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- /******************************************************************************
- Use 'Quaternion' for optional rotation representation.
- /******************************************************************************/
- STRUCT(Quaternion , Vec4)
- //{
- Quaternion& operator*=( Flt f);
- Quaternion& operator*=(C Quaternion &q) {return mul(q);}
- // transform
- void mul (C Quaternion &q, Quaternion &dest)C; // multiply by 'q' and store result in 'dest'
- Quaternion& mul (C Quaternion &q ) {mul(q, T); return T;} // multiply by 'q'
- void inverse ( Quaternion &dest )C; // inverse to 'dest'
- Quaternion& inverse ( ) {inverse(T); return T;} // inverse
- Quaternion& identity( ) {set(0, 0, 0, 1); return T;} // set identity
- Quaternion& setRotateX( Flt angle); // set x rotated identity
- Quaternion& setRotateY( Flt angle); // set y rotated identity
- Quaternion& setRotateZ( Flt angle); // set z rotated identity
- Quaternion& setRotate (Flt x, Flt y, Flt z ); // set x-y-z rotated identity
- Quaternion& setRotate (C Vec &axis , Flt angle); // set axis rotated identity
- // get
- Flt angle()C; // get rotation angle
- Vec axis ()C; // get rotation axis
- Quaternion() {}
- Quaternion(C Vec4 &v) : Vec4(v) {}
- Quaternion(C Matrix3 &m);
- };
- /******************************************************************************/
- Quaternion GetTangent(C Quaternion &prev, C Quaternion &cur, C Quaternion &next); // get tangent
- Quaternion Slerp(C Quaternion &a , C Quaternion &b , Flt step); // spherical linear interpolation, 'step'=0..1
- Quaternion Squad(C Quaternion &from, C Quaternion &to, C Quaternion &tan0, C Quaternion &tan1, Flt step); // spherical quadrangle interpolation, 'step'=0..1
- /******************************************************************************/
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