaternion.">quaternion::getMatrix</a>(<a class="code" href="classirr_1_1core_1_1_c_matrix4.html" title="4x4 matrix. Mostly used as transformation matrix for 3d calculations.">matrix4</a> &amp;dest,
368<a name="l00350"></a>00350 <span class="keyword">const</span> <a class="code" href="classirr_1_1core_1_1vector3d.html">core::vector3df</a> &amp;center)<span class="keyword"> const</span>
369<a name="l00351"></a>00351 <span class="keyword"></span>{
370<a name="l00352"></a>00352 dest[0] = 1.0f - 2.0f*<a class="code" href="classirr_1_1core_1_1quaternion.html#a7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a>*<a class="code" href="classirr_1_1core_1_1quaternion.html#a7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a> - 2.0f*<a class="code" href="classirr_1_1core_1_1quaternion.html#a9080571243e191219aca47758b8638a1">Z</a>*<a class="code" href="classirr_1_1core_1_1quaternion.html#a9080571243e191219aca47758b8638a1">Z</a>;
371<a name="l00353"></a>00353 dest[1] = 2.0f*<a class="code" href="classirr_1_1core_1_1quaternion.html#a69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>*<a class="code" href="classirr_1_1core_1_1quaternion.html#a7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a> + 2.0f*Z*<a class="code" href="classirr_1_1core_1_1quaternion.html#abd35ca07eda3783a00b27ff9a49e43b8">W</a>;
372<a name="l00354"></a>00354 dest[2] = 2.0f*<a class="code" href="classirr_1_1core_1_1quaternion.html#a69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>*Z - 2.0f*<a class="code" href="classirr_1_1core_1_1quaternion.html#a7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a>*<a class="code" href="classirr_1_1core_1_1quaternion.html#abd35ca07eda3783a00b27ff9a49e43b8">W</a>;
373<a name="l00355"></a>00355 dest[3] = 0.0f;
374<a name="l00356"></a>00356
375<a name="l00357"></a>00357 dest[4] = 2.0f*<a class="code" href="classirr_1_1core_1_1quaternion.html#a69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>*<a class="code" href="classirr_1_1core_1_1quaternion.html#a7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a> - 2.0f*Z*<a class="code" href="classirr_1_1core_1_1quaternion.html#abd35ca07eda3783a00b27ff9a49e43b8">W</a>;
376<a name="l00358"></a>00358 dest[5] = 1.0f - 2.0f*<a class="code" href="classirr_1_1core_1_1quaternion.html#a69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>*<a class="code" href="classirr_1_1core_1_1quaternion.html#a69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a> - 2.0f*Z*<a class="code" href="classirr_1_1core_1_1quaternion.html#a9080571243e191219aca47758b8638a1">Z</a>;
377<a name="l00359"></a>00359 dest[6] = 2.0f*Z*<a class="code" href="classirr_1_1core_1_1quaternion.html#a7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a> + 2.0f*<a class="code" href="classirr_1_1core_1_1quaternion.html#a69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>*<a class="code" href="classirr_1_1core_1_1quaternion.html#abd35ca07eda3783a00b27ff9a49e43b8">W</a>;
378<a name="l00360"></a>00360 dest[7] = 0.0f;
379<a name="l00361"></a>00361
380<a name="l00362"></a>00362 dest[8] = 2.0f*<a class="code" href="classirr_1_1core_1_1quaternion.html#a69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>*Z + 2.0f*<a class="code" href="classirr_1_1core_1_1quaternion.html#a7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a>*<a class="code" href="classirr_1_1core_1_1quaternion.html#abd35ca07eda3783a00b27ff9a49e43b8">W</a>;
381<a name="l00363"></a>00363 dest[9] = 2.0f*Z*<a class="code" href="classirr_1_1core_1_1quaternion.html#a7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a> - 2.0f*<a class="code" href="classirr_1_1core_1_1quaternion.html#a69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>*<a class="code" href="classirr_1_1core_1_1quaternion.html#abd35ca07eda3783a00b27ff9a49e43b8">W</a>;
382<a name="l00364"></a>00364 dest[10] = 1.0f - 2.0f*<a class="code" href="classirr_1_1core_1_1quaternion.html#a69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>*<a class="code" href="classirr_1_1core_1_1quaternion.html#a69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a> - 2.0f*<a class="code" href="classirr_1_1core_1_1quaternion.html#a7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a>*<a class="code" href="classirr_1_1core_1_1quaternion.html#a7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a>;
383<a name="l00365"></a>00365 dest[11] = 0.0f;
384<a name="l00366"></a>00366
385<a name="l00367"></a>00367 dest[12] = center.<a class="code" href="classirr_1_1core_1_1vector3d.html#a8c9ed06774dc668112bcefacb6e7732b" title="X coordinate of the vector.">X</a>;
386<a name="l00368"></a>00368 dest[13] = center.<a class="code" href="classirr_1_1core_1_1vector3d.html#af8f87c2fe0ce717ade7c3d7419302fbd" title="Y coordinate of the vector.">Y</a>;
387<a name="l00369"></a>00369 dest[14] = center.<a class="code" href="classirr_1_1core_1_1vector3d.html#ac2beb702e718c3579971348981b220ed" title="Z coordinate of the vector.">Z</a>;
388<a name="l00370"></a>00370 dest[15] = 1.f;
389<a name="l00371"></a>00371
390<a name="l00372"></a>00372 dest.<a class="code" href="classirr_1_1core_1_1_c_matrix4.html#a87f7195337a2bf7a49978c2ec1100c0a" title="Sets if the matrix is definitely identity matrix.">setDefinitelyIdentityMatrix</a> ( <span class="keyword">false</span> );
391<a name="l00373"></a>00373 }
392<a name="l00374"></a>00374
393<a name="l00375"></a>00375
394<a name="l00388"></a><a class="code" href="classirr_1_1core_1_1quaternion.html#a3d5efafd9f646ab5e86812797dc0b975">00388</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classirr_1_1core_1_1quaternion.html#a3d5efafd9f646ab5e86812797dc0b975">quaternion::getMatrixCenter</a>(<a class="code" href="classirr_1_1core_1_1_c_matrix4.html" title="4x4 matrix. Mostly used as transformation matrix for 3d calculations.">matrix4</a> &amp;dest,
395<a name="l00389"></a>00389 <span class="keyword">const</span> <a class="code" href="classirr_1_1core_1_1vector3d.html">core::vector3df</a> &amp;center,
396<a name="l00390"></a>00390 <span class="keyword">const</span> <a class="code" href="classirr_1_1core_1_1vector3d.html">core::vector3df</a> &amp;translation)<span class="keyword"> const</span>
397<a name="l00391"></a>00391 <span class="keyword"></span>{
398<a name="l00392"></a>00392 dest[0] = 1.0f - 2.0f*<a class="code" href="classirr_1_1core_1_1quaternion.html#a7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a>*<a class="code" href="classirr_1_1core_1_1quaternion.html#a7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a> - 2.0f*<a class="code" href="classirr_1_1core_1_1quaternion.html#a9080571243e191219aca47758b8638a1">Z</a>*<a class="code" href="classirr_1_1core_1_1quaternion.html#a9080571243e191219aca47758b8638a1">Z</a>;
399<a name="l00393"></a>00393 dest[1] = 2.0f*<a class="code" href="classirr_1_1core_1_1quaternion.html#a69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>*<a class="code" href="classirr_1_1core_1_1quaternion.html#a7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a> + 2.0f*Z*<a class="code" href="classirr_1_1core_1_1quaternion.html#abd35ca07eda3783a00b27ff9a49e43b8">W</a>;
400<a name="l00394"></a>00394 dest[2] = 2.0f*<a class="code" href="classirr_1_1core_1_1quaternion.html#a69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>*Z - 2.0f*<a class="code" href="classirr_1_1core_1_1quaternion.html#a7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a>*<a class="code" href="classirr_1_1core_1_1quaternion.html#abd35ca07eda3783a00b27ff9a49e43b8">W</a>;
