Initial commit

engines/tetraedge/te/te_quaternion.h

@@ -0,0 +1,103 @@
+/* ScummVM - Graphic Adventure Engine
+ *
+ * ScummVM is the legal property of its developers, whose names
+ * are too numerous to list here. Please refer to the COPYRIGHT
+ * file distributed with this source distribution.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#ifndef TETRAEDGE_TE_TE_QUATERNION_H
+#define TETRAEDGE_TE_TE_QUATERNION_H
+
+#include "math/quat.h"
+
+#include "tetraedge/te/te_vector3f32.h"
+#include "tetraedge/te/te_matrix4x4.h"
+
+namespace Tetraedge {
+
+class TeQuaternion: public Math::Quaternion {
+public:
+	TeQuaternion();
+	TeQuaternion(const Math::Quaternion &q) : Math::Quaternion(q) {};
+	TeQuaternion(float a, float b, float c, float d) : Math::Quaternion(a, b, c, d) {};
+
+	static TeQuaternion fromAxisAndAngle(const TeVector3f32 &axis, float angle) {
+		TeQuaternion ret;
+		float f = sinf(angle * 0.5);
+		ret.x() = axis.x() * f;
+		ret.y() = axis.y() * f;
+		ret.z() = axis.z() * f;
+		ret.w() = cosf(angle * 0.5);
+		return ret;
+	}
+
+	static TeQuaternion fromEuler(const TeVector3f32 &euler) {
+		TeQuaternion rot;
+
+		rot.x() = sinf(euler.x() / 2.0);
+		rot.y() = 0.0;
+		rot.z() = 0.0;
+		rot.w() = cosf(euler.x() / 2.0);
+		TeQuaternion retval = rot;
+
+		rot.x() = 0.0;
+		rot.y() = sinf(euler.y() / 2.0);
+		rot.z() = 0.0;
+		rot.w() = cosf(euler.y() / 2.0);
+		retval *= rot;
+
+		rot.x() = 0.0;
+		rot.y() = 0.0;
+		rot.z() = sinf(euler.z() / 2.0);
+		rot.w() = cosf(euler.z() / 2.0);
+		retval *= rot;
+
+		return retval;
+	}
+
+	static TeQuaternion fromEulerDegrees(const TeVector3f32 &euler) {
+		const float xdeg = (float)(euler.x() * M_PI / 180.0);
+		const float ydeg = (float)(euler.y() * M_PI / 180.0);
+		const float zdeg = (float)(euler.z() * M_PI / 180.0);
+		return fromEuler(TeVector3f32(xdeg, ydeg, zdeg));
+	}
+
+	TeMatrix4x4 toTeMatrix() const {
+		const TeMatrix4x4 retval = toMatrix();
+		return retval.transpose();
+	}
+
+	static void deserialize(Common::ReadStream &stream, TeQuaternion &dest) {
+		dest.x() = stream.readFloatLE();
+		dest.y() = stream.readFloatLE();
+		dest.z() = stream.readFloatLE();
+		dest.w() = stream.readFloatLE();
+	}
+
+	static void serialize(Common::WriteStream &stream, const TeQuaternion &src) {
+		stream.writeFloatLE(src.x());
+		stream.writeFloatLE(src.y());
+		stream.writeFloatLE(src.z());
+		stream.writeFloatLE(src.w());
+	}
+
+	Common::String dump() const;
+};
+
+} // end namespace Tetraedge
+
+#endif // TETRAEDGE_TE_TE_QUATERNION_H