1 /* |
1 /* |
2 * Pyrit Ray Tracer |
2 * quaternion.h: Quaternion class |
3 * file: quaternion.h |
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4 * |
3 * |
5 * Radek Brich, 2006-2007 |
4 * This file is part of Pyrit Ray Tracer. |
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5 * |
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6 * Copyright 2007 Radek Brich |
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7 * |
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8 * Permission is hereby granted, free of charge, to any person obtaining a copy |
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9 * of this software and associated documentation files (the "Software"), to deal |
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10 * in the Software without restriction, including without limitation the rights |
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11 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
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12 * copies of the Software, and to permit persons to whom the Software is |
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13 * furnished to do so, subject to the following conditions: |
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14 * |
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15 * The above copyright notice and this permission notice shall be included in |
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16 * all copies or substantial portions of the Software. |
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17 * |
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18 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
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19 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
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20 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
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21 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
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22 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
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23 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
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24 * THE SOFTWARE. |
6 */ |
25 */ |
7 |
26 |
8 #ifndef QUATERNION_H |
27 #ifndef QUATERNION_H |
9 #define QUATER_H |
28 #define QUATER_H |
10 |
29 |
20 }; |
39 }; |
21 }; |
40 }; |
22 Quaternion(): a(0), b(0), c(0), d(0) {}; |
41 Quaternion(): a(0), b(0), c(0), d(0) {}; |
23 Quaternion(const Float aa, const Float ab, const Float ac, const Float ad): |
42 Quaternion(const Float aa, const Float ab, const Float ac, const Float ad): |
24 a(aa), b(ab), c(ac), d(ad) {}; |
43 a(aa), b(ab), c(ac), d(ad) {}; |
25 Quaternion(const Vector3& v): a(1), b(v.x), c(v.y), d(v.z) {}; |
44 Quaternion(const Vector3& v): a(0), b(v.x), c(v.y), d(v.z) {}; |
26 |
45 |
27 Vector3 toVector() { return Vector3(b/a, c/a, d/a); }; |
46 Vector3 toVector() { return Vector3(b, c, d); }; |
28 |
47 |
29 Quaternion normalize() |
48 Quaternion normalize() |
30 { |
49 { |
31 Float f = 1.0f / sqrtf(a * a + b * b + c * c + d * d); |
50 Float f = 1.0f / sqrtf(a * a + b * b + c * c + d * d); |
32 a *= f; |
51 a *= f; |