quatd.h

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//
// Copyright 2016 Pixar
//
// Licensed under the Apache License, Version 2.0 (the "Apache License")
// with the following modification; you may not use this file except in
// compliance with the Apache License and the following modification to it:
// Section 6. Trademarks. is deleted and replaced with:
//
// 6. Trademarks. This License does not grant permission to use the trade
//    names, trademarks, service marks, or product names of the Licensor
//    and its affiliates, except as required to comply with Section 4(c) of
//    the License and to reproduce the content of the NOTICE file.
//
// You may obtain a copy of the Apache License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the Apache License with the above modification is
// distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY
// KIND, either express or implied. See the Apache License for the specific
// language governing permissions and limitations under the Apache License.
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// This file is generated by a script.  Do not edit directly.  Edit the
// quat.template.h file to make changes.

#ifndef PXR_BASE_GF_QUATD_H
#define PXR_BASE_GF_QUATD_H


#include "pxr/pxr.h"
#include "pxr/base/gf/api.h"
#include "pxr/base/gf/declare.h"
#include "pxr/base/gf/vec3d.h"
#include "pxr/base/gf/traits.h"

#include <boost/functional/hash.hpp>

#include <iosfwd>

PXR_NAMESPACE_OPEN_SCOPE

template <>
struct GfIsGfQuat<class GfQuatd> { static const bool value = true; };


double GfDot(const GfQuatd& q1, const GfQuatd& q2);


class GfQuatd
{
  public:
    typedef double ScalarType;
    typedef GfVec3d ImaginaryType;

    GfQuatd() {}

    explicit GfQuatd (double realVal) : _imaginary(0), _real(realVal) {}

    GfQuatd(double real, double i, double j, double k)
        : _imaginary(i, j, k), _real(real)
    {
    }

    GfQuatd(double real, const GfVec3d &imaginary)
        : _imaginary(imaginary), _real(real)
    {
    }

    GF_API
    GfQuatd(class GfQuatf const &other);
    GF_API
    GfQuatd(class GfQuath const &other);

    static GfQuatd GetIdentity() { return GfQuatd(1.0); }

    double GetReal() const { return _real; }

    void SetReal(double real) { _real = real; }

    const GfVec3d &GetImaginary() const { return _imaginary; }

    void SetImaginary(const GfVec3d &imaginary) {
        _imaginary = imaginary;
    }

    void SetImaginary(double i, double j, double k) {
        _imaginary.Set(i, j, k);
    }

    double GetLength() const { return GfSqrt(_GetLengthSquared()); }

    GfQuatd
    GetNormalized(double eps = GF_MIN_VECTOR_LENGTH) const {
        GfQuatd ret(*this);
        ret.Normalize(eps);
        return ret;
    }

    GF_API
    double Normalize(double eps = GF_MIN_VECTOR_LENGTH);

    GfQuatd GetConjugate() const {
        return GfQuatd(GetReal(), -GetImaginary());
    }

    GfQuatd GetInverse() const {
        return GetConjugate() / _GetLengthSquared();
    }

    GF_API
    GfVec3d Transform(const GfVec3d& point) const;

    friend inline size_t hash_value(const GfQuatd &q) {
        size_t h = boost::hash<ScalarType>()(q.GetReal());
        boost::hash_combine(h, q.GetImaginary());
        return h;
    }

    GfQuatd operator-() const {
        return GfQuatd(-GetReal(), -GetImaginary());
    }

    bool operator==(const GfQuatd &q) const {
        return (GetReal() == q.GetReal() &&
                GetImaginary() == q.GetImaginary());
    }

    bool operator!=(const GfQuatd &q) const {
        return !(*this == q);
    }

    GF_API
    GfQuatd &operator *=(const GfQuatd &q);

    GfQuatd &operator *=(double s) {
        _real *= s;
        _imaginary *= s;
        return *this;
    }

    GfQuatd &operator /=(double s) {
        _real /= s;
        _imaginary /= s;
        return *this;
    }

    GfQuatd &operator +=(const GfQuatd &q) {
        _real += q._real;
        _imaginary += q._imaginary;
        return *this;
    }

    GfQuatd &operator -=(const GfQuatd &q)  {
        _real -= q._real;
        _imaginary -= q._imaginary;
        return *this;
    }

    friend GfQuatd
    operator +(const GfQuatd &q1, const GfQuatd &q2) {
        return GfQuatd(q1) += q2;
    }

    friend GfQuatd
    operator -(const GfQuatd &q1, const GfQuatd &q2) {
        return GfQuatd(q1) -= q2;
    }

    friend GfQuatd
    operator *(const GfQuatd &q1, const GfQuatd &q2) {
        return GfQuatd(q1) *= q2;
    }

    friend GfQuatd
    operator *(const GfQuatd &q, double s) {
        return GfQuatd(q) *= s;
    }

    friend GfQuatd
    operator *(double s, const GfQuatd &q) {
        return GfQuatd(q) *= s;
    }

    friend GfQuatd
    operator /(const GfQuatd &q, double s) {
        return GfQuatd(q) /= s;
    }

  private:
    GfVec3d _imaginary;

    double _real;

    double
    _GetLengthSquared() const {
        return GfDot(*this, *this);
    }
};

GF_API GfQuatd
GfSlerp(double alpha, const GfQuatd& q0, const GfQuatd& q1);

GF_API GfQuatd
GfSlerp(const GfQuatd& q0, const GfQuatd& q1, double alpha);

inline double
GfDot(GfQuatd const &q1, GfQuatd const &q2) {
    return GfDot(q1.GetImaginary(), q2.GetImaginary()) +
                 q1.GetReal()*q2.GetReal();
}

GF_API std::ostream& operator<<(std::ostream &, GfQuatd const &);

PXR_NAMESPACE_CLOSE_SCOPE

#endif // PXR_BASE_GF_QUATD_H