mirror of https://github.com/axmolengine/axmol.git
115 lines
4.4 KiB
C
115 lines
4.4 KiB
C
/*
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Copyright (c) 2008, Luke Benstead.
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All rights reserved.
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Redistribution and use in source and binary forms, with or without modification,
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are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright notice,
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this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright notice,
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this list of conditions and the following disclaimer in the documentation
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and/or other materials provided with the distribution.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
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ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
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ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef QUATERNION_H_INCLUDED
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#define QUATERNION_H_INCLUDED
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#ifdef __cplusplus
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extern "C" {
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#endif
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#include "CCPlatformMacros.h"
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#include "utility.h"
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struct kmMat4;
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struct kmMat3;
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struct kmVec3;
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typedef struct kmQuaternion {
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kmScalar x;
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kmScalar y;
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kmScalar z;
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kmScalar w;
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} kmQuaternion;
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CC_DLL kmQuaternion* const kmQuaternionConjugate(kmQuaternion* pOut, const kmQuaternion* pIn); ///< Returns pOut, sets pOut to the conjugate of pIn
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CC_DLL const kmScalar kmQuaternionDot(const kmQuaternion* q1, const kmQuaternion* q2); ///< Returns the dot product of the 2 quaternions
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CC_DLL kmQuaternion* kmQuaternionExp(kmQuaternion* pOut, const kmQuaternion* pIn); ///< Returns the exponential of the quaternion
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///< Makes the passed quaternion an identity quaternion
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CC_DLL kmQuaternion* kmQuaternionIdentity(kmQuaternion* pOut);
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///< Returns the inverse of the passed Quaternion
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CC_DLL kmQuaternion* kmQuaternionInverse(kmQuaternion* pOut,
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const kmQuaternion* pIn);
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///< Returns true if the quaternion is an identity quaternion
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CC_DLL int kmQuaternionIsIdentity(const kmQuaternion* pIn);
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///< Returns the length of the quaternion
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CC_DLL kmScalar kmQuaternionLength(const kmQuaternion* pIn);
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///< Returns the length of the quaternion squared (prevents a sqrt)
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CC_DLL kmScalar kmQuaternionLengthSq(const kmQuaternion* pIn);
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///< Returns the natural logarithm
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CC_DLL kmQuaternion* kmQuaternionLn(kmQuaternion* pOut, const kmQuaternion* pIn);
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///< Multiplies 2 quaternions together
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CC_DLL kmQuaternion* kmQuaternionMultiply(kmQuaternion* pOut, const kmQuaternion* q1, const kmQuaternion* q2);
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///< Normalizes a quaternion
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CC_DLL kmQuaternion* kmQuaternionNormalize(kmQuaternion* pOut, const kmQuaternion* pIn);
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///< Rotates a quaternion around an axis
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CC_DLL kmQuaternion* kmQuaternionRotationAxis(kmQuaternion* pOut, const struct kmVec3* pV, kmScalar angle);
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///< Creates a quaternion from a rotation matrix
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CC_DLL kmQuaternion* kmQuaternionRotationMatrix(kmQuaternion* pOut, const struct kmMat3* pIn);
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///< Create a quaternion from yaw, pitch and roll
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CC_DLL kmQuaternion* kmQuaternionRotationYawPitchRoll(kmQuaternion* pOut, kmScalar yaw, kmScalar pitch, kmScalar roll);
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///< Interpolate between 2 quaternions
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CC_DLL kmQuaternion* kmQuaternionSlerp(kmQuaternion* pOut, const kmQuaternion* q1, const kmQuaternion* q2, kmScalar t);
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///< Get the axis and angle of rotation from a quaternion
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CC_DLL void kmQuaternionToAxisAngle(const kmQuaternion* pIn, struct kmVec3* pVector, kmScalar* pAngle);
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///< Scale a quaternion
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CC_DLL kmQuaternion* kmQuaternionScale(kmQuaternion* pOut, const kmQuaternion* pIn, kmScalar s);
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CC_DLL kmQuaternion* kmQuaternionAssign(kmQuaternion* pOut, const kmQuaternion* pIn);
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CC_DLL kmQuaternion* kmQuaternionAdd(kmQuaternion* pOut, const kmQuaternion* pQ1, const kmQuaternion* pQ2);
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CC_DLL kmQuaternion* kmQuaternionRotationBetweenVec3(kmQuaternion* pOut, const struct kmVec3* vec1, const struct kmVec3* vec2, const struct kmVec3* fallback);
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CC_DLL struct kmVec3* kmQuaternionMultiplyVec3(struct kmVec3* pOut, const kmQuaternion* q, const struct kmVec3* v);
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#ifdef __cplusplus
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}
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#endif
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#endif
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