| 1 | /* |
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| 2 | Open Asset Import Library (assimp) |
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| 3 | ---------------------------------------------------------------------- |
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| 4 | |
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| 5 | Copyright (c) 2006-2019, assimp team |
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| 6 | |
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| 7 | |
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| 8 | All rights reserved. |
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| 9 | |
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| 10 | Redistribution and use of this software in source and binary forms, |
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| 11 | with or without modification, are permitted provided that the |
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| 12 | following conditions are met: |
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| 13 | |
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| 14 | * Redistributions of source code must retain the above |
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| 15 | copyright notice, this list of conditions and the |
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| 16 | following disclaimer. |
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| 17 | |
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| 18 | * Redistributions in binary form must reproduce the above |
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| 19 | copyright notice, this list of conditions and the |
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| 20 | following disclaimer in the documentation and/or other |
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| 21 | materials provided with the distribution. |
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| 22 | |
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| 23 | * Neither the name of the assimp team, nor the names of its |
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| 24 | contributors may be used to endorse or promote products |
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| 25 | derived from this software without specific prior |
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| 26 | written permission of the assimp team. |
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| 27 | |
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| 28 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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| 29 | "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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| 30 | LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR |
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| 31 | A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT |
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| 32 | OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, |
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| 33 | SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT |
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| 34 | LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, |
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| 35 | DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY |
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| 36 | THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT |
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| 37 | (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
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| 38 | OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
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| 39 | |
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| 40 | ---------------------------------------------------------------------- |
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| 41 | */ |
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| 42 | |
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| 43 | /** @file quaternion.h |
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| 44 | * @brief Quaternion structure, including operators when compiling in C++ |
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| 45 | */ |
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| 46 | #pragma once |
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| 47 | #ifndef AI_QUATERNION_H_INC |
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| 48 | #define AI_QUATERNION_H_INC |
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| 49 | |
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| 50 | #ifdef __cplusplus |
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| 51 | |
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| 52 | #include "defs.h" |
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| 53 | |
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| 54 | template <typename TReal> class aiVector3t; |
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| 55 | template <typename TReal> class aiMatrix3x3t; |
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| 56 | |
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| 57 | // --------------------------------------------------------------------------- |
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| 58 | /** Represents a quaternion in a 4D vector. */ |
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| 59 | template <typename TReal> |
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| 60 | class aiQuaterniont |
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| 61 | { |
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| 62 | public: |
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| 63 | aiQuaterniont() AI_NO_EXCEPT : w(1.0), x(), y(), z() {} |
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| 64 | aiQuaterniont(TReal pw, TReal px, TReal py, TReal pz) |
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| 65 | : w(pw), x(px), y(py), z(pz) {} |
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| 66 | |
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| 67 | /** Construct from rotation matrix. Result is undefined if the matrix is not orthonormal. */ |
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| 68 | explicit aiQuaterniont( const aiMatrix3x3t<TReal>& pRotMatrix); |
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| 69 | |
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| 70 | /** Construct from euler angles */ |
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| 71 | aiQuaterniont( TReal rotx, TReal roty, TReal rotz); |
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| 72 | |
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| 73 | /** Construct from an axis-angle pair */ |
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| 74 | aiQuaterniont( aiVector3t<TReal> axis, TReal angle); |
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| 75 | |
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| 76 | /** Construct from a normalized quaternion stored in a vec3 */ |
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| 77 | explicit aiQuaterniont( aiVector3t<TReal> normalized); |
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| 78 | |
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| 79 | /** Returns a matrix representation of the quaternion */ |
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| 80 | aiMatrix3x3t<TReal> GetMatrix() const; |
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| 81 | |
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| 82 | public: |
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| 83 | |
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| 84 | bool operator== (const aiQuaterniont& o) const; |
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| 85 | bool operator!= (const aiQuaterniont& o) const; |
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| 86 | |
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| 87 | bool Equal(const aiQuaterniont& o, TReal epsilon = 1e-6) const; |
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| 88 | |
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| 89 | public: |
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| 90 | |
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| 91 | /** Normalize the quaternion */ |
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| 92 | aiQuaterniont& Normalize(); |
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| 93 | |
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| 94 | /** Compute quaternion conjugate */ |
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| 95 | aiQuaterniont& Conjugate (); |
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| 96 | |
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| 97 | /** Rotate a point by this quaternion */ |
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| 98 | aiVector3t<TReal> Rotate (const aiVector3t<TReal>& in); |
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| 99 | |
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| 100 | /** Multiply two quaternions */ |
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| 101 | aiQuaterniont operator* (const aiQuaterniont& two) const; |
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| 102 | |
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| 103 | public: |
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| 104 | |
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| 105 | /** Performs a spherical interpolation between two quaternions and writes the result into the third. |
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| 106 | * @param pOut Target object to received the interpolated rotation. |
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| 107 | * @param pStart Start rotation of the interpolation at factor == 0. |
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| 108 | * @param pEnd End rotation, factor == 1. |
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| 109 | * @param pFactor Interpolation factor between 0 and 1. Values outside of this range yield undefined results. |
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| 110 | */ |
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| 111 | static void Interpolate( aiQuaterniont& pOut, const aiQuaterniont& pStart, |
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| 112 | const aiQuaterniont& pEnd, TReal pFactor); |
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| 113 | |
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| 114 | public: |
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| 115 | |
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| 116 | //! w,x,y,z components of the quaternion |
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| 117 | TReal w, x, y, z; |
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| 118 | } ; |
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| 119 | |
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| 120 | typedef aiQuaterniont<ai_real> aiQuaternion; |
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| 121 | |
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| 122 | #else |
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| 123 | |
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| 124 | struct aiQuaternion { |
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| 125 | ai_real w, x, y, z; |
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| 126 | }; |
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| 127 | |
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| 128 | #endif |
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| 129 | |
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| 130 | #endif // AI_QUATERNION_H_INC |
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| 131 | |
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