All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Macros Groups Pages
quath.h
Go to the documentation of this file.
1 //
2 // Copyright 2016 Pixar
3 //
4 // Licensed under the Apache License, Version 2.0 (the "Apache License")
5 // with the following modification; you may not use this file except in
6 // compliance with the Apache License and the following modification to it:
7 // Section 6. Trademarks. is deleted and replaced with:
8 //
9 // 6. Trademarks. This License does not grant permission to use the trade
10 // names, trademarks, service marks, or product names of the Licensor
11 // and its affiliates, except as required to comply with Section 4(c) of
12 // the License and to reproduce the content of the NOTICE file.
13 //
14 // You may obtain a copy of the Apache License at
15 //
16 // http://www.apache.org/licenses/LICENSE-2.0
17 //
18 // Unless required by applicable law or agreed to in writing, software
19 // distributed under the Apache License with the above modification is
20 // distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY
21 // KIND, either express or implied. See the Apache License for the specific
22 // language governing permissions and limitations under the Apache License.
23 //
25 // This file is generated by a script. Do not edit directly. Edit the
26 // quat.template.h file to make changes.
27 
28 #ifndef GF_QUATH_H
29 #define GF_QUATH_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/vec3h.h"
38 #include "pxr/base/gf/traits.h"
39 #include "pxr/base/gf/half.h"
40 
41 #include <boost/functional/hash.hpp>
42 
43 #include <iosfwd>
44 
45 PXR_NAMESPACE_OPEN_SCOPE
46 
47 template <>
48 struct GfIsGfQuat<class GfQuath> { static const bool value = true; };
49 
50 
52 GfHalf GfDot(const GfQuath& q1, const GfQuath& q2);
53 
54 
61 class GfQuath
62 {
63  public:
64  typedef GfHalf ScalarType;
65  typedef GfVec3h ImaginaryType;
66 
68  GfQuath() {}
69 
77  explicit GfQuath (GfHalf realVal) : _imaginary(0), _real(realVal) {}
78 
81  : _imaginary(i, j, k), _real(real)
82  {
83  }
84 
86  GfQuath(GfHalf real, const GfVec3h &imaginary)
87  : _imaginary(imaginary), _real(real)
88  {
89  }
90 
92  GF_API
93  explicit GfQuath(class GfQuatd const &other);
95  GF_API
96  explicit GfQuath(class GfQuatf const &other);
97 
100  static GfQuath GetIdentity() { return GfQuath(1.0); }
101 
103  GfHalf GetReal() const { return _real; }
104 
106  void SetReal(GfHalf real) { _real = real; }
107 
109  const GfVec3h &GetImaginary() const { return _imaginary; }
110 
112  void SetImaginary(const GfVec3h &imaginary) {
113  _imaginary = imaginary;
114  }
115 
118  _imaginary.Set(i, j, k);
119  }
120 
122  GfHalf GetLength() const { return GfSqrt(_GetLengthSquared()); }
123 
126  GfQuath
128  GfQuath ret(*this);
129  ret.Normalize(eps);
130  return ret;
131  }
132 
136  GF_API
138 
142  return GfQuath(GetReal(), -GetImaginary());
143  }
144 
147  GfQuath GetInverse() const {
148  return GetConjugate() / _GetLengthSquared();
149  }
150 
152  friend inline size_t hash_value(const GfQuath &q) {
153  size_t h = boost::hash<ScalarType>()(q.GetReal());
154  boost::hash_combine(h, q.GetImaginary());
155  return h;
156  }
157 
159  GfQuath operator-() const {
160  return GfQuath(-GetReal(), -GetImaginary());
161  }
162 
165  bool operator==(const GfQuath &q) const {
166  return (GetReal() == q.GetReal() &&
167  GetImaginary() == q.GetImaginary());
168  }
169 
172  bool operator!=(const GfQuath &q) const {
173  return !(*this == q);
174  }
175 
177  GF_API
178  GfQuath &operator *=(const GfQuath &q);
179 
182  _real *= s;
183  _imaginary *= s;
184  return *this;
185  }
186 
189  _real /= s;
190  _imaginary /= s;
191  return *this;
192  }
193 
196  _real += q._real;
197  _imaginary += q._imaginary;
198  return *this;
199  }
200 
203  _real -= q._real;
204  _imaginary -= q._imaginary;
205  return *this;
206  }
207 
209  friend GfQuath
210  operator +(const GfQuath &q1, const GfQuath &q2) {
211  return GfQuath(q1) += q2;
212  }
213 
215  friend GfQuath
216  operator -(const GfQuath &q1, const GfQuath &q2) {
217  return GfQuath(q1) -= q2;
218  }
219 
221  friend GfQuath
222  operator *(const GfQuath &q1, const GfQuath &q2) {
223  return GfQuath(q1) *= q2;
224  }
225 
227  friend GfQuath
228  operator *(const GfQuath &q, GfHalf s) {
229  return GfQuath(q) *= s;
230  }
231 
233  friend GfQuath
234  operator *(GfHalf s, const GfQuath &q) {
235  return GfQuath(q) *= s;
236  }
237 
239  friend GfQuath
240  operator /(const GfQuath &q, GfHalf s) {
241  return GfQuath(q) /= s;
242  }
243 
244  private:
246  GfVec3h _imaginary;
247 
249  GfHalf _real;
250 
252  GfHalf
253  _GetLengthSquared() const {
254  return GfDot(*this, *this);
255  }
256 };
257 
262 GF_API GfQuath
263 GfSlerp(double alpha, const GfQuath& q0, const GfQuath& q1);
264 
265 GF_API GfQuath
266 GfSlerp(const GfQuath& q0, const GfQuath& q1, double alpha);
267 
268 inline GfHalf
269 GfDot(GfQuath const &q1, GfQuath const &q2) {
270  return GfDot(q1.GetImaginary(), q2.GetImaginary()) +
271  q1.GetReal()*q2.GetReal();
272 }
273 
276 GF_API std::ostream& operator<<(std::ostream &, GfQuath const &);
277 
278 PXR_NAMESPACE_CLOSE_SCOPE
279 
280 #endif // GF_QUATH_H
Basic type: a quaternion, a complex number with a real coefficient and three imaginary coefficients...