401<a name="l00395"></a>00395 dest[3] = 0.0f;
402<a name="l00396"></a>00396
403<a name="l00397"></a>00397 dest[4] = 2.0f*<a class="code" href="classirr_1_1core_1_1quaternion.html#a69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>*<a class="code" href="classirr_1_1core_1_1quaternion.html#a7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a> - 2.0f*Z*<a class="code" href="classirr_1_1core_1_1quaternion.html#abd35ca07eda3783a00b27ff9a49e43b8">W</a>;
404<a name="l00398"></a>00398 dest[5] = 1.0f - 2.0f*<a class="code" href="classirr_1_1core_1_1quaternion.html#a69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>*<a class="code" href="classirr_1_1core_1_1quaternion.html#a69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a> - 2.0f*Z*<a class="code" href="classirr_1_1core_1_1quaternion.html#a9080571243e191219aca47758b8638a1">Z</a>;
405<a name="l00399"></a>00399 dest[6] = 2.0f*Z*<a class="code" href="classirr_1_1core_1_1quaternion.html#a7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a> + 2.0f*<a class="code" href="classirr_1_1core_1_1quaternion.html#a69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>*<a class="code" href="classirr_1_1core_1_1quaternion.html#abd35ca07eda3783a00b27ff9a49e43b8">W</a>;
406<a name="l00400"></a>00400 dest[7] = 0.0f;
407<a name="l00401"></a>00401
408<a name="l00402"></a>00402 dest[8] = 2.0f*<a class="code" href="classirr_1_1core_1_1quaternion.html#a69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>*Z + 2.0f*<a class="code" href="classirr_1_1core_1_1quaternion.html#a7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a>*<a class="code" href="classirr_1_1core_1_1quaternion.html#abd35ca07eda3783a00b27ff9a49e43b8">W</a>;
409<a name="l00403"></a>00403 dest[9] = 2.0f*Z*<a class="code" href="classirr_1_1core_1_1quaternion.html#a7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a> - 2.0f*<a class="code" href="classirr_1_1core_1_1quaternion.html#a69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>*<a class="code" href="classirr_1_1core_1_1quaternion.html#abd35ca07eda3783a00b27ff9a49e43b8">W</a>;
410<a name="l00404"></a>00404 dest[10] = 1.0f - 2.0f*<a class="code" href="classirr_1_1core_1_1quaternion.html#a69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>*<a class="code" href="classirr_1_1core_1_1quaternion.html#a69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a> - 2.0f*<a class="code" href="classirr_1_1core_1_1quaternion.html#a7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a>*<a class="code" href="classirr_1_1core_1_1quaternion.html#a7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a>;
411<a name="l00405"></a>00405 dest[11] = 0.0f;
412<a name="l00406"></a>00406
413<a name="l00407"></a>00407 dest.<a class="code" href="classirr_1_1core_1_1_c_matrix4.html#a8117628146ce654b3b292af7c49e25e2" title="Builds a combined matrix which translates to a center before rotation and translates from origin afte...">setRotationCenter</a> ( center, translation );
414<a name="l00408"></a>00408 }
415<a name="l00409"></a>00409
416<a name="l00410"></a>00410 <span class="comment">// Creates a matrix from this quaternion</span>
417<a name="l00411"></a><a class="code" href="classirr_1_1core_1_1quaternion.html#ad54809de078e19b7f95c7c0e466cbfa8">00411</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classirr_1_1core_1_1quaternion.html#ad54809de078e19b7f95c7c0e466cbfa8" title="Creates a matrix from this quaternion.">quaternion::getMatrix_transposed</a>(<a class="code" href="classirr_1_1core_1_1_c_matrix4.html" title="4x4 matrix. Mostly used as transformation matrix for 3d calculations.">matrix4</a> &amp;dest)<span class="keyword"> const</span>
418<a name="l00412"></a>00412 <span class="keyword"></span>{
419<a name="l00413"></a>00413 dest[0] = 1.0f - 2.0f*<a class="code" href="classirr_1_1core_1_1quaternion.html#a7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a>*<a class="code" href="classirr_1_1core_1_1quaternion.html#a7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a> - 2.0f*<a class="code" href="classirr_1_1core_1_1quaternion.html#a9080571243e191219aca47758b8638a1">Z</a>*<a class="code" href="classirr_1_1core_1_1quaternion.html#a9080571243e191219aca47758b8638a1">Z</a>;
420<a name="l00414"></a>00414 dest[4] = 2.0f*<a class="code" href="classirr_1_1core_1_1quaternion.html#a69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>*<a class="code" href="classirr_1_1core_1_1quaternion.html#a7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a> + 2.0f*Z*<a class="code" href="classirr_1_1core_1_1quaternion.html#abd35ca07eda3783a00b27ff9a49e43b8">W</a>;
421<a name="l00415"></a>00415 dest[8] = 2.0f*<a class="code" href="classirr_1_1core_1_1quaternion.html#a69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>*Z - 2.0f*<a class="code" href="classirr_1_1core_1_1quaternion.html#a7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a>*<a class="code" href="classirr_1_1core_1_1quaternion.html#abd35ca07eda3783a00b27ff9a49e43b8">W</a>;
422<a name="l00416"></a>00416 dest[12] = 0.0f;
423<a name="l00417"></a>00417
424<a name="l00418"></a>00418 dest[1] = 2.0f*<a class="code" href="classirr_1_1core_1_1quaternion.html#a69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>*<a class="code" href="classirr_1_1core_1_1quaternion.html#a7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a> - 2.0f*Z*<a class="code" href="classirr_1_1core_1_1quaternion.html#abd35ca07eda3783a00b27ff9a49e43b8">W</a>;
425<a name="l00419"></a>00419 dest[5] = 1.0f - 2.0f*<a class="code" href="classirr_1_1core_1_1quaternion.html#a69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>*<a class="code" href="classirr_1_1core_1_1quaternion.html#a69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a> - 2.0f*Z*<a class="code" href="classirr_1_1core_1_1quaternion.html#a9080571243e191219aca47758b8638a1">Z</a>;
426<a name="l00420"></a>00420 dest[9] = 2.0f*Z*<a class="code" href="classirr_1_1core_1_1quaternion.html#a7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a> + 2.0f*<a class="code" href="classirr_1_1core_1_1quaternion.html#a69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>*<a class="code" href="classirr_1_1core_1_1quaternion.html#abd35ca07eda3783a00b27ff9a49e43b8">W</a>;
427<a name="l00421"></a>00421 dest[13] = 0.0f;
428<a name="l00422"></a>00422
429<a name="l00423"></a>00423 dest[2] = 2.0f*<a class="code" href="classirr_1_1core_1_1quaternion.html#a69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>*Z + 2.0f*<a class="code" href="classirr_1_1core_1_1quaternion.html#a7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a>*<a class="code" href="classirr_1_1core_1_1quaternion.html#abd35ca07eda3783a00b27ff9a49e43b8">W</a>;
430<a name="l00424"></a>00424 dest[6] = 2.0f*Z*<a class="code" href="classirr_1_1core_1_1quaternion.html#a7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a> - 2.0f*<a class="code" href="classirr_1_1core_1_1quaternion.html#a69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>*<a class="code" href="classirr_1_1core_1_1quaternion.html#abd35ca07eda3783a00b27ff9a49e43b8">W</a>;
