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