Definition: quath.h:61
GF_API GfHalf Normalize(GfHalf eps=GF_MIN_VECTOR_LENGTH)
Normalizes this quaternion in place to unit length, returning the length before normalization.
friend GfQuath operator+(const GfQuath &q1, const GfQuath &q2)
Component-wise binary sum operator.
Definition: quath.h:210
GfQuath operator-() const
Component-wise negation.
Definition: quath.h:159
GfQuath & operator/=(GfHalf s)
Divide this quaternion&#39;s coefficients by s.
Definition: quath.h:188
GfQuath GetInverse() const
Return this quaternion&#39;s inverse, or reciprocal.
Definition: quath.h:147
pxr_half::half GfHalf
A 16-bit floating point data type.
Definition: half.h:42
void SetReal(GfHalf real)
Set the real coefficient.
Definition: quath.h:106
GfHalf GetReal() const
Return the real coefficient.
Definition: quath.h:103
void SetImaginary(GfHalf i, GfHalf j, GfHalf k)
Set the imaginary coefficients.
Definition: quath.h:117
bool operator==(const GfQuath &q) const
Component-wise quaternion equality test.
Definition: quath.h:165
friend GfQuath operator*(const GfQuath &q1, const GfQuath &q2)
Returns the product of quaternions q1 and q2.
Definition: quath.h:222
Basic type: a quaternion, a complex number with a real coefficient and three imaginary coefficients...
Definition: quatf.h:60
GfQuath & operator+=(const GfQuath &q)
Add quaternion q to this quaternion.
Definition: quath.h:195
GfQuath(GfHalf real, GfHalf i, GfHalf j, GfHalf k)
Initialize the real and imaginary coefficients.
Definition: quath.h:80
GF_API GfQuatd GfSlerp(double alpha, const GfQuatd &q0, const GfQuatd &q1)
Spherically linearly interpolate between q0 and q1.
static GfQuath GetIdentity()
Return the identity quaternion, with real coefficient 1 and an imaginary coefficients all zero...
Definition: quath.h:100
GfHalf GetLength() const
Return geometric length of this quaternion.
Definition: quath.h:122
GfQuath GetNormalized(GfHalf eps=GF_MIN_VECTOR_LENGTH) const
length of this quaternion is smaller than eps, return the identity quaternion.
Definition: quath.h:127
GfQuath()
Default constructor leaves the quaternion undefined.
Definition: quath.h:68
GfQuath(GfHalf real, const GfVec3h &imaginary)
Initialize the real and imaginary coefficients.
Definition: quath.h:86
GfQuath(GfHalf realVal)
Initialize the real coefficient to realVal and the imaginary coefficients to zero.
Definition: quath.h:77
friend size_t hash_value(const GfQuath &q)
Hash.
Definition: quath.h:152
friend GfQuath operator/(const GfQuath &q, GfHalf s)
Returns the product of quaternion q and scalar 1 / s.
Definition: quath.h:240
bool operator!=(const GfQuath &q) const
Component-wise quaternion inequality test.
Definition: quath.h:172
const GfVec3h & GetImaginary() const
Return the imaginary coefficient.
Definition: quath.h:109
double GfSqrt(double f)
Return sqrt(f).
Definition: math.h:77
GfVec3h & Set(GfHalf s0, GfHalf s1, GfHalf s2)
Set all elements with passed arguments.
Definition: vec3h.h:131
GF_API std::ostream & operator<<(std::ostream &, const GfBBox3d &)
Output a GfBBox3d using the format [(range) matrix zeroArea].
GfQuath & operator-=(const GfQuath &q)
Component-wise unary difference operator.
Definition: quath.h:202
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
void SetImaginary(const GfVec3h &imaginary)
Set the imaginary coefficients.
Definition: quath.h:112
Basic type: a quaternion, a complex number with a real coefficient and three imaginary coefficients...
Definition: quatd.h:60
Basic type for a vector of 3 GfHalf components.
Definition: vec3h.h:64
GF_API GfQuath & operator*=(const GfQuath &q)
Post-multiply quaternion q into this quaternion.
GfQuath GetConjugate() const
Return this quaternion&#39;s conjugate, which is the quaternion with the same real coefficient and negate...
Definition: quath.h:141
#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