431<a name="l00425"></a>00425 dest[10] = 1.0f - 2.0f*<a class="code" href="classirr_1_1core_1_1quaternion.html#a69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>*<a class="code" href="classirr_1_1core_1_1quaternion.html#a69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a> - 2.0f*<a class="code" href="classirr_1_1core_1_1quaternion.html#a7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a>*<a class="code" href="classirr_1_1core_1_1quaternion.html#a7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a>;
432<a name="l00426"></a>00426 dest[14] = 0.0f;
433<a name="l00427"></a>00427
434<a name="l00428"></a>00428 dest[3] = 0.f;
435<a name="l00429"></a>00429 dest[7] = 0.f;
436<a name="l00430"></a>00430 dest[11] = 0.f;
437<a name="l00431"></a>00431 dest[15] = 1.f;
438<a name="l00432"></a>00432
439<a name="l00433"></a>00433 dest.<a class="code" href="classirr_1_1core_1_1_c_matrix4.html#a87f7195337a2bf7a49978c2ec1100c0a" title="Sets if the matrix is definitely identity matrix.">setDefinitelyIdentityMatrix</a>(<span class="keyword">false</span>);
440<a name="l00434"></a>00434 }
441<a name="l00435"></a>00435
442<a name="l00436"></a>00436
443<a name="l00437"></a>00437 <span class="comment">// Inverts this quaternion</span>
444<a name="l00438"></a><a class="code" href="classirr_1_1core_1_1quaternion.html#a2e286be8b088fa3ade0ab74880ea4508">00438</a> <span class="keyword">inline</span> <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>&amp; <a class="code" href="classirr_1_1core_1_1quaternion.html#a2e286be8b088fa3ade0ab74880ea4508" title="Inverts this quaternion.">quaternion::makeInverse</a>()
445<a name="l00439"></a>00439 {
446<a name="l00440"></a>00440 <a class="code" href="classirr_1_1core_1_1quaternion.html#a69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a> = -<a class="code" href="classirr_1_1core_1_1quaternion.html#a69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>; <a class="code" href="classirr_1_1core_1_1quaternion.html#a7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a> = -<a class="code" href="classirr_1_1core_1_1quaternion.html#a7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a>; <a class="code" href="classirr_1_1core_1_1quaternion.html#a9080571243e191219aca47758b8638a1">Z</a> = -<a class="code" href="classirr_1_1core_1_1quaternion.html#a9080571243e191219aca47758b8638a1">Z</a>;
447<a name="l00441"></a>00441 <span class="keywordflow">return</span> *<span class="keyword">this</span>;
448<a name="l00442"></a>00442 }
449<a name="l00443"></a>00443
450<a name="l00444"></a>00444
451<a name="l00445"></a>00445 <span class="comment">// sets new quaternion</span>
452<a name="l00446"></a><a class="code" href="classirr_1_1core_1_1quaternion.html#a51b8ba2c12a6e6ce9af0d60430f199e3">00446</a> <span class="keyword">inline</span> <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>&amp; <a class="code" href="classirr_1_1core_1_1quaternion.html#a51b8ba2c12a6e6ce9af0d60430f199e3" title="Sets new quaternion.">quaternion::set</a>(<a class="code" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> x, <a class="code" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> y, <a class="code" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> z, <a class="code" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> w)
453<a name="l00447"></a>00447 {
454<a name="l00448"></a>00448 <a class="code" href="classirr_1_1core_1_1quaternion.html#a69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a> = x;
455<a name="l00449"></a>00449 <a class="code" href="classirr_1_1core_1_1quaternion.html#a7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a> = y;
456<a name="l00450"></a>00450 <a class="code" href="classirr_1_1core_1_1quaternion.html#a9080571243e191219aca47758b8638a1">Z</a> = z;
457<a name="l00451"></a>00451 <a class="code" href="classirr_1_1core_1_1quaternion.html#abd35ca07eda3783a00b27ff9a49e43b8">W</a> = w;
458<a name="l00452"></a>00452 <span class="keywordflow">return</span> *<span class="keyword">this</span>;
459<a name="l00453"></a>00453 }
460<a name="l00454"></a>00454
461<a name="l00455"></a>00455
462<a name="l00456"></a>00456 <span class="comment">// sets new quaternion based on euler angles</span>
463<a name="l00457"></a><a class="code" href="classirr_1_1core_1_1quaternion.html#adb1393a5e3833622bfd6009f53ab842e">00457</a> <span class="keyword">inline</span> <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>&amp; <a class="code" href="classirr_1_1core_1_1quaternion.html#a51b8ba2c12a6e6ce9af0d60430f199e3" title="Sets new quaternion.">quaternion::set</a>(<a class="code" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> x, <a class="code" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> y, <a class="code" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> z)
464<a name="l00458"></a>00458 {
465<a name="l00459"></a>00459 <a class="code" href="namespaceirr.html#a1325b02603ad449f92c68fc640af9b28" title="64 bit floating point variable.">f64</a> angle;
466<a name="l00460"></a>00460
467<a name="l00461"></a>00461 angle = x * 0.5;
468<a name="l00462"></a>00462 <span class="keyword">const</span> <a class="code" href="namespaceirr.html#a1325b02603ad449f92c68fc640af9b28" title="64 bit floating point variable.">f64</a> sr = sin(angle);
469<a name="l00463"></a>00463 <span class="keyword">const</span> <a class="code" href="namespaceirr.html#a1325b02603ad449f92c68fc640af9b28" title="64 bit floating point variable.">f64</a> cr = cos(angle);
470<a name="l00464"></a>00464
471<a name="l00465"></a>00465 angle = y * 0.5;
472<a name="l00466"></a>00466 <span class="keyword">const</span> <a class="code" href="namespaceirr.html#a1325b02603ad449f92c68fc640af9b28" title="64 bit floating point variable.">f64</a> sp = sin(angle);
473<a name="l00467"></a>00467 <span class="keyword">const</span> <a class="code" href="namespaceirr.html#a1325b02603ad449f92c68fc640af9b28" title="64 bit floating point variable.">f64</a> cp = cos(angle);
474<a name="l00468"></a>00468
475<a name="l00469"></a>00469 angle = z * 0.5;
476<a name="l00470"></a>00470 <span class="keyword">const</span> <a class="code" href="namespaceirr.html#a1325b02603ad449f92c68fc640af9b28" title="64 bit floating point variable.">f64</a> sy = sin(angle);
477<a name="l00471"></a>00471 <span class="keyword">const</span> <a class="code" href="namespaceirr.html#a1325b02603ad449f92c68fc640af9b28" title="64 bit floating point variable.">f64</a> cy = cos(angle);
478<a name="l00472"></a>00472
479<a name="l00473"></a>00473 <span class="keyword">const</span> <a class="code" href="namespaceirr.html#a1325b02603ad449f92c68fc640af9b28" title="64 bit floating point variable.">f64</a> cpcy = cp * cy;
480<a name="l00474"></a>00474 <span class="keyword">const</span> <a class="code" href="namespaceirr.html#a1325b02603ad449f92c68fc640af9b28" title="64 bit floating point variable.">f64</a> spcy = sp * cy;
481<a name="l00475"></a>00475 <span class="keyword">const</span> <a class="code" href="namespaceirr.html#a1325b02603ad449f92c68fc640af9b28" title="64 bit floating point variable.">f64</a> cpsy = cp * sy;
482<a name="l00476"></a>00476 <span class="keyword">const</span> <a class="code" href="namespaceirr.html#a1325b02603ad449f92c68fc640af9b28" title="64 bit floating point variable.">f64</a> spsy = sp * sy;
483<a name="l00477"></a>00477
484<a name="l00478"></a>00478 <a class="code" href="classirr_1_1core_1_1quaternion.html#a69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a> = (<a class="code" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a>)(sr * cpcy - cr * spsy);
