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Torque/SDK/lib/mayasdk6/include/maya/MQuaternion.h

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+#ifndef _MQuaternion
+#define _MQuaternion
+//
+//-
+// ==========================================================================
+// Copyright  (C)  Alias Systems,  a division  of  Silicon Graphics  Limited.
+// All rights  reserved.  These coded  instructions,  statements and computer
+// programs  contain  unpublished information  proprietary to  Alias Systems,
+// a  division  of  Silicon  Graphics  Limited,  which  is  protected by  the
+// Canadian  and  US federal copyright law and  may not be disclosed to third
+// parties or  copied  or  duplicated,  in  whole  or in part,  without prior
+// written  consent  of Alias Systems, a division of Silicon Graphics Limited
+// ==========================================================================
+//+
+//
+// CLASS:    MQuaternion
+//
+// *****************************************************************************
+//
+// CLASS DESCRIPTION (MQuaternion)
+//
+//	Quaternions can be used to specify orientations and rotations of 3-D
+//	objects relative to a starting reference, similar to the way that cartesian
+//	vectors can be used to specify positions and translations of 3-D objects
+//	relative to an origin.  Quaternions represent orientations as a single
+//	rotation, just as rectangular co-ordinates represent position as a single
+//	vector.
+//
+// *****************************************************************************
+
+#if defined __cplusplus
+
+// *****************************************************************************
+
+// INCLUDED HEADER FILES
+
+
+
+#include <maya/MTypes.h>
+#include <maya/MTransformationMatrix.h>
+
+// *****************************************************************************
+
+// DECLARATIONS
+
+class MMatrix;
+class MEulerRotation;
+
+#define kQuaternionEpsilon 1.0e-10
+
+// *****************************************************************************
+
+// CLASS DECLARATION (MQuaternion)
+
+/// Quaternion math
+/**
+This class provides methods for working with Quaternions.
+*/
+#ifdef _WIN32
+#pragma warning(disable: 4522)
+#endif // _WIN32
+
+class OPENMAYA_EXPORT MQuaternion  
+{
+public:
+	///
+					MQuaternion();
+	///
+					MQuaternion(const MQuaternion &src);
+	///
+					MQuaternion(double xx, double yy, double zz, double ww);
+	///
+					MQuaternion(const double[4]);
+	///
+					MQuaternion(const MVector &a, const MVector &b);
+	///
+					MQuaternion(const MVector &a, const MVector &b, 
+								double angleFactor);
+	///
+					MQuaternion(double angle, const MVector &axisb);
+	///
+					~MQuaternion();
+	///
+ 	MQuaternion &	operator=(const MQuaternion& src);
+	///
+	MQuaternion &	operator=(const MMatrix &matrix);
+	///
+	MQuaternion &	operator=(const MEulerRotation &matrix);
+	///
+	operator		MMatrix() const;
+	///
+	MMatrix			asMatrix() const;
+	///
+	MEulerRotation	asEulerRotation() const;
+	///
+	MQuaternion &	setAxisAngle(const MVector &axis, double theta);
+	///
+	bool			getAxisAngle(MVector &axis, double &theta) const;
+	///
+	MQuaternion &	setToXAxis(double theta);
+	///
+	MQuaternion &	setToYAxis(double theta);
+	///
+	MQuaternion &	setToZAxis(double theta);
+	///
+	void			get(double[4]) const;
+	///
+	double &		operator[](unsigned i);
+	///
+	double			operator[](unsigned i) const;
+	///
+ 	MQuaternion   	operator+(const MQuaternion &other) const;
+	///
+ 	MQuaternion   	operator*(const MQuaternion &other) const;
+	///
+ 	MQuaternion & 	operator*=(const MQuaternion &rhs);
+	///
+ 	friend OPENMAYA_EXPORT MQuaternion operator*(double scale, 
+												 const MQuaternion &other);
+	///
+ 	MQuaternion   	operator-(const MQuaternion &other) const;
+	///
+ 	MQuaternion   	operator-() const;
+	///
+	MQuaternion &	negateIt();
+	///
+ 	bool           	operator==(const MQuaternion &other) const;
+	///
+ 	bool          	operator!=(const MQuaternion &other) const;
+	///
+ 	bool          	isEquivalent(const MQuaternion &other, 
+								 double tolerance = kQuaternionEpsilon) const;
+	///
+	MQuaternion &	scaleIt(double scale);
+	///
+	MQuaternion 	normal() const;
+	///
+	MQuaternion &	normalizeIt();
+	///
+	MQuaternion 	conjugate() const;
+	///
+	MQuaternion &	conjugateIt();
+	///
+	MQuaternion 	inverse() const;
+	///
+	MQuaternion &	invertIt();
+	///
+	MQuaternion		log() const;
+	///
+	MQuaternion		exp() const;
+	
+	/// The multiplicative identity.
+	static const MQuaternion identity;
+
+	///
+	friend OPENMAYA_EXPORT MQuaternion slerp(const MQuaternion &p,
+											 const MQuaternion &q,
+											 double t);
+	///
+	friend OPENMAYA_EXPORT MQuaternion slerp(const MQuaternion &p,
+											 const MQuaternion &q,
+											 double t,
+											 short spin);
+	///
+	friend OPENMAYA_EXPORT MQuaternion squad(const MQuaternion &p,
+											 const MQuaternion &a,
+											 const MQuaternion &b,
+											 const MQuaternion &q,
+											 double t);
+	///
+	friend OPENMAYA_EXPORT MQuaternion squad(const MQuaternion &p,
+											 const MQuaternion &a,
+											 const MQuaternion &b,
+											 const MQuaternion &q,
+											 double t, short spin);
+	///
+	friend OPENMAYA_EXPORT MQuaternion squadPt(const MQuaternion &q0,
+											   const MQuaternion &q1,
+											   const MQuaternion &q2);
+	///
+	friend OPENMAYA_EXPORT IOS_REF(ostream) &operator<<(IOS_REF(ostream) &os, 
+											   const MQuaternion &q);
+
+	/// The quaternion's imaginary x component.
+	double x;
+
+	/// The quaternion's imaginary y component.
+	double y;
+
+	/// The quaternion's imaginary z component.
+	double z;
+
+	/// The quaternion's real component.
+	double w;
+
+protected:
+	// No protected members
+
+private:
+	// No private members
+};
+
+#ifdef _WIN32
+#pragma warning(default: 4522)
+#endif // _WIN32
+
+// *****************************************************************************
+#endif /* __cplusplus */
+#endif /* _MQuaternion */