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/* libsegl - Sebas Extended GL Library
* Collection of Opengl/3D-Math helpers
*
* Copyright (c) 2008 by Sebastian Lohff, seba@seba-geek.de
* http://www.seba-geek.de
*
* This library is free software; you can redistribute it and/or
* modify it under the terms of the GNU Library General Public
* License as published by the Free Software Foundation; either
* version 2 of the License, or (at your option) any later version.
*
* This library is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
* Library General Public License for more details.
*
* You should have received a copy of the GNU Library General Public
* License along with this library; if not, write to the
* Free Software Foundation, Inc., 51 Franklin St, Fifth Floor,
* Boston, MA 02110-1301, USA.
*/
#ifndef __QUATERNION_H
#define __QUATERNION_H
#include <iostream>
#include <cmath>
#include <SDL_opengl.h>
// #include "rotationsmatrix.h"
#include "punkt3d.h"
#include "emath.h"
namespace segl {
class Quaternion {
private:
float x, y, z, w;
public:
Quaternion();
Quaternion(float _x, float _y, float _z, float _w);
Quaternion(float deg, Punkt3D p);
Quaternion(float _x, float _y, float _z);
void set(float rotx, float roty, float rotz);
void set(float deg, Punkt3D axis);
void normalize();
Quaternion getConjugate();
// Rotationsmatrix getRotMat();
Punkt3D rotP3D(const Punkt3D &p);
Quaternion operator*(const Quaternion&);
};
// class Quaternion {
// private:
// float w;
// float x,y,z;
// public:
// Quaternion();
// void createFromRotation(float, float, float, float);
//
//
// void createGlMatrix(GLfloat*);
// Punkt3D getDirectionVector();
// Punkt3D getDirectionVector(GLfloat*);
//
// Quaternion operator*(const Quaternion&);
//
//
// };
//
// void glMultMatrixf(Quaternion);
} // namespace segl
#endif