/* * quaternion.h: Quaternion class * * This file is part of Pyrit Ray Tracer. * * Copyright 2007 Radek Brich * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal * in the Software without restriction, including without limitation the rights * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell * copies of the Software, and to permit persons to whom the Software is * furnished to do so, subject to the following conditions: * * The above copyright notice and this permission notice shall be included in * all copies or substantial portions of the Software. * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN * THE SOFTWARE. */#ifndef QUATERNION_H#define QUATER_H/** * helper quaternion class */class Quaternion{public: union { struct { Float a,b,c,d; }; struct { Float t,x,y,z; }; }; Quaternion(): a(0), b(0), c(0), d(0) {}; Quaternion(const Float aa, const Float ab, const Float ac, const Float ad): a(aa), b(ab), c(ac), d(ad) {}; Quaternion(const Vector3& v): a(0), b(v.x), c(v.y), d(v.z) {}; Vector3 toVector() { return Vector3(b, c, d); }; Quaternion normalize() { Float f = (Float)1.0f / sqrtf(a * a + b * b + c * c + d * d); a *= f; b *= f; c *= f; d *= f; return *this; }; Float mag2() const { return (a*a + b*b + c*c + d*d); }; Float mag() const { return sqrtf(mag()); }; friend Quaternion operator*(const Quaternion &q1, const Quaternion &q2) { return Quaternion( q1.a*q2.a - q1.b*q2.b - q1.c*q2.c - q1.d*q2.d, q1.a*q2.b + q1.b*q2.a + q1.c*q2.d - q1.d*q2.c, q1.a*q2.c - q1.b*q2.d + q1.c*q2.a + q1.d*q2.b, q1.a*q2.d + q1.b*q2.c - q1.c*q2.b + q1.d*q2.a); }; friend Float dot(const Quaternion &q1, const Quaternion &q2) { return q1.a*q2.a + q1.b*q2.b + q1.c*q2.c + q1.d*q2.d; }; friend Quaternion conjugate(const Quaternion &q) { return Quaternion(q.a, -q.b, -q.c, -q.d); };};#endif