485<a name="l00479"></a>00479 <a class="code" href="classirr_1_1core_1_1quaternion.html#a7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a> = (<a class="code" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a>)(cr * spcy + sr * cpsy);
486<a name="l00480"></a>00480 <a class="code" href="classirr_1_1core_1_1quaternion.html#a9080571243e191219aca47758b8638a1">Z</a> = (<a class="code" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a>)(cr * cpsy - sr * spcy);
487<a name="l00481"></a>00481 <a class="code" href="classirr_1_1core_1_1quaternion.html#abd35ca07eda3783a00b27ff9a49e43b8">W</a> = (<a class="code" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a>)(cr * cpcy + sr * spsy);
488<a name="l00482"></a>00482
489<a name="l00483"></a>00483 <span class="keywordflow">return</span> <a class="code" href="classirr_1_1core_1_1quaternion.html#aac7a34ffd2a14a78de12d994539b94f9" title="Normalizes the quaternion.">normalize</a>();
490<a name="l00484"></a>00484 }
491<a name="l00485"></a>00485
492<a name="l00486"></a>00486 <span class="comment">// sets new quaternion based on euler angles</span>
493<a name="l00487"></a><a class="code" href="classirr_1_1core_1_1quaternion.html#a76b7f0569737c2143ca6dae47abd8fdd">00487</a> <span class="keyword">inline</span> <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>&amp; <a class="code" href="classirr_1_1core_1_1quaternion.html#a51b8ba2c12a6e6ce9af0d60430f199e3" title="Sets new quaternion.">quaternion::set</a>(<span class="keyword">const</span> <a class="code" href="classirr_1_1core_1_1vector3d.html">core::vector3df</a>&amp; vec)
494<a name="l00488"></a>00488 {
495<a name="l00489"></a>00489 <span class="keywordflow">return</span> <span class="keyword">set</span>(vec.<a class="code" href="classirr_1_1core_1_1vector3d.html#a8c9ed06774dc668112bcefacb6e7732b" title="X coordinate of the vector.">X</a>, vec.<a class="code" href="classirr_1_1core_1_1vector3d.html#af8f87c2fe0ce717ade7c3d7419302fbd" title="Y coordinate of the vector.">Y</a>, vec.<a class="code" href="classirr_1_1core_1_1vector3d.html#ac2beb702e718c3579971348981b220ed" title="Z coordinate of the vector.">Z</a>);
496<a name="l00490"></a>00490 }
497<a name="l00491"></a>00491
498<a name="l00492"></a>00492 <span class="comment">// sets new quaternion based on other quaternion</span>
499<a name="l00493"></a><a class="code" href="classirr_1_1core_1_1quaternion.html#aa99cf40ab088323e5fc31ccdbe9fa2ad">00493</a> <span class="keyword">inline</span> <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>&amp; <a class="code" href="classirr_1_1core_1_1quaternion.html#a51b8ba2c12a6e6ce9af0d60430f199e3" title="Sets new quaternion.">quaternion::set</a>(<span class="keyword">const</span> <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">core::quaternion</a>&amp; quat)
500<a name="l00494"></a>00494 {
501<a name="l00495"></a>00495 <span class="keywordflow">return</span> (*<span class="keyword">this</span>=quat);
502<a name="l00496"></a>00496 }
503<a name="l00497"></a>00497
504<a name="l00498"></a>00498
505<a name="l00500"></a><a class="code" href="classirr_1_1core_1_1quaternion.html#aca274395cd033f21be8fd6f2a0e7f9b1">00500</a> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="classirr_1_1core_1_1quaternion.html#aca274395cd033f21be8fd6f2a0e7f9b1" title="returns if this quaternion equals the other one, taking floating point rounding errors into account...">quaternion::equals</a>(<span class="keyword">const</span> <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>&amp; other, <span class="keyword">const</span> <a class="code" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> tolerance)<span class="keyword"> const</span>
506<a name="l00501"></a>00501 <span class="keyword"></span>{
507<a name="l00502"></a>00502 <span class="keywordflow">return</span> <a class="code" href="classirr_1_1core_1_1quaternion.html#aca274395cd033f21be8fd6f2a0e7f9b1" title="returns if this quaternion equals the other one, taking floating point rounding errors into account...">core::equals</a>(<a class="code" href="classirr_1_1core_1_1quaternion.html#a69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>, other.<a class="code" href="classirr_1_1core_1_1quaternion.html#a69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>, tolerance) &amp;&amp;
508<a name="l00503"></a>00503 <a class="code" href="classirr_1_1core_1_1quaternion.html#aca274395cd033f21be8fd6f2a0e7f9b1" title="returns if this quaternion equals the other one, taking floating point rounding errors into account...">core::equals</a>(<a class="code" href="classirr_1_1core_1_1quaternion.html#a7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a>, other.<a class="code" href="classirr_1_1core_1_1quaternion.html#a7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a>, tolerance) &amp;&amp;
509<a name="l00504"></a>00504 <a class="code" href="classirr_1_1core_1_1quaternion.html#aca274395cd033f21be8fd6f2a0e7f9b1" title="returns if this quaternion equals the other one, taking floating point rounding errors into account...">core::equals</a>(<a class="code" href="classirr_1_1core_1_1quaternion.html#a9080571243e191219aca47758b8638a1">Z</a>, other.<a class="code" href="classirr_1_1core_1_1quaternion.html#a9080571243e191219aca47758b8638a1">Z</a>, tolerance) &amp;&amp;
510<a name="l00505"></a>00505 <a class="code" href="classirr_1_1core_1_1quaternion.html#aca274395cd033f21be8fd6f2a0e7f9b1" title="returns if this quaternion equals the other one, taking floating point rounding errors into account...">core::equals</a>(<a class="code" href="classirr_1_1core_1_1quaternion.html#abd35ca07eda3783a00b27ff9a49e43b8">W</a>, other.<a class="code" href="classirr_1_1core_1_1quaternion.html#abd35ca07eda3783a00b27ff9a49e43b8">W</a>, tolerance);
511<a name="l00506"></a>00506 }
512<a name="l00507"></a>00507
513<a name="l00508"></a>00508
514<a name="l00509"></a>00509 <span class="comment">// normalizes the quaternion</span>
515<a name="l00510"></a><a class="code" href="classirr_1_1core_1_1quaternion.html#aac7a34ffd2a14a78de12d994539b94f9">00510</a> <span class="keyword">inline</span> <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>&amp; <a class="code" href="classirr_1_1core_1_1quaternion.html#aac7a34ffd2a14a78de12d994539b94f9" title="Normalizes the quaternion.">quaternion::normalize</a>()
516<a name="l00511"></a>00511 {
517<a name="l00512"></a>00512 <span class="keyword">const</span> <a class="code" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> n = <a class="code" href="classirr_1_1core_1_1quaternion.html#a69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>*<a class="code" href="classirr_1_1core_1_1quaternion.html#a69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a> + <a class="code" href="classirr_1_1core_1_1quaternion.html#a7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a>*<a class="code" href="classirr_1_1core_1_1quaternion.html#a7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a> + <a class="code" href="classirr_1_1core_1_1quaternion.html#a9080571243e191219aca47758b8638a1">Z</a>*<a class="code" href="classirr_1_1core_1_1quaternion.html#a9080571243e191219aca47758b8638a1">Z</a> + <a class="code" href="classirr_1_1core_1_1quaternion.html#abd35ca07eda3783a00b27ff9a49e43b8">W</a>*<a class="code" href="classirr_1_1core_1_1quaternion.html#abd35ca07eda3783a00b27ff9a49e43b8">W</a>;
