33 #ifndef vtkQuaternion_h
34 #define vtkQuaternion_h
168 void Set(
const T& w,
const T& x,
const T& y,
const T& z);
170 void Get(T quat[4])
const;
218 template <
typename CastTo>
298 #define vtkQuaternionIdentity(quaternionType, type) \
299 quaternionType Identity() const \
301 return quaternionType(vtkQuaternion<type>::Identity().GetData()); \
303 #define vtkQuaternionNormalized(quaternionType, type) \
304 quaternionType Normalized() const \
306 return quaternionType(vtkQuaternion<type>::Normalized().GetData()); \
308 #define vtkQuaternionConjugated(quaternionType, type) \
309 quaternionType Conjugated() const \
311 return quaternionType(vtkQuaternion<type>::Conjugated().GetData()); \
313 #define vtkQuaternionInverse(quaternionType, type) \
314 quaternionType Inverse() const \
316 return quaternionType(vtkQuaternion<type>::Inverse().GetData()); \
318 #define vtkQuaternionUnitLog(quaternionType, type) \
319 quaternionType UnitLog() const \
321 return quaternionType(vtkQuaternion<type>::UnitLog().GetData()); \
323 #define vtkQuaternionUnitExp(quaternionType, type) \
324 quaternionType UnitExp() const \
326 return quaternionType(vtkQuaternion<type>::UnitExp().GetData()); \
328 #define vtkQuaternionNormalizedWithAngleInDegrees(quaternionType, type) \
329 quaternionType NormalizedWithAngleInDegrees() const \
331 return quaternionType(vtkQuaternion<type>::NormalizedWithAngleInDegrees().GetData()); \
333 #define vtkQuaternionSlerp(quaternionType, type) \
334 quaternionType Slerp(type t, const quaternionType& q) const \
336 return quaternionType(vtkQuaternion<type>::Slerp(t, q).GetData()); \
338 #define vtkQuaternionInnerPoint(quaternionType, type) \
339 quaternionType InnerPoint(const quaternionType& q1, const quaternionType& q2) const \
341 return quaternionType(vtkQuaternion<type>::InnerPoint(q1, q2).GetData()); \
343 #define vtkQuaternionOperatorPlus(quaternionType, type) \
344 inline quaternionType operator+(const quaternionType& q) const \
346 return quaternionType( \
347 (static_cast<vtkQuaternion<type> >(*this) + static_cast<vtkQuaternion<type> >(q)) \
350 #define vtkQuaternionOperatorMinus(quaternionType, type) \
351 inline quaternionType operator-(const quaternionType& q) const \
353 return quaternionType( \
354 (static_cast<vtkQuaternion<type> >(*this) - static_cast<vtkQuaternion<type> >(q)) \
357 #define vtkQuaternionOperatorMultiply(quaternionType, type) \
358 inline quaternionType operator*(const quaternionType& q) const \
360 return quaternionType( \
361 (static_cast<vtkQuaternion<type> >(*this) * static_cast<vtkQuaternion<type> >(q)) \
364 #define vtkQuaternionOperatorMultiplyScalar(quaternionType, type) \
365 inline quaternionType operator*(const type& scalar) const \
367 return quaternionType((static_cast<vtkQuaternion<type> >(*this) * scalar).GetData()); \
369 #define vtkQuaternionOperatorDivide(quaternionType, type) \
370 inline quaternionType operator/(const quaternionType& q) const \
372 return quaternionType( \
373 (static_cast<vtkQuaternion<type> >(*this) / static_cast<vtkQuaternion<type> >(q)) \
376 #define vtkQuaternionOperatorDivideScalar(quaternionType, type) \
377 inline quaternionType operator/(const type& scalar) const \
379 return quaternionType((static_cast<vtkQuaternion<type> >(*this) / scalar).GetData()); \
382 #define vtkQuaternionOperatorMacro(quaternionType, type) \
383 vtkQuaternionIdentity(quaternionType, type); \
384 vtkQuaternionNormalized(quaternionType, type); \
385 vtkQuaternionConjugated(quaternionType, type); \
386 vtkQuaternionInverse(quaternionType, type); \
387 vtkQuaternionUnitLog(quaternionType, type); \
388 vtkQuaternionUnitExp(quaternionType, type); \
389 vtkQuaternionNormalizedWithAngleInDegrees(quaternionType, type); \
390 vtkQuaternionSlerp(quaternionType, type); \
391 vtkQuaternionInnerPoint(quaternionType, type); \
392 vtkQuaternionOperatorPlus(quaternionType, type); \
393 vtkQuaternionOperatorMinus(quaternionType, type); \
394 vtkQuaternionOperatorMultiply(quaternionType, type); \
395 vtkQuaternionOperatorMultiplyScalar(quaternionType, type); \
396 vtkQuaternionOperatorDivide(quaternionType, type); \
397 vtkQuaternionOperatorDivideScalar(quaternionType, type)
449 #include "vtkQuaternion.txx"
templated base type for storage of quaternions.
