- clean working copy for leaving SVN

2022-06-28 19:04:46 +02:00
parent 62a2d47cb3
commit 762b8f0e7d
1966 changed files with 699872 additions and 126 deletions
@@ -0,0 +1,99 @@
+/*
+  ==============================================================================
+
+   This file is part of the JUCE library.
+   Copyright (c) 2013 - Raw Material Software Ltd.
+
+   Permission is granted to use this software under the terms of either:
+   a) the GPL v2 (or any later version)
+   b) the Affero GPL v3
+
+   Details of these licenses can be found at: www.gnu.org/licenses
+
+   JUCE 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 General Public License for more details.
+
+   ------------------------------------------------------------------------------
+
+   To release a closed-source product which uses JUCE, commercial licenses are
+   available: visit www.juce.com for more information.
+
+  ==============================================================================
+*/
+
+#ifndef JUCE_QUATERNION_H_INCLUDED
+#define JUCE_QUATERNION_H_INCLUDED
+
+#include "juce_Vector3D.h"
+#include "juce_Matrix3D.h"
+
+//==============================================================================
+/**
+    Holds a quaternion (a 3D vector and a scalar value).
+*/
+template <typename Type>
+class Quaternion
+{
+public:
+    Quaternion() noexcept  : scalar() {}
+    Quaternion (const Quaternion& other) noexcept                                     : vector (other.vector), scalar (other.scalar) {}
+    Quaternion (const Vector3D<Type>& vectorPart, const Type& scalarPart) noexcept    : vector (vectorPart), scalar (scalarPart) {}
+    Quaternion (const Type& x, const Type& y, const Type& z, const Type& w) noexcept  : vector (x, y, z), scalar (w) {}
+
+    /** Creates a quaternion from an angle and an axis. */
+    static Quaternion fromAngle (const Type& angle, const Vector3D<Type>& axis) noexcept
+    {
+        return Quaternion (axis.normalised() * std::sin (angle / (Type) 2), std::cos (angle / (Type) 2));
+    }
+
+    Quaternion& operator= (const Quaternion& other) noexcept
+    {
+        vector = other.vector;
+        scalar = other.scalar;
+        return *this;
+    }
+
+    Quaternion& operator*= (const Quaternion& other) noexcept
+    {
+        const Type oldScalar (scalar);
+        scalar = (scalar * other.scalar) - (vector * other.vector);
+        vector = (other.vector * oldScalar) + (vector * other.scalar) + (vector ^ other.vector);
+        return *this;
+    }
+
+    Type length() const noexcept        { return std::sqrt (normal()); }
+    Type normal() const noexcept        { return scalar * scalar + vector.lengthSquared(); }
+
+    Quaternion normalised() const noexcept
+    {
+        const Type len (length());
+        jassert (len > 0);
+        return Quaternion (vector / len, scalar / len);
+    }
+
+    /** Returns the matrix that will perform the rotation specified by this quaternion. */
+    Matrix3D<Type> getRotationMatrix() const noexcept
+    {
+        const Type norm (normal());
+        const Type s (norm > 0 ? ((Type) 2) / norm : 0);
+        const Type xs (s * vector.x),  ys (s * vector.y),  zs (s * vector.z);
+        const Type wx (xs * scalar),   wy (ys * scalar),   wz (zs * scalar);
+        const Type xx (xs * vector.x), xy (ys * vector.x), xz (zs * vector.x);
+        const Type yy (ys * vector.y), yz (zs * vector.y), zz (zs * vector.z);
+
+        return Matrix3D<Type> (((Type) 1) - (yy + zz), xy - wz, xz + wy, 0,
+                               xy + wz, ((Type) 1) - (xx+ zz),  yz - wx, 0,
+                               xz - wy, yz + wx, ((Type) 1) - (xx + yy), 0,
+                               0, 0, 0, (Type) 1);
+    }
+
+    /** The vector part of the quaternion. */
+    Vector3D<Type> vector;
+
+    /** The scalar part of the quaternion. */
+    Type scalar;
+};
+
+
+#endif   // JUCE_QUATERNION_H_INCLUDED