104 lines
2.2 KiB
C++
104 lines
2.2 KiB
C++
/******************************************************************************
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*
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* MantaFlow fluid solver framework
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* Copyright 2011 Tobias Pfaff, Nils Thuerey
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*
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* This program is free software, distributed under the terms of the
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* Apache License, Version 2.0
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Basic quaternion class
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*
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******************************************************************************/
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#ifndef _QUATERNION_H
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#define _QUATERNION_H
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#include "vectorbase.h"
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namespace Manta {
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//! Very basic quaternion class
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class Quaternion {
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public:
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//! default constructor
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Quaternion() : x(0), y(0), z(0), w(0)
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{
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}
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//! copy constructor
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Quaternion(const Quaternion &q) : x(q.x), y(q.y), z(q.z), w(q.w)
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{
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}
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//! construct a quaternion from members
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Quaternion(Real _x, Real _y, Real _z, Real _w) : x(_x), y(_y), z(_z), w(_w)
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{
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}
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//! construct a quaternion from imag/real parts
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Quaternion(Vec3 i, Real r) : x(i.x), y(i.y), z(i.z), w(r)
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{
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}
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//! Assign operator
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inline Quaternion &operator=(const Quaternion &q)
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{
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x = q.x;
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y = q.y;
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z = q.z;
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w = q.w;
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return *this;
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}
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//! Assign multiplication operator
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inline Quaternion &operator*=(const Real a)
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{
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x *= a;
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y *= a;
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z *= a;
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w *= a;
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return *this;
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}
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//! return inverse quaternion
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inline Quaternion inverse() const
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{
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Real mag = 1.0 / (x * x + y * y + z * z + w * w);
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return Quaternion(-x * mag, -y * mag, -z * mag, w * mag);
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}
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//! imaginary part accessor
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inline Vec3 imag()
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{
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return Vec3(x, y, z);
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}
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// imaginary part
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Real x;
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Real y;
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Real z;
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// real part
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Real w;
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};
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//! Multiplication operator
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inline Quaternion operator*(const Quaternion &q1, const Quaternion &q2)
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{
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return Quaternion(q2.w * q1.x + q2.x * q1.w + q2.y * q1.z - q2.z * q1.y,
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q2.w * q1.y + q2.y * q1.w + q2.z * q1.x - q2.x * q1.z,
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q2.w * q1.z + q2.z * q1.w + q2.x * q1.y - q2.y * q1.x,
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q2.w * q1.w - q2.x * q1.x - q2.y * q1.y - q2.z * q1.z);
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}
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//! Multiplication operator
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inline Quaternion operator*(const Quaternion &q, const Real a)
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{
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return Quaternion(q.x * a, q.y * a, q.z * a, q.w * a);
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}
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} // namespace Manta
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#endif
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