CQrot quaternion class. More...

#include <Quat.h>

Collaboration diagram for MeshLib::CQrot:

Public Member Functions
	CQrot ()
	CQrot (double w, double x, double y, double z)
	CQrot (const CQrot &q)
CQrot &	operator= (const CQrot &q)
	~CQrot ()
CQrot &	operator^ (double p)
void	convert (double *m)
CPoint	operator* (const CPoint &p)
void	normalize ()
CQrot	operator* (const CQrot &q) const
double	operator^ (const CQrot &q) const
Public Attributes
double	m_w
double	m_x
double	m_y
double	m_z

Detailed Description

CQrot quaternion class.

Definition at line 23 of file Quat.h.

Constructor & Destructor Documentation

MeshLib::CQrot::CQrot ( ) [inline]

CQrot default constructor

Definition at line 29 of file Quat.h.

{m_w=1; m_x=m_y=m_z=0;};

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MeshLib::CQrot::CQrot	(	double	w,
		double	x,
		double	y,
		double	z
	)			`[inline]`

CQrot default constructor

Parameters:

	w	w-value
	x	x-value
	y	y-value
	z	z-value

Definition at line 39 of file Quat.h.

  {
    m_w = w;
    m_x = x;
    m_y = y;
    m_z = z;
  };

MeshLib::CQrot::CQrot ( const CQrot & q ) [inline]

Copy operator of CQrot

Parameters:

q

a quaternion

Definition at line 50 of file Quat.h.

  {
    m_w = q.m_w; 
    m_x =  q.m_x; 
    m_y =  q.m_y; 
    m_z =  q.m_z;
  }

MeshLib::CQrot::~CQrot ( ) [inline]

CQrot destructor

Definition at line 72 of file Quat.h.

{};

Member Function Documentation

void CQrot::convert ( double * m )

Convert quoternion to OpenGL matrix

Parameters:

m

pointer to the matrix

convert the current quoternion to OpenGL matrix

Parameters:

m

pointer to the matrix

Definition at line 97 of file Quat.cpp.

{
  CQrot q = *this;
  double l = q^q;
  double s = 2.0 / l;
  double xs = q.m_x*s;
  double ys = q.m_y*s;
  double zs = q.m_z*s;
  
  double wx = q.m_w*xs;
  double wy = q.m_w*ys;
  double wz = q.m_w*zs;
  
  double xx = q.m_x*xs;
  double xy = q.m_x*ys;
  double xz = q.m_x*zs;
  
  double yy = q.m_y*ys;
  double yz = q.m_y*zs;
  double zz = q.m_z*zs;
  

  m[0*4+0] = 1.0 - (yy + zz);
  m[1*4+0] = xy - wz;
  m[2*4+0] = xz + wy;
  m[0*4+1] = xy + wz;
  m[1*4+1] = 1.0 - (xx + zz);
  m[2*4+1] = yz - wx;
  m[0*4+2] = xz - wy;
  m[1*4+2] = yz + wx;
  m[2*4+2] = 1.0 - (xx + yy);

  
  m[0*4+3] = 0.0;
  m[1*4+3] = 0.0;
  m[2*4+3] = 0.0;
  m[3*4+0] = m[3*4+1] = m[3*4+2] = 0.0;
  m[3*4+3] = 1.0;
}

void CQrot::normalize ( )

normalization

Definition at line 15 of file Quat.cpp.

{
  double l = m_w * m_w + m_x * m_x + m_y * m_y + m_z * m_z;
    if( l < 1e-20 ) {  
        m_x = 0; m_y = 0; m_z = 0; m_w = 1;
        return;
    }

    l = sqrt(l);

    m_w /= l;
    m_x /= l;
    m_y /= l;
    m_z /= l;
}

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CPoint CQrot::operator* ( const CPoint & p )

Multiply a point with the current quoternion

Parameters:

p

input point

Returns:: product of the current quoternion with v

Product of a quoternion with a point

Parameters:

p

input point

Returns:: the product of the quoternion and the point

Definition at line 58 of file Quat.cpp.

{
    CQrot   q(m_w,m_x,m_y,m_z);
    CQrot pq( 0, p[0],p[1], p[2]);
    CQrot iq = q^(-1);
    CQrot r =     q *  pq * iq ;
    return CPoint(r.m_x,r.m_y, r.m_z);
}

CQrot CQrot::operator* ( const CQrot & q ) const

product of two quoternions

Parameters:

q

input quoternion

Returns:: product of the current quoternion and q

Definition at line 144 of file Quat.cpp.

{

    double   sp = m_w;
    CPoint vp( m_x, m_y, m_z );

    double   sq = q.m_w;
    CPoint vq( q.m_x, q.m_y, q.m_z );
 
    double   sr = sp * sq - vp * vq;

    CPoint vr;
    CPoint dp;
    dp = vp^vq;
    vp = vp * sq;
    vq = vq * sp;
    vr = vp   + vq + dp;

    return CQrot( sr, vr[0], vr[1], vr[2]);
}

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CQrot& MeshLib::CQrot::operator= ( const CQrot & q ) [inline]

Copy operator of CQrot

Parameters:

q

a quaternion

Definition at line 61 of file Quat.h.

  {
      m_w = q.m_w;
      m_x  = q.m_x;
      m_y  = q.m_y;
      m_z  = q.m_z;
      return *this;
  }

double CQrot::operator^ ( const CQrot & q ) const

inner product of two quoternions

Parameters:

q

input quoternion

Returns:: inner product of the current quoternion and q

Definition at line 171 of file Quat.cpp.

{
  return ( m_w * q.m_w + m_x * q.m_x + m_y * q.m_y + m_z * q.m_z);
};

CQrot & CQrot::operator^ ( double p )

power of quaternion

Parameters:

p

power

Returns:: quoternion power p

Definition at line 35 of file Quat.cpp.

{
  normalize();
  double theta = 2 * acos( m_w );
  if( theta < 1e-10 ) return (*this); 

  CPoint axis( m_x,m_y,m_z );
  axis /= axis.norm();

  theta *= p;
  m_w   = cos( theta * 0.5 );
  axis *= sin( theta * 0.5 );

  m_x = axis[0];
  m_y = axis[1];
  m_z = axis[2];

  return (*this);
}