]> Dogcows Code - chaz/yoink/blob - src/moof/cml/mathlib/quaternion_basis.h
fixes for newer versions of g++
[chaz/yoink] / src / moof / cml / mathlib / quaternion_basis.h
1 /* -*- C++ -*- ------------------------------------------------------------
2
3 Copyright (c) 2007 Jesse Anders and Demian Nave http://cmldev.net/
4
5 The Configurable Math Library (CML) is distributed under the terms of the
6 Boost Software License, v1.0 (see cml/LICENSE for details).
7
8 *-----------------------------------------------------------------------*/
9 /** @file
10 * @brief
11 */
12
13 #ifndef quaternion_basis_h
14 #define quaternion_basis_h
15
16 #include <cml/mathlib/checking.h>
17
18 /* Functions for getting the basis vectors of a quaternion rotation. */
19
20 namespace cml {
21
22 /** Get the i'th basis vector of a quaternion rotation */
23 template < class QuatT > vector< typename QuatT::value_type, fixed<3> >
24 quaternion_get_basis_vector(const QuatT& q, size_t i)
25 {
26 typedef QuatT quaternion_type;
27 typedef typename quaternion_type::value_type value_type;
28 typedef typename quaternion_type::order_type order_type;
29 typedef vector< value_type, fixed<3> > vector_type;
30
31 /* Checking */
32 detail::CheckQuat(q);
33 detail::CheckIndex3(i);
34
35 size_t j, k;
36 cyclic_permutation(i, i, j, k);
37
38 /* @todo: Clean this up. */
39 const size_t W = order_type::W;
40 const size_t I = order_type::X + i;
41 const size_t J = order_type::X + j;
42 const size_t K = order_type::X + k;
43
44 value_type j2 = q[J] + q[J];
45 value_type k2 = q[K] + q[K];
46
47 /* @todo: use set_permuted() for the following when available. */
48
49 vector_type result;
50 result[i] = value_type(1) - q[J] * j2 - q[K] * k2;
51 result[j] = q[I] * j2 + q[W] * k2;
52 result[k] = q[I] * k2 - q[W] * j2;
53 return result;
54 }
55
56 /** Get the x basis vector of a quaternion rotation */
57 template < class QuatT > vector< typename QuatT::value_type, fixed<3> >
58 quaternion_get_x_basis_vector(const QuatT& q) {
59 return quaternion_get_basis_vector(q,0);
60 }
61
62 /** Get the y basis vector of a quaternion rotation */
63 template < class QuatT > vector< typename QuatT::value_type, fixed<3> >
64 quaternion_get_y_basis_vector(const QuatT& q) {
65 return quaternion_get_basis_vector(q,1);
66 }
67
68 /** Get the z basis vector of a quaternion rotation */
69 template < class QuatT > vector< typename QuatT::value_type, fixed<3> >
70 quaternion_get_z_basis_vector(const QuatT& q) {
71 return quaternion_get_basis_vector(q,2);
72 }
73
74 /** Get the basis vectors of a quaternion rotation */
75 template < class QuatT, typename E, class A > void
76 quaternion_get_basis_vectors(
77 const QuatT& q,
78 vector<E,A>& x,
79 vector<E,A>& y,
80 vector<E,A>& z)
81 {
82 x = quaternion_get_x_basis_vector(q);
83 y = quaternion_get_y_basis_vector(q);
84 z = quaternion_get_z_basis_vector(q);
85 }
86
87 } // namespace cml
88
89 #endif
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