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quatd.h
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26 // quat.template.h file to make changes.
27 
28 #ifndef GF_QUATD_H
29 #define GF_QUATD_H
30 
33 
34 #include "pxr/pxr.h"
35 #include "pxr/base/gf/api.h"
36 #include "pxr/base/gf/declare.h"
37 #include "pxr/base/gf/vec3d.h"
38 #include "pxr/base/gf/traits.h"
39 
40 #include <boost/functional/hash.hpp>
41 
42 #include <iosfwd>
43 
44 PXR_NAMESPACE_OPEN_SCOPE
45 
46 template <>
47 struct GfIsGfQuat<class GfQuatd> { static const bool value = true; };
48 
49 
51 double GfDot(const GfQuatd& q1, const GfQuatd& q2);
52 
53 
60 class GfQuatd
61 {
62  public:
63  typedef double ScalarType;
64  typedef GfVec3d ImaginaryType;
65 
67  GfQuatd() {}
68 
76  explicit GfQuatd (double realVal) : _imaginary(0), _real(realVal) {}
77 
79  GfQuatd(double real, double i, double j, double k)
80  : _imaginary(i, j, k), _real(real)
81  {
82  }
83 
85  GfQuatd(double real, const GfVec3d &imaginary)
86  : _imaginary(imaginary), _real(real)
87  {
88  }
89 
91  GF_API
92  GfQuatd(class GfQuatf const &other);
94  GF_API
95  GfQuatd(class GfQuath const &other);
96 
99  static GfQuatd GetIdentity() { return GfQuatd(1.0); }
100 
102  double GetReal() const { return _real; }
103 
105  void SetReal(double real) { _real = real; }
106 
108  const GfVec3d &GetImaginary() const { return _imaginary; }
109 
111  void SetImaginary(const GfVec3d &imaginary) {
112  _imaginary = imaginary;
113  }
114 
116  void SetImaginary(double i, double j, double k) {
117  _imaginary.Set(i, j, k);
118  }
119 
121  double GetLength() const { return GfSqrt(_GetLengthSquared()); }
122 
125  GfQuatd
126  GetNormalized(double eps = GF_MIN_VECTOR_LENGTH) const {
127  GfQuatd ret(*this);
128  ret.Normalize(eps);
129  return ret;
130  }
131 
135  GF_API
136  double Normalize(double eps = GF_MIN_VECTOR_LENGTH);
137 
141  return GfQuatd(GetReal(), -GetImaginary());
142  }
143 
146  GfQuatd GetInverse() const {
147  return GetConjugate() / _GetLengthSquared();
148  }
149 
151  friend inline size_t hash_value(const GfQuatd &q) {
152  size_t h = boost::hash<ScalarType>()(q.GetReal());
153  boost::hash_combine(h, q.GetImaginary());
154  return h;
155  }
156 
158  GfQuatd operator-() const {
159  return GfQuatd(-GetReal(), -GetImaginary());
160  }
161 
164  bool operator==(const GfQuatd &q) const {
165  return (GetReal() == q.GetReal() &&
166  GetImaginary() == q.GetImaginary());
167  }
168 
171  bool operator!=(const GfQuatd &q) const {
172  return !(*this == q);
173  }
174 
176  GF_API
177  GfQuatd &operator *=(const GfQuatd &q);
178 
180  GfQuatd &operator *=(double s) {
181  _real *= s;
182  _imaginary *= s;
183  return *this;
184  }
185 
187  GfQuatd &operator /=(double s) {
188  _real /= s;
189  _imaginary /= s;
190  return *this;
191  }
192 
195  _real += q._real;
196  _imaginary += q._imaginary;
197  return *this;
198  }
199 
202  _real -= q._real;
203  _imaginary -= q._imaginary;
204  return *this;
205  }
206 
208  friend GfQuatd
209  operator +(const GfQuatd &q1, const GfQuatd &q2) {
210  return GfQuatd(q1) += q2;
211  }
212 
214  friend GfQuatd
215  operator -(const GfQuatd &q1, const GfQuatd &q2) {
216  return GfQuatd(q1) -= q2;
217  }
218 
220  friend GfQuatd
221  operator *(const GfQuatd &q1, const GfQuatd &q2) {
222  return GfQuatd(q1) *= q2;
223  }
224 
226  friend GfQuatd
227  operator *(const GfQuatd &q, double s) {
228  return GfQuatd(q) *= s;
229  }
230 
232  friend GfQuatd
233  operator *(double s, const GfQuatd &q) {
234  return GfQuatd(q) *= s;
235  }
236 
238  friend GfQuatd
239  operator /(const GfQuatd &q, double s) {
240  return GfQuatd(q) /= s;
241  }
242 
243  private:
245  GfVec3d _imaginary;
246 
248  double _real;
249 
251  double
252  _GetLengthSquared() const {
253  return GfDot(*this, *this);
254  }
255 };
256 
261 GF_API GfQuatd
262 GfSlerp(double alpha, const GfQuatd& q0, const GfQuatd& q1);
263 
264 GF_API GfQuatd
265 GfSlerp(const GfQuatd& q0, const GfQuatd& q1, double alpha);
266 
267 inline double
268 GfDot(GfQuatd const &q1, GfQuatd const &q2) {
269  return GfDot(q1.GetImaginary(), q2.GetImaginary()) +
270  q1.GetReal()*q2.GetReal();
271 }
272 
275 GF_API std::ostream& operator<<(std::ostream &, GfQuatd const &);
276 
277 PXR_NAMESPACE_CLOSE_SCOPE
278 
279 #endif // GF_QUATD_H
GfQuatd()
Default constructor leaves the quaternion undefined.