518<a name="l00513"></a>00513
519<a name="l00514"></a>00514 <span class="keywordflow">if</span> (n == 1)
520<a name="l00515"></a>00515 <span class="keywordflow">return</span> *<span class="keyword">this</span>;
521<a name="l00516"></a>00516
522<a name="l00517"></a>00517 <span class="comment">//n = 1.0f / sqrtf(n);</span>
523<a name="l00518"></a>00518 <span class="keywordflow">return</span> (*<span class="keyword">this</span> *= <a class="code" href="namespaceirr_1_1core.html#adaef309f12c2a3386e94610e24f2bfa7">reciprocal_squareroot</a> ( n ));
524<a name="l00519"></a>00519 }
525<a name="l00520"></a>00520
526<a name="l00521"></a>00521
527<a name="l00522"></a>00522 <span class="comment">// set this quaternion to the result of the linear interpolation between two quaternions</span>
528<a name="l00523"></a><a class="code" href="classirr_1_1core_1_1quaternion.html#a75b5cb2d26397f07399e79ea20f1aff1">00523</a> <span class="keyword">inline</span> <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>&amp; <a class="code" href="classirr_1_1core_1_1quaternion.html#a75b5cb2d26397f07399e79ea20f1aff1" title="Set this quaternion to the linear interpolation between two quaternions.">quaternion::lerp</a>(<a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a> q1, <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a> q2, <a class="code" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> time)
529<a name="l00524"></a>00524 {
530<a name="l00525"></a>00525 <span class="keyword">const</span> <a class="code" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> scale = 1.0f - time;
531<a name="l00526"></a>00526 <span class="keywordflow">return</span> (*<span class="keyword">this</span> = (q1*scale) + (q2*time));
532<a name="l00527"></a>00527 }
533<a name="l00528"></a>00528
534<a name="l00529"></a>00529
535<a name="l00530"></a>00530 <span class="comment">// set this quaternion to the result of the interpolation between two quaternions</span>
536<a name="l00531"></a><a class="code" href="classirr_1_1core_1_1quaternion.html#a91335e9fdb50c3cfc2042aa9a4bfdf68">00531</a> <span class="keyword">inline</span> <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>&amp; <a class="code" href="classirr_1_1core_1_1quaternion.html#a91335e9fdb50c3cfc2042aa9a4bfdf68" title="Set this quaternion to the result of the spherical interpolation between two quaternions.">quaternion::slerp</a>(<a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a> q1, <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a> q2, <a class="code" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> time, <a class="code" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> threshold)
537<a name="l00532"></a>00532 {
538<a name="l00533"></a>00533 <a class="code" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> angle = q1.<a class="code" href="classirr_1_1core_1_1quaternion.html#a1ae4b20abb602514510b4134accc9978" title="Calculates the dot product.">dotProduct</a>(q2);
539<a name="l00534"></a>00534
540<a name="l00535"></a>00535 <span class="comment">// make sure we use the short rotation</span>
541<a name="l00536"></a>00536 <span class="keywordflow">if</span> (angle &lt; 0.0f)
542<a name="l00537"></a>00537 {
543<a name="l00538"></a>00538 q1 *= -1.0f;
544<a name="l00539"></a>00539 angle *= -1.0f;
545<a name="l00540"></a>00540 }
546<a name="l00541"></a>00541
547<a name="l00542"></a>00542 <span class="keywordflow">if</span> (angle &lt;= (1-threshold)) <span class="comment">// spherical interpolation</span>
548<a name="l00543"></a>00543 {
549<a name="l00544"></a>00544 <span class="keyword">const</span> <a class="code" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> theta = acosf(angle);
550<a name="l00545"></a>00545 <span class="keyword">const</span> <a class="code" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> invsintheta = <a class="code" href="namespaceirr_1_1core.html#aa01390f49052dfe07e16ee6c5233f4eb">reciprocal</a>(sinf(theta));
551<a name="l00546"></a>00546 <span class="keyword">const</span> <a class="code" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> scale = sinf(theta * (1.0f-time)) * invsintheta;
552<a name="l00547"></a>00547 <span class="keyword">const</span> <a class="code" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> invscale = sinf(theta * time) * invsintheta;
553<a name="l00548"></a>00548 <span class="keywordflow">return</span> (*<span class="keyword">this</span> = (q1*scale) + (q2*invscale));
554<a name="l00549"></a>00549 }
555<a name="l00550"></a>00550 <span class="keywordflow">else</span> <span class="comment">// linear interploation</span>
556<a name="l00551"></a>00551 <span class="keywordflow">return</span> <a class="code" href="classirr_1_1core_1_1quaternion.html#a75b5cb2d26397f07399e79ea20f1aff1" title="Set this quaternion to the linear interpolation between two quaternions.">lerp</a>(q1,q2,time);
557<a name="l00552"></a>00552 }
558<a name="l00553"></a>00553
559<a name="l00554"></a>00554
560<a name="l00555"></a>00555 <span class="comment">// calculates the dot product</span>
561<a name="l00556"></a><a class="code" href="classirr_1_1core_1_1quaternion.html#a1ae4b20abb602514510b4134accc9978">00556</a> <span class="keyword">inline</span> <a class="code" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> <a class="code" href="classirr_1_1core_1_1quaternion.html#a1ae4b20abb602514510b4134accc9978" title="Calculates the dot product.">quaternion::dotProduct</a>(<span class="keyword">const</span> <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>&amp; q2)<span class="keyword"> const</span>
562<a name="l00557"></a>00557 <span class="keyword"></span>{
563<a name="l00558"></a>00558 <span class="keywordflow">return</span> (<a class="code" href="classirr_1_1core_1_1quaternion.html#a69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a> * q2.<a class="code" href="classirr_1_1core_1_1quaternion.html#a69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>) + (<a class="code" href="classirr_1_1core_1_1quaternion.html#a7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a> * q2.<a class="code" href="classirr_1_1core_1_1quaternion.html#a7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a>) + (<a class="code" href="classirr_1_1core_1_1quaternion.html#a9080571243e191219aca47758b8638a1">Z</a> * q2.<a class="code" href="classirr_1_1core_1_1quaternion.html#a9080571243e191219aca47758b8638a1">Z</a>) + (<a class="code" href="classirr_1_1core_1_1quaternion.html#abd35ca07eda3783a00b27ff9a49e43b8">W</a> * q2.<a class="code" href="classirr_1_1core_1_1quaternion.html#abd35ca07eda3783a00b27ff9a49e43b8">W</a>);
564<a name="l00559"></a>00559 }
565<a name="l00560"></a>00560
566<a name="l00561"></a>00561
567<a name="l00563"></a><a class="code" href="classirr_1_1core_1_1quaternion.html#ab4f5eb86ef7a42a3021b810486faa8c8">00563</a> <span class="keyword">inline</span> <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">quaternion</a>&amp; <a class="code" href="classirr_1_1core_1_1quaternion.html#ab4f5eb86ef7a42a3021b810486faa8c8" title="Create quaternion from rotation angle and rotation axis.">quaternion::fromAngleAxis</a>(<a class="code" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> angle, <span class="keyword">const</span> <a class="code" href="classirr_1_1core_1_1vector3d.html">vector3df</a>&amp; axis)
