100 lines
3.6 KiB
C
100 lines
3.6 KiB
C
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/*
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==============================================================================
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This file is part of the JUCE library.
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Copyright (c) 2017 - ROLI Ltd.
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JUCE is an open source library subject to commercial or open-source
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licensing.
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By using JUCE, you agree to the terms of both the JUCE 5 End-User License
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Agreement and JUCE 5 Privacy Policy (both updated and effective as of the
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27th April 2017).
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End User License Agreement: www.juce.com/juce-5-licence
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Privacy Policy: www.juce.com/juce-5-privacy-policy
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Or: You may also use this code under the terms of the GPL v3 (see
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www.gnu.org/licenses).
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JUCE IS PROVIDED "AS IS" WITHOUT ANY WARRANTY, AND ALL WARRANTIES, WHETHER
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EXPRESSED OR IMPLIED, INCLUDING MERCHANTABILITY AND FITNESS FOR PURPOSE, ARE
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DISCLAIMED.
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==============================================================================
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*/
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namespace juce
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{
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//==============================================================================
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/**
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Holds a quaternion (a 3D vector and a scalar value).
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@tags{OpenGL}
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*/
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template <typename Type>
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class Quaternion
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{
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public:
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Quaternion() noexcept : scalar() {}
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Quaternion (const Quaternion& other) noexcept : vector (other.vector), scalar (other.scalar) {}
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Quaternion (Vector3D<Type> vectorPart, Type scalarPart) noexcept : vector (vectorPart), scalar (scalarPart) {}
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Quaternion (Type x, Type y, Type z, Type w) noexcept : vector (x, y, z), scalar (w) {}
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/** Creates a quaternion from an angle and an axis. */
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static Quaternion fromAngle (Type angle, Vector3D<Type> axis) noexcept
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{
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return Quaternion (axis.normalised() * std::sin (angle / (Type) 2), std::cos (angle / (Type) 2));
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}
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Quaternion& operator= (Quaternion other) noexcept
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{
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vector = other.vector;
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scalar = other.scalar;
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return *this;
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}
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Quaternion& operator*= (Quaternion other) noexcept
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{
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const Type oldScalar (scalar);
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scalar = (scalar * other.scalar) - (vector * other.vector);
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vector = (other.vector * oldScalar) + (vector * other.scalar) + (vector ^ other.vector);
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return *this;
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}
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Type length() const noexcept { return std::sqrt (normal()); }
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Type normal() const noexcept { return scalar * scalar + vector.lengthSquared(); }
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Quaternion normalised() const noexcept
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{
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const Type len (length());
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jassert (len > 0);
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return Quaternion (vector / len, scalar / len);
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}
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/** Returns the matrix that will perform the rotation specified by this quaternion. */
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Matrix3D<Type> getRotationMatrix() const noexcept
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{
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const Type norm (normal());
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const Type s (norm > 0 ? ((Type) 2) / norm : 0);
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const Type xs (s * vector.x), ys (s * vector.y), zs (s * vector.z);
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const Type wx (xs * scalar), wy (ys * scalar), wz (zs * scalar);
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const Type xx (xs * vector.x), xy (ys * vector.x), xz (zs * vector.x);
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const Type yy (ys * vector.y), yz (zs * vector.y), zz (zs * vector.z);
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return Matrix3D<Type> (((Type) 1) - (yy + zz), xy - wz, xz + wy, 0,
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xy + wz, ((Type) 1) - (xx+ zz), yz - wx, 0,
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xz - wy, yz + wx, ((Type) 1) - (xx + yy), 0,
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0, 0, 0, (Type) 1);
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}
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/** The vector part of the quaternion. */
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Vector3D<Type> vector;
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/** The scalar part of the quaternion. */
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Type scalar;
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};
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} // namespace juce
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