Definition: quatd.h:67
Basic type: a quaternion, a complex number with a real coefficient and three imaginary coefficients...
Definition: quath.h:61
void SetImaginary(double i, double j, double k)
Set the imaginary coefficients.
Definition: quatd.h:116
double GetReal() const
Return the real coefficient.
Definition: quatd.h:102
GfQuatd GetConjugate() const
Return this quaternion&#39;s conjugate, which is the quaternion with the same real coefficient and negate...
Definition: quatd.h:140
bool operator==(const GfQuatd &q) const
Component-wise quaternion equality test.
Definition: quatd.h:164
GfQuatd GetNormalized(double eps=GF_MIN_VECTOR_LENGTH) const
length of this quaternion is smaller than eps, return the identity quaternion.
Definition: quatd.h:126
GF_API double Normalize(double eps=GF_MIN_VECTOR_LENGTH)
Normalizes this quaternion in place to unit length, returning the length before normalization.
const GfVec3d & GetImaginary() const
Return the imaginary coefficient.
Definition: quatd.h:108
GF_API GfQuatd & operator*=(const GfQuatd &q)
Post-multiply quaternion q into this quaternion.
void SetImaginary(const GfVec3d &imaginary)
Set the imaginary coefficients.
Definition: quatd.h:111
Basic type: a quaternion, a complex number with a real coefficient and three imaginary coefficients...
Definition: quatf.h:60
GF_API GfQuatd GfSlerp(double alpha, const GfQuatd &q0, const GfQuatd &q1)
Spherically linearly interpolate between q0 and q1.
double GetLength() const
Return geometric length of this quaternion.
Definition: quatd.h:121
GfVec3d & Set(double s0, double s1, double s2)
Set all elements with passed arguments.
Definition: vec3d.h:130
static GfQuatd GetIdentity()
Return the identity quaternion, with real coefficient 1 and an imaginary coefficients all zero...
Definition: quatd.h:99
GfQuatd & operator+=(const GfQuatd &q)
Add quaternion q to this quaternion.
Definition: quatd.h:194
GfQuatd & operator-=(const GfQuatd &q)
Component-wise unary difference operator.
Definition: quatd.h:201
void SetReal(double real)
Set the real coefficient.
Definition: quatd.h:105
double GfSqrt(double f)
Return sqrt(f).
Definition: math.h:77
GF_API std::ostream & operator<<(std::ostream &, const GfBBox3d &)
Output a GfBBox3d using the format [(range) matrix zeroArea].
bool operator!=(const GfQuatd &q) const
Component-wise quaternion inequality test.
Definition: quatd.h:171
GfQuatd GetInverse() const
Return this quaternion&#39;s inverse, or reciprocal.
Definition: quatd.h:146
A metafunction with a static const bool member &#39;value&#39; that is true for GfQuat types and false for al...
Definition: traits.h:45
friend GfQuatd operator+(const GfQuatd &q1, const GfQuatd &q2)
Component-wise binary sum operator.
Definition: quatd.h:209
Basic type for a vector of 3 double components.
Definition: vec3d.h:63
friend size_t hash_value(const GfQuatd &q)
Hash.
Definition: quatd.h:151
friend GfQuatd operator*(const GfQuatd &q1, const GfQuatd &q2)
Returns the product of quaternions q1 and q2.
Definition: quatd.h:221
GfQuatd operator-() const
Component-wise negation.
Definition: quatd.h:158
Basic type: a quaternion, a complex number with a real coefficient and three imaginary coefficients...
Definition: quatd.h:60
GfQuatd(double real, const GfVec3d &imaginary)
Initialize the real and imaginary coefficients.
Definition: quatd.h:85
GfQuatd(double realVal)
Initialize the real coefficient to realVal and the imaginary coefficients to zero.
Definition: quatd.h:76
GfQuatd & operator/=(double s)
Divide this quaternion&#39;s coefficients by s.
Definition: quatd.h:187
friend GfQuatd operator/(const GfQuatd &q, double s)
Returns the product of quaternion q and scalar 1 / s.
Definition: quatd.h:239
GfQuatd(double real, double i, double j, double k)
Initialize the real and imaginary coefficients.
Definition: quatd.h:79
#define GF_MIN_VECTOR_LENGTH
This constant is used to determine whether the length of a vector is too small to handle accurately...
Definition: limits.h:34
GfHalf GfDot(GfHalf a, GfHalf b)
Returns the dot (inner) product of two vectors.
Definition: half.h:55