568<a name="l00564"></a>00564 {
569<a name="l00565"></a>00565 <span class="keyword">const</span> <a class="code" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> fHalfAngle = 0.5f*angle;
570<a name="l00566"></a>00566 <span class="keyword">const</span> <a class="code" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> fSin = sinf(fHalfAngle);
571<a name="l00567"></a>00567 <a class="code" href="classirr_1_1core_1_1quaternion.html#abd35ca07eda3783a00b27ff9a49e43b8">W</a> = cosf(fHalfAngle);
572<a name="l00568"></a>00568 <a class="code" href="classirr_1_1core_1_1quaternion.html#a69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a> = fSin*axis.<a class="code" href="classirr_1_1core_1_1vector3d.html#a8c9ed06774dc668112bcefacb6e7732b" title="X coordinate of the vector.">X</a>;
573<a name="l00569"></a>00569 <a class="code" href="classirr_1_1core_1_1quaternion.html#a7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a> = fSin*axis.<a class="code" href="classirr_1_1core_1_1vector3d.html#af8f87c2fe0ce717ade7c3d7419302fbd" title="Y coordinate of the vector.">Y</a>;
574<a name="l00570"></a>00570 <a class="code" href="classirr_1_1core_1_1quaternion.html#a9080571243e191219aca47758b8638a1">Z</a> = fSin*axis.<a class="code" href="classirr_1_1core_1_1vector3d.html#ac2beb702e718c3579971348981b220ed" title="Z coordinate of the vector.">Z</a>;
575<a name="l00571"></a>00571 <span class="keywordflow">return</span> *<span class="keyword">this</span>;
576<a name="l00572"></a>00572 }
577<a name="l00573"></a>00573
578<a name="l00574"></a>00574
579<a name="l00575"></a><a class="code" href="classirr_1_1core_1_1quaternion.html#aa36e7548f62749238086832d9b693cad">00575</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classirr_1_1core_1_1quaternion.html#aa36e7548f62749238086832d9b693cad" title="Fills an angle (radians) around an axis (unit vector)">quaternion::toAngleAxis</a>(<a class="code" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> &amp;angle, <a class="code" href="classirr_1_1core_1_1vector3d.html">core::vector3df</a> &amp;axis)<span class="keyword"> const</span>
580<a name="l00576"></a>00576 <span class="keyword"></span>{
581<a name="l00577"></a>00577 <span class="keyword">const</span> <a class="code" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> scale = sqrtf(<a class="code" href="classirr_1_1core_1_1quaternion.html#a69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>*<a class="code" href="classirr_1_1core_1_1quaternion.html#a69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a> + <a class="code" href="classirr_1_1core_1_1quaternion.html#a7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a>*<a class="code" href="classirr_1_1core_1_1quaternion.html#a7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a> + <a class="code" href="classirr_1_1core_1_1quaternion.html#a9080571243e191219aca47758b8638a1">Z</a>*<a class="code" href="classirr_1_1core_1_1quaternion.html#a9080571243e191219aca47758b8638a1">Z</a>);
582<a name="l00578"></a>00578
583<a name="l00579"></a>00579 <span class="keywordflow">if</span> (<a class="code" href="namespaceirr_1_1core.html#afc24e6ba26469ec7ca7001ed272dc3b2" title="returns if a equals zero, taking rounding errors into account">core::iszero</a>(scale) || <a class="code" href="classirr_1_1core_1_1quaternion.html#abd35ca07eda3783a00b27ff9a49e43b8">W</a> &gt; 1.0f || <a class="code" href="classirr_1_1core_1_1quaternion.html#abd35ca07eda3783a00b27ff9a49e43b8">W</a> &lt; -1.0f)
584<a name="l00580"></a>00580 {
585<a name="l00581"></a>00581 angle = 0.0f;
586<a name="l00582"></a>00582 axis.<a class="code" href="classirr_1_1core_1_1vector3d.html#a8c9ed06774dc668112bcefacb6e7732b" title="X coordinate of the vector.">X</a> = 0.0f;
587<a name="l00583"></a>00583 axis.<a class="code" href="classirr_1_1core_1_1vector3d.html#af8f87c2fe0ce717ade7c3d7419302fbd" title="Y coordinate of the vector.">Y</a> = 1.0f;
588<a name="l00584"></a>00584 axis.<a class="code" href="classirr_1_1core_1_1vector3d.html#ac2beb702e718c3579971348981b220ed" title="Z coordinate of the vector.">Z</a> = 0.0f;
589<a name="l00585"></a>00585 }
590<a name="l00586"></a>00586 <span class="keywordflow">else</span>
591<a name="l00587"></a>00587 {
592<a name="l00588"></a>00588 <span class="keyword">const</span> <a class="code" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> invscale = <a class="code" href="namespaceirr_1_1core.html#aa01390f49052dfe07e16ee6c5233f4eb">reciprocal</a>(scale);
593<a name="l00589"></a>00589 angle = 2.0f * acosf(<a class="code" href="classirr_1_1core_1_1quaternion.html#abd35ca07eda3783a00b27ff9a49e43b8">W</a>);
594<a name="l00590"></a>00590 axis.<a class="code" href="classirr_1_1core_1_1vector3d.html#a8c9ed06774dc668112bcefacb6e7732b" title="X coordinate of the vector.">X</a> = <a class="code" href="classirr_1_1core_1_1quaternion.html#a69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a> * invscale;
595<a name="l00591"></a>00591 axis.<a class="code" href="classirr_1_1core_1_1vector3d.html#af8f87c2fe0ce717ade7c3d7419302fbd" title="Y coordinate of the vector.">Y</a> = <a class="code" href="classirr_1_1core_1_1quaternion.html#a7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a> * invscale;
596<a name="l00592"></a>00592 axis.<a class="code" href="classirr_1_1core_1_1vector3d.html#ac2beb702e718c3579971348981b220ed" title="Z coordinate of the vector.">Z</a> = Z * invscale;
597<a name="l00593"></a>00593 }
598<a name="l00594"></a>00594 }
599<a name="l00595"></a>00595
600<a name="l00596"></a><a class="code" href="classirr_1_1core_1_1quaternion.html#a651d5a90572f14b9a2a5c17caea0e764">00596</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classirr_1_1core_1_1quaternion.html#a651d5a90572f14b9a2a5c17caea0e764" title="Output this quaternion to an euler angle (radians)">quaternion::toEuler</a>(<a class="code" href="classirr_1_1core_1_1vector3d.html">vector3df</a>&amp; euler)<span class="keyword"> const</span>
601<a name="l00597"></a>00597 <span class="keyword"></span>{
602<a name="l00598"></a>00598 <span class="keyword">const</span> <a class="code" href="namespaceirr.html#a1325b02603ad449f92c68fc640af9b28" title="64 bit floating point variable.">f64</a> sqw = <a class="code" href="classirr_1_1core_1_1quaternion.html#abd35ca07eda3783a00b27ff9a49e43b8">W</a>*<a class="code" href="classirr_1_1core_1_1quaternion.html#abd35ca07eda3783a00b27ff9a49e43b8">W</a>;
603<a name="l00599"></a>00599 <span class="keyword">const</span> <a class="code" href="namespaceirr.html#a1325b02603ad449f92c68fc640af9b28" title="64 bit floating point variable.">f64</a> sqx = <a class="code" href="classirr_1_1core_1_1quaternion.html#a69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>*<a class="code" href="classirr_1_1core_1_1quaternion.html#a69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>;
604<a name="l00600"></a>00600 <span class="keyword">const</span> <a class="code" href="namespaceirr.html#a1325b02603ad449f92c68fc640af9b28" title="64 bit floating point variable.">f64</a> sqy = <a class="code" href="classirr_1_1core_1_1quaternion.html#a7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a>*<a class="code" href="classirr_1_1core_1_1quaternion.html#a7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a>;
