PBRT
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00001 00002 /* 00003 pbrt source code Copyright(c) 1998-2012 Matt Pharr and Greg Humphreys. 00004 00005 This file is part of pbrt. 00006 00007 Redistribution and use in source and binary forms, with or without 00008 modification, are permitted provided that the following conditions are 00009 met: 00010 00011 - Redistributions of source code must retain the above copyright 00012 notice, this list of conditions and the following disclaimer. 00013 00014 - Redistributions in binary form must reproduce the above copyright 00015 notice, this list of conditions and the following disclaimer in the 00016 documentation and/or other materials provided with the distribution. 00017 00018 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS 00019 IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED 00020 TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A 00021 PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 00022 HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 00023 SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT 00024 LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, 00025 DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY 00026 THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 00027 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 00028 OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00029 00030 */ 00031 00032 #if defined(_MSC_VER) 00033 #pragma once 00034 #endif 00035 00036 #ifndef PBRT_CORE_QUATERNION_H 00037 #define PBRT_CORE_QUATERNION_H 00038 00039 // core/quaternion.h* 00040 #include "pbrt.h" 00041 #include "geometry.h" 00042 00043 // Quaternion Declarations 00044 struct Quaternion { 00045 // Quaternion Public Methods 00046 Quaternion() { v = Vector(0., 0., 0.); w = 1.f; } 00047 Quaternion &operator+=(const Quaternion &q) { 00048 v += q.v; 00049 w += q.w; 00050 return *this; 00051 } 00052 friend Quaternion operator+(const Quaternion &q1, const Quaternion &q2) { 00053 Quaternion ret = q1; 00054 return ret += q2; 00055 } 00056 Quaternion &operator-=(const Quaternion &q) { 00057 v -= q.v; 00058 w -= q.w; 00059 return *this; 00060 } 00061 friend Quaternion operator-(const Quaternion &q1, const Quaternion &q2) { 00062 Quaternion ret = q1; 00063 return ret -= q2; 00064 } 00065 Quaternion &operator*=(float f) { 00066 v *= f; 00067 w *= f; 00068 return *this; 00069 } 00070 Quaternion operator*(float f) const { 00071 Quaternion ret = *this; 00072 ret.v *= f; 00073 ret.w *= f; 00074 return ret; 00075 } 00076 Quaternion &operator/=(float f) { 00077 v /= f; 00078 w /= f; 00079 return *this; 00080 } 00081 Quaternion operator/(float f) const { 00082 Quaternion ret = *this; 00083 ret.v /= f; 00084 ret.w /= f; 00085 return ret; 00086 } 00087 Transform ToTransform() const; 00088 Quaternion(const Transform &t); 00089 00090 // Quaternion Public Data 00091 Vector v; 00092 float w; 00093 }; 00094 00095 00096 Quaternion Slerp(float t, const Quaternion &q1, const Quaternion &q2); 00097 00098 // Quaternion Inline Functions 00099 inline Quaternion operator*(float f, const Quaternion &q) { 00100 return q * f; 00101 } 00102 00103 00104 inline float Dot(const Quaternion &q1, const Quaternion &q2) { 00105 return Dot(q1.v, q2.v) + q1.w * q2.w; 00106 } 00107 00108 00109 inline Quaternion Normalize(const Quaternion &q) { 00110 return q / sqrtf(Dot(q, q)); 00111 } 00112 00113 00114 00115 #endif // PBRT_CORE_QUATERNION_H