78 lines
1.5 KiB
C++
78 lines
1.5 KiB
C++
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#include "quaternion.h"
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Quaternion::Quaternion() {
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w = 1.0f;
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x = y = z = 0.0f;
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}
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void Quaternion::createFromRotation(float deg, float _x, float _y, float _z) {
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float tmpres = sin(deg2rad(deg) / 2.0f);
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w = cos(deg2rad(deg) / 2.0f);
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x = _x * tmpres;
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y = _y * tmpres;
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z = _z * tmpres;
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}
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Quaternion Quaternion::operator*(const Quaternion &q) {
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Quaternion ret;
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ret.w = w*q.w - x*q.x - y*q.y - z*q.z;
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ret.x = w*q.x + x*q.w + y*q.z - z*q.y;
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ret.y = w*q.y + y*q.w + z*q.x - x*q.z;
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ret.z = w*q.z + z*q.w + x*q.y - y*q.x;
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return ret;
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}
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void Quaternion::createGlMatrix(GLfloat *matrix) {
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if(!matrix)
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return;
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matrix[0] = 1.0f - 2.0f * ( y*y + z*z);
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matrix[1] = 2.0f * ( x*y + z*w);
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matrix[2] = 2.0f * ( x*z - y*w);
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matrix[3] = 0.0f;
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matrix[4] = 2.0f * ( x*y - z*w);
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matrix[5] = 1.0f - 2.0f * ( x*x + z*z);
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matrix[6] = 2.0f * ( z*y + x*w);
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matrix[7] = 0.0f;
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matrix[8] = 2.0f * ( x*z + y*w);
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matrix[9] = 2.0f * ( y*z - x*w);
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matrix[10] = 1.0f - 2.0f * ( x*x + y*y);
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matrix[11] = 0.0f;
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matrix[12] = 0.0f;
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matrix[13] = 0.0f;
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matrix[14] = 0.0f;
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matrix[15] = 1.0f;
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}
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Punkt3D Quaternion::getDirectionVector() {
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GLfloat matrix[16];
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createGlMatrix(matrix);
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return getDirectionVector(matrix);
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}
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Punkt3D Quaternion::getDirectionVector(GLfloat *matrix) {
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if(!matrix)
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return Punkt3D();
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Punkt3D tmp;
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tmp.x = matrix[8];
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tmp.y = matrix[9];
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tmp.z = matrix[10];
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return tmp;
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}
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void glMultMatrixf(Quaternion q) {
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GLfloat matrix[16];
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q.createGlMatrix(matrix);
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glMultMatrixf(matrix);
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}
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