605<a name="l00601"></a>00601 <span class="keyword">const</span> <a class="code" href="namespaceirr.html#a1325b02603ad449f92c68fc640af9b28" title="64 bit floating point variable.">f64</a> sqz = <a class="code" href="classirr_1_1core_1_1quaternion.html#a9080571243e191219aca47758b8638a1">Z</a>*<a class="code" href="classirr_1_1core_1_1quaternion.html#a9080571243e191219aca47758b8638a1">Z</a>;
606<a name="l00602"></a>00602 <span class="keyword">const</span> <a class="code" href="namespaceirr.html#a1325b02603ad449f92c68fc640af9b28" title="64 bit floating point variable.">f64</a> test = 2.0 * (Y*W - X*<a class="code" href="classirr_1_1core_1_1quaternion.html#a9080571243e191219aca47758b8638a1">Z</a>);
607<a name="l00603"></a>00603
608<a name="l00604"></a>00604 <span class="keywordflow">if</span> (<a class="code" href="namespaceirr_1_1core.html#abf9b9b140cc365908ea4c8c47451e4e3" title="returns if a equals b, taking possible rounding errors into account">core::equals</a>(test, 1.0, 0.000001))
609<a name="l00605"></a>00605 {
610<a name="l00606"></a>00606 <span class="comment">// heading = rotation about z-axis</span>
611<a name="l00607"></a>00607 euler.<a class="code" href="classirr_1_1core_1_1vector3d.html#ac2beb702e718c3579971348981b220ed" title="Z coordinate of the vector.">Z</a> = (<a class="code" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a>) (-2.0*atan2(X, W));
612<a name="l00608"></a>00608 <span class="comment">// bank = rotation about x-axis</span>
613<a name="l00609"></a>00609 euler.<a class="code" href="classirr_1_1core_1_1vector3d.html#a8c9ed06774dc668112bcefacb6e7732b" title="X coordinate of the vector.">X</a> = 0;
614<a name="l00610"></a>00610 <span class="comment">// attitude = rotation about y-axis</span>
615<a name="l00611"></a>00611 euler.<a class="code" href="classirr_1_1core_1_1vector3d.html#af8f87c2fe0ce717ade7c3d7419302fbd" title="Y coordinate of the vector.">Y</a> = (<a class="code" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a>) (<a class="code" href="namespaceirr_1_1core.html#a166af519140dc00cbd88684e835086f8" title="Constant for 64bit PI.">core::PI64</a>/2.0);
616<a name="l00612"></a>00612 }
617<a name="l00613"></a>00613 <span class="keywordflow">else</span> <span class="keywordflow">if</span> (<a class="code" href="namespaceirr_1_1core.html#abf9b9b140cc365908ea4c8c47451e4e3" title="returns if a equals b, taking possible rounding errors into account">core::equals</a>(test, -1.0, 0.000001))
618<a name="l00614"></a>00614 {
619<a name="l00615"></a>00615 <span class="comment">// heading = rotation about z-axis</span>
620<a name="l00616"></a>00616 euler.<a class="code" href="classirr_1_1core_1_1vector3d.html#ac2beb702e718c3579971348981b220ed" title="Z coordinate of the vector.">Z</a> = (<a class="code" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a>) (2.0*atan2(X, W));
621<a name="l00617"></a>00617 <span class="comment">// bank = rotation about x-axis</span>
622<a name="l00618"></a>00618 euler.<a class="code" href="classirr_1_1core_1_1vector3d.html#a8c9ed06774dc668112bcefacb6e7732b" title="X coordinate of the vector.">X</a> = 0;
623<a name="l00619"></a>00619 <span class="comment">// attitude = rotation about y-axis</span>
624<a name="l00620"></a>00620 euler.<a class="code" href="classirr_1_1core_1_1vector3d.html#af8f87c2fe0ce717ade7c3d7419302fbd" title="Y coordinate of the vector.">Y</a> = (<a class="code" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a>) (<a class="code" href="namespaceirr_1_1core.html#a166af519140dc00cbd88684e835086f8" title="Constant for 64bit PI.">core::PI64</a>/-2.0);
625<a name="l00621"></a>00621 }
626<a name="l00622"></a>00622 <span class="keywordflow">else</span>
627<a name="l00623"></a>00623 {
628<a name="l00624"></a>00624 <span class="comment">// heading = rotation about z-axis</span>
629<a name="l00625"></a>00625 euler.<a class="code" href="classirr_1_1core_1_1vector3d.html#ac2beb702e718c3579971348981b220ed" title="Z coordinate of the vector.">Z</a> = (<a class="code" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a>) atan2(2.0 * (X*Y +Z*W),(sqx - sqy - sqz + sqw));
630<a name="l00626"></a>00626 <span class="comment">// bank = rotation about x-axis</span>
631<a name="l00627"></a>00627 euler.<a class="code" href="classirr_1_1core_1_1vector3d.html#a8c9ed06774dc668112bcefacb6e7732b" title="X coordinate of the vector.">X</a> = (<a class="code" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a>) atan2(2.0 * (Y*Z +X*W),(-sqx - sqy + sqz + sqw));
632<a name="l00628"></a>00628 <span class="comment">// attitude = rotation about y-axis</span>
633<a name="l00629"></a>00629 euler.<a class="code" href="classirr_1_1core_1_1vector3d.html#af8f87c2fe0ce717ade7c3d7419302fbd" title="Y coordinate of the vector.">Y</a> = (<a class="code" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a>) asin( <a class="code" href="namespaceirr_1_1core.html#a6162f685b68f629e77336081d3316969" title="clamps a value between low and high">clamp</a>(test, -1.0, 1.0) );
634<a name="l00630"></a>00630 }
635<a name="l00631"></a>00631 }
636<a name="l00632"></a>00632
637<a name="l00633"></a>00633
638<a name="l00634"></a><a class="code" href="classirr_1_1core_1_1quaternion.html#a08d7b70acc572e7345f9bb7aadef3505">00634</a> <span class="keyword">inline</span> <a class="code" href="classirr_1_1core_1_1vector3d.html">vector3df</a> <a class="code" href="classirr_1_1core_1_1quaternion.html#a740a2885a20005a62e8f24dffa1d48c7" title="Multiplication operator.">quaternion::operator* </a>(<span class="keyword">const</span> <a class="code" href="classirr_1_1core_1_1vector3d.html">vector3df</a>&amp; v)<span class="keyword"> const</span>
639<a name="l00635"></a>00635 <span class="keyword"></span>{
640<a name="l00636"></a>00636 <span class="comment">// nVidia SDK implementation</span>
641<a name="l00637"></a>00637
642<a name="l00638"></a>00638 <a class="code" href="classirr_1_1core_1_1vector3d.html">vector3df</a> uv, uuv;
643<a name="l00639"></a>00639 <a class="code" href="classirr_1_1core_1_1vector3d.html">vector3df</a> qvec(<a class="code" href="classirr_1_1core_1_1quaternion.html#a69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a>, <a class="code" href="classirr_1_1core_1_1quaternion.html#a7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a>, <a class="code" href="classirr_1_1core_1_1quaternion.html#a9080571243e191219aca47758b8638a1">Z</a>);
644<a name="l00640"></a>00640 uv = qvec.<a class="code" href="classirr_1_1core_1_1vector3d.html#aa2470a12e1ef53f440c95df6249e9aa4" title="Calculates the cross product with another vector.">crossProduct</a>(v);
645<a name="l00641"></a>00641 uuv = qvec.<a class="code" href="classirr_1_1core_1_1vector3d.html#aa2470a12e1ef53f440c95df6249e9aa4" title="Calculates the cross product with another vector.">crossProduct</a>(uv);
646<a name="l00642"></a>00642 uv *= (2.0f * <a class="code" href="classirr_1_1core_1_1quaternion.html#abd35ca07eda3783a00b27ff9a49e43b8">W</a>);
647<a name="l00643"></a>00643 uuv *= 2.0f;
648<a name="l00644"></a>00644
649<a name="l00645"></a>00645 <span class="keywordflow">return</span> v + uv + uuv;
650<a name="l00646"></a>00646 }
651<a name="l00647"></a>00647
652<a name="l00648"></a>00648 <span class="comment">// set quaternion to identity</span>