void SetRotationAngleAndAxis(T angle, T axis[3])
vtkQuaternion(const T &scalar)
Initialize all of the quaternion's elements with the supplied scalar.
void SetX(const T &x)
Set/Get the x component of the quaternion, i.e.
vtkQuaternion< T > operator-(const vtkQuaternion< T > &q) const
Performs subtraction of quaternions of the same basic type.
void SetZ(const T &z)
Set/Get the y component of the quaternion, i.e.
void ToUnitExp()
Convert this quaternion to a unit exponential quaternion.
void SetRotationAngleAndAxis(const T &angle, const T &x, const T &y, const T &z)
void SetW(const T &w)
Set/Get the w component of the quaternion, i.e.
T Norm() const
Get the norm of the quaternion, i.e.
void SetY(const T &y)
Set/Get the y component of the quaternion, i.e.
vtkQuaternion< T > UnitLog() const
Return the unit log version of this quaternion.
void operator/=(const T &scalar)
Performs in place division of the quaternions by a scalar value.
void ToMatrix3x3(T A[3][3]) const
Convert a quaternion to a 3x3 rotation matrix.
vtkQuaternion< T > Slerp(T t, const vtkQuaternion< T > &q) const
Interpolate quaternions using spherical linear interpolation between this quaternion and q1 to produc...
vtkQuaternion< T > UnitExp() const
Return the unit exponential version of this quaternion.
vtkQuaternion(const T *init)
Initialize the quaternion's elements with the elements of the supplied array.
vtkQuaternion< T > Conjugated() const
Return the conjugate form of this quaternion.
vtkQuaternion< T > InnerPoint(const vtkQuaternion< T > &q1, const vtkQuaternion< T > &q2) const
Interpolates between quaternions, using spherical quadrangle interpolation.
void Invert()
Invert the quaternion in place.
void Get(T quat[4]) const
void Set(const T &w, const T &x, const T &y, const T &z)
Set/Get the w, x, y and z components of the quaternion.
void operator*=(const T &scalar) const
Performs in place multiplication of the quaternions by a scalar value.
vtkQuaternion(const T &w, const T &x, const T &y, const T &z)
Initialize the quaternion element explicitly.
vtkQuaternion< T > operator+(const vtkQuaternion< T > &q) const
Performs addition of quaternion of the same basic type.
T SquaredNorm() const
Get the squared norm of the quaternion.
T Normalize()
Normalize the quaternion in place.
vtkQuaternion< T > Inverse() const
Return the inverted form of this quaternion.
T GetRotationAngleAndAxis(T axis[3]) const
Set/Get the angle (in radians) and the axis corresponding to the axis-angle rotation of this quaterni...
void ToUnitLog()
Convert this quaternion to a unit log quaternion.
vtkQuaternion< T > operator/(const vtkQuaternion< T > &q) const
Performs division of quaternions of the same type.
static vtkQuaternion< T > Identity()
Return the identity quaternion.
void FromMatrix3x3(const T A[3][3])
Convert a 3x3 matrix into a quaternion.
void Conjugate()
Conjugate the quaternion in place.
vtkQuaternion< T > operator/(const T &scalar) const
Performs division of the quaternions by a scalar value.
vtkQuaternion< T > operator*(const vtkQuaternion< T > &q) const
Performs multiplication of quaternion of the same basic type.
vtkQuaternion< CastTo > Cast() const
Cast the quaternion to the specified type and return the result.
void ToIdentity()
Set the quaternion to identity in place.
void NormalizeWithAngleInDegrees()
Normalize a quaternion in place and transform it to so its angle is in degrees and its axis normalize...
vtkQuaternion()
Default constructor.
vtkQuaternion< T > Normalized() const
Return the normalized form of this quaternion.
vtkQuaternion< T > NormalizedWithAngleInDegrees() const
Returns a quaternion normalized and transformed so its angle is in degrees and its axis normalized.
vtkQuaternion< T > operator*(const T &scalar) const
Performs multiplication of the quaternions by a scalar value.
vtkQuaterniond(double w, double x, double y, double z)
vtkQuaternionOperatorMacro(vtkQuaterniond, double)
vtkQuaterniond(const double *init)
vtkQuaterniond(double scalar)
vtkQuaternionf(float scalar)
vtkQuaternionf(const float *init)
vtkQuaternionOperatorMacro(vtkQuaternionf, float)
vtkQuaternionf(float w, float x, float y, float z)
templated base type for containers of constant size.