[Hgengine-cvs] SF.net SVN: hgengine:[285] Mercury2/src

[<axl...@us...>]

Revision: 285
          http://hgengine.svn.sourceforge.net/hgengine/?rev=285&view=rev
Author:   axlecrusher
Date:     2009-05-31 04:04:35 +0000 (Sun, 31 May 2009)

Log Message:
-----------
updates

Modified Paths:
--------------
    Mercury2/src/MQuaternion.cpp
    Mercury2/src/MQuaternion.h

Modified: Mercury2/src/MQuaternion.cpp
===================================================================
--- Mercury2/src/MQuaternion.cpp	2009-05-31 01:25:41 UTC (rev 284)
+++ Mercury2/src/MQuaternion.cpp	2009-05-31 04:04:35 UTC (rev 285)
@@ -1,5 +1,6 @@
 #include <MQuaternion.h>
 #include <MercuryMath.h>
+#include <MercuryMatrix.h>
 
 MQuaternion::MQuaternion()
 {
@@ -60,6 +61,24 @@
 	m_wxyz[3] = sn * p[2];
 }
 
+void MQuaternion::ToAxisAngle(float& angle, float& x, float& y, float& z) const
+{
+	float scale = SQRT(x*x + y*y + z*z);
+	
+	//prevent infinite axis
+	if (scale == 0)
+	{
+		x=y=0; z=1;
+		angle = 0;
+		return;
+	}
+	
+	angle = 2*acos(m_wxyz[0]);
+	x = m_wxyz[1] / scale;
+	y = m_wxyz[2] / scale;
+	z = m_wxyz[3] / scale;
+}
+
 //Returns the magnitude
 float MQuaternion::magnitude() const {
 	return SQRT((m_wxyz[0]*m_wxyz[0])+(m_wxyz[1]*m_wxyz[1])+(m_wxyz[2]*m_wxyz[2])+(m_wxyz[3]*m_wxyz[3]));
@@ -215,7 +234,7 @@
 	return true;
 }
 
-MercuryVertex MQuaternion::ToVertex() const
+MercuryVertex MQuaternion::ToVector() const
 {
 	MercuryVertex v(m_wxyz[1], m_wxyz[2], m_wxyz[3], m_wxyz[0]);
 	return v;
@@ -226,7 +245,12 @@
 	printf("%s: %f %f %f %f\n", s.c_str(), m_wxyz[0], m_wxyz[1], m_wxyz[2], m_wxyz[3]);
 }
 
+MercuryVector MQuaternion::operator * (const MercuryVector &rhs) const
+{
+	return (*this * MQuaternion(0, rhs) * reciprocal()).ToVector();
+}
 
+
 //Returns the Euclidian Inner Product of two MQuaternions (Similar to Vector Dot-Product)
 float innerProduct(const MQuaternion & a, const MQuaternion &b) 
 {

Modified: Mercury2/src/MQuaternion.h
===================================================================
--- Mercury2/src/MQuaternion.h	2009-05-31 01:25:41 UTC (rev 284)
+++ Mercury2/src/MQuaternion.h	2009-05-31 04:04:35 UTC (rev 285)
@@ -2,8 +2,10 @@
 #define MQUATERNION_H
 
 #include <MercuryVertex.h>
-#include <MercuryMatrix.h>
+#include <MercuryUtil.h>
 
+class MercuryMatrix;
+
 ///Mathematical Quaternion (Used for Rotation)
 class MQuaternion {
 	public:
@@ -19,6 +21,7 @@
 	
 		///Make the quaternion represent a given angle radians around an axis p
 		void CreateFromAxisAngle(const MercuryVertex& p, const float radians);
+		void ToAxisAngle(float& angle, float& x, float& y, float& z) const;
 	
 		///Access a component of the quaternion with the [] operator
 		float & operator[] ( const WXYZ rhs );
@@ -39,7 +42,7 @@
 		///Converts Quaternion to complete 4x4 Matrix
 		void toMatrix4( MercuryMatrix & mat ) const;
 		///Convert the quaternion to a point.
-		MercuryVertex ToVertex() const;
+		MercuryVertex ToVector() const;
 		
 		/******************************************************
 		* NOTE: Quaternion multipication is not commutative  *
@@ -58,6 +61,8 @@
 		MQuaternion& operator *= (const float &rhs);
 		MQuaternion& operator /= (const float &rhs);
 		
+		MercuryVector operator * (const MercuryVector &rhs) const;
+
 		bool operator==(const MQuaternion &rhs) const;
 		inline bool operator!=(const MQuaternion &rhs) const { return !(*this == rhs); }
 		


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