653<a name="l00649"></a><a class="code" href="classirr_1_1core_1_1quaternion.html#a3b4f6634670591f2c5be33aeaac2e928">00649</a> <span class="keyword">inline</span> <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">core::quaternion</a>&amp; <a class="code" href="classirr_1_1core_1_1quaternion.html#a3b4f6634670591f2c5be33aeaac2e928" title="Set quaternion to identity.">quaternion::makeIdentity</a>()
654<a name="l00650"></a>00650 {
655<a name="l00651"></a>00651 <a class="code" href="classirr_1_1core_1_1quaternion.html#abd35ca07eda3783a00b27ff9a49e43b8">W</a> = 1.f;
656<a name="l00652"></a>00652 <a class="code" href="classirr_1_1core_1_1quaternion.html#a69f2ee15363f0b9baa0b3cbb70091342" title="Quaternion elements.">X</a> = 0.f;
657<a name="l00653"></a>00653 <a class="code" href="classirr_1_1core_1_1quaternion.html#a7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a> = 0.f;
658<a name="l00654"></a>00654 <a class="code" href="classirr_1_1core_1_1quaternion.html#a9080571243e191219aca47758b8638a1">Z</a> = 0.f;
659<a name="l00655"></a>00655 <span class="keywordflow">return</span> *<span class="keyword">this</span>;
660<a name="l00656"></a>00656 }
661<a name="l00657"></a>00657
662<a name="l00658"></a><a class="code" href="classirr_1_1core_1_1quaternion.html#a9da1b3ddfb9722f596a73abf5212c020">00658</a> <span class="keyword">inline</span> <a class="code" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">core::quaternion</a>&amp; <a class="code" href="classirr_1_1core_1_1quaternion.html#a9da1b3ddfb9722f596a73abf5212c020" title="Set quaternion to represent a rotation from one vector to another.">quaternion::rotationFromTo</a>(<span class="keyword">const</span> <a class="code" href="classirr_1_1core_1_1vector3d.html">vector3df</a>&amp; from, <span class="keyword">const</span> <a class="code" href="classirr_1_1core_1_1vector3d.html">vector3df</a>&amp; to)
663<a name="l00659"></a>00659 {
664<a name="l00660"></a>00660 <span class="comment">// Based on Stan Melax&#39;s article in Game Programming Gems</span>
665<a name="l00661"></a>00661 <span class="comment">// Copy, since cannot modify local</span>
666<a name="l00662"></a>00662 <a class="code" href="classirr_1_1core_1_1vector3d.html">vector3df</a> v0 = from;
667<a name="l00663"></a>00663 <a class="code" href="classirr_1_1core_1_1vector3d.html">vector3df</a> v1 = to;
668<a name="l00664"></a>00664 v0.<a class="code" href="classirr_1_1core_1_1vector3d.html#a84a1861464ef70e6965c146732103c09" title="Normalizes the vector.">normalize</a>();
669<a name="l00665"></a>00665 v1.<a class="code" href="classirr_1_1core_1_1vector3d.html#a84a1861464ef70e6965c146732103c09" title="Normalizes the vector.">normalize</a>();
670<a name="l00666"></a>00666
671<a name="l00667"></a>00667 <span class="keyword">const</span> <a class="code" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> d = v0.<a class="code" href="classirr_1_1core_1_1vector3d.html#a0b247d39047c0e51ff16d0118bb396ab" title="Get the dot product with another vector.">dotProduct</a>(v1);
672<a name="l00668"></a>00668 <span class="keywordflow">if</span> (d &gt;= 1.0f) <span class="comment">// If dot == 1, vectors are the same</span>
673<a name="l00669"></a>00669 {
674<a name="l00670"></a>00670 <span class="keywordflow">return</span> <a class="code" href="classirr_1_1core_1_1quaternion.html#a3b4f6634670591f2c5be33aeaac2e928" title="Set quaternion to identity.">makeIdentity</a>();
675<a name="l00671"></a>00671 }
676<a name="l00672"></a>00672 <span class="keywordflow">else</span> <span class="keywordflow">if</span> (d &lt;= -1.0f) <span class="comment">// exactly opposite</span>
677<a name="l00673"></a>00673 {
678<a name="l00674"></a>00674 <a class="code" href="classirr_1_1core_1_1vector3d.html">core::vector3df</a> axis(1.0f, 0.f, 0.f);
679<a name="l00675"></a>00675 axis = axis.<a class="code" href="classirr_1_1core_1_1vector3d.html#aa2470a12e1ef53f440c95df6249e9aa4" title="Calculates the cross product with another vector.">crossProduct</a>(v0);
680<a name="l00676"></a>00676 <span class="keywordflow">if</span> (axis.<a class="code" href="classirr_1_1core_1_1vector3d.html#ab0f95138bd31d82b5486237c8e49a2d5" title="Get length of the vector.">getLength</a>()==0)
681<a name="l00677"></a>00677 {
682<a name="l00678"></a>00678 axis.<a class="code" href="classirr_1_1core_1_1vector3d.html#a3e9048423e1176a7342759a290d55c96">set</a>(0.f,1.f,0.f);
683<a name="l00679"></a>00679 axis.<a class="code" href="classirr_1_1core_1_1vector3d.html#aa2470a12e1ef53f440c95df6249e9aa4" title="Calculates the cross product with another vector.">crossProduct</a>(v0);
684<a name="l00680"></a>00680 }
685<a name="l00681"></a>00681 <span class="comment">// same as fromAngleAxis(core::PI, axis).normalize();</span>
686<a name="l00682"></a>00682 <span class="keywordflow">return</span> <span class="keyword">set</span>(axis.<a class="code" href="classirr_1_1core_1_1vector3d.html#a8c9ed06774dc668112bcefacb6e7732b" title="X coordinate of the vector.">X</a>, axis.<a class="code" href="classirr_1_1core_1_1vector3d.html#af8f87c2fe0ce717ade7c3d7419302fbd" title="Y coordinate of the vector.">Y</a>, axis.<a class="code" href="classirr_1_1core_1_1vector3d.html#ac2beb702e718c3579971348981b220ed" title="Z coordinate of the vector.">Z</a>, 0).<a class="code" href="classirr_1_1core_1_1quaternion.html#aac7a34ffd2a14a78de12d994539b94f9" title="Normalizes the quaternion.">normalize</a>();
687<a name="l00683"></a>00683 }
688<a name="l00684"></a>00684
689<a name="l00685"></a>00685 <span class="keyword">const</span> <a class="code" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> s = sqrtf( (1+d)*2 ); <span class="comment">// optimize inv_sqrt</span>
690<a name="l00686"></a>00686 <span class="keyword">const</span> <a class="code" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07" title="32 bit floating point variable.">f32</a> invs = 1.f / s;
691<a name="l00687"></a>00687 <span class="keyword">const</span> <a class="code" href="classirr_1_1core_1_1vector3d.html">vector3df</a> c = v0.<a class="code" href="classirr_1_1core_1_1vector3d.html#aa2470a12e1ef53f440c95df6249e9aa4" title="Calculates the cross product with another vector.">crossProduct</a>(v1)*invs;
692<a name="l00688"></a>00688 <span class="keywordflow">return</span> <span class="keyword">set</span>(c.<a class="code" href="classirr_1_1core_1_1vector3d.html#a8c9ed06774dc668112bcefacb6e7732b" title="X coordinate of the vector.">X</a>, c.<a class="code" href="classirr_1_1core_1_1vector3d.html#af8f87c2fe0ce717ade7c3d7419302fbd" title="Y coordinate of the vector.">Y</a>, c.<a class="code" href="classirr_1_1core_1_1vector3d.html#ac2beb702e718c3579971348981b220ed" title="Z coordinate of the vector.">Z</a>, s * 0.5f).<a class="code" href="classirr_1_1core_1_1quaternion.html#aac7a34ffd2a14a78de12d994539b94f9" title="Normalizes the quaternion.">normalize</a>();
693<a name="l00689"></a>00689 }
694<a name="l00690"></a>00690
695<a name="l00691"></a>00691
696<a name="l00692"></a>00692 } <span class="comment">// end namespace core</span>
697<a name="l00693"></a>00693 } <span class="comment">// end namespace irr</span>
698<a name="l00694"></a>00694
699<a name="l00695"></a>00695 <span class="preprocessor">#endif</span>
700<a name="l00696"></a>00696 <span class="preprocessor"></span>
701</pre></div></div>
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