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git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@37 92aac97c-a6ce-11dd-a772-7fcde58d38e6
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@ -22,7 +22,6 @@
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// Libraries
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// Libraries
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#include "exceptions.h"
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#include "exceptions.h"
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#include <stdexcept>
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#include <stdexcept>
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#include <iostream>
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#include <iostream>
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@ -41,7 +40,7 @@ class Matrix {
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double** array; // Dynamic array that contains the values of the matrix
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double** array; // Dynamic array that contains the values of the matrix
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public :
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public :
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Matrix(int nbRow, int nbColum) throw(std::invalid_argument); // Constructor of the class Matrix
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Matrix(int nbRow, int nbColum) throw(std::invalid_argument); // Constructor of the class Matrix
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Matrix(const Matrix& matrix); // Copy constructor of the class Matrix
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Matrix(const Matrix& matrix); // Copy constructor of the class Matrix
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virtual ~Matrix(); // Destructor of the class Matrix
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virtual ~Matrix(); // Destructor of the class Matrix
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double getValue(int i, int j) const throw(std::invalid_argument); // Return a value in the matrix
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double getValue(int i, int j) const throw(std::invalid_argument); // Return a value in the matrix
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@ -52,8 +51,8 @@ class Matrix {
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Matrix getTranspose() const; // Return the transposed matrixs
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Matrix getTranspose() const; // Return the transposed matrixs
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Matrix getInverse() const throw(MathematicsException); // Return the inverse of the matrix if there exists
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Matrix getInverse() const throw(MathematicsException); // Return the inverse of the matrix if there exists
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double getDeterminant() const throw(MathematicsException); // Return the determinant of the matrix
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double getDeterminant() const throw(MathematicsException); // Return the determinant of the matrix
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double getTrace() const; // Return the trace of the matrix
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double getTrace() const throw(MathematicsException); // Return the trace of a square matrix
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static Matrix identityMatrix(int dimension) throw(std::invalid_argument); // Return the identity matrix I of the given dimension
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static Matrix identity(int dimension) throw(std::invalid_argument); // Return the identity matrix I of the given dimension
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void display() const; // TO DELETE
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void display() const; // TO DELETE
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@ -44,7 +44,7 @@ Matrix3x3::Matrix3x3(const Matrix3x3& matrix2) {
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matrix2.array[2][0], matrix2.array[2][1], matrix2.array[2][2]);
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matrix2.array[2][0], matrix2.array[2][1], matrix2.array[2][2]);
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}
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}
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// Create a Matrix3x3 from a quaternion
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// Create a Matrix3x3 from a quaternion (the quaternion can be non-unit)
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Matrix3x3::Matrix3x3(const Quaternion& quaternion) {
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Matrix3x3::Matrix3x3(const Quaternion& quaternion) {
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double x = quaternion.getX();
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double x = quaternion.getX();
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double y = quaternion.getY();
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double y = quaternion.getY();
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@ -58,9 +58,24 @@ Matrix3x3::Matrix3x3(const Quaternion& quaternion) {
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s = 2.0/nQ;
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s = 2.0/nQ;
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}
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}
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// Computations used for optimization (less multiplications)
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double xs = x*s;
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double ys = y*s;
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double zs = z*s;
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double wxs = w*xs;
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double wys = w*ys;
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double wzs = w*zs;
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double xxs = x*xs;
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double xys = x*ys;
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double xzs = x*zs;
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double yys = y*ys;
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double yzs = y*zs;
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double zzs = z*zs;
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// Create the matrix corresponding to the quaternion
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// Create the matrix corresponding to the quaternion
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Matrix3x3(1.0-y*y*s-z*z*s, x*y*s-w*z*s, z*x*s + w*y*s, x*y*s + w*z*s, 1.0-x*x*s-z*z*s, y*z*s-w*x*s,
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setAllValues(1.0-yys-zzs, xys-wzs, xzs + wys,
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z*x*s-w*y*s, y*z*s + w*x*s, 1.0-x*x*s-y*y*s);
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xys + wzs, 1.0-xxs-zzs, yzs-wxs,
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xzs-wys, yzs + wxs, 1.0-xxs-yys);
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}
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}
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// Destructor
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// Destructor
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@ -128,13 +143,13 @@ Quaternion Matrix3x3::getQuaternion() const {
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else {
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else {
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r = sqrt(trace + 1.0);
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r = sqrt(trace + 1.0);
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s = 0.5/r;
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s = 0.5/r;
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return Quaternion(0.5 * r, (array[0][1]-array[1][0])*s, (array[2][0]-array[0][2])*s, (array[2][1]-array[1][2])*s);
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return Quaternion((array[2][1]-array[1][2])*s, (array[0][2]-array[2][0])*s, (array[1][0]-array[0][1])*s, 0.5 * r);
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}
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}
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}
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}
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// Return the 3x3 identity matrix
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// Return the 3x3 identity matrix
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Matrix3x3 Matrix3x3::identityMatrix() {
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Matrix3x3 Matrix3x3::identity() {
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// Return the identity matrix
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// Return the isdentity matrix
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return Matrix3x3(1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0);
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return Matrix3x3(1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0);
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}
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}
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@ -53,8 +53,8 @@ class Matrix3x3 {
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double getDeterminant() const; // Return the determinant of the matrix
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double getDeterminant() const; // Return the determinant of the matrix
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double getTrace() const; // Return the trace of the matrix
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double getTrace() const; // Return the trace of the matrix
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Matrix3x3 getInverse() const throw(MathematicsException); // Return the inverse matrix
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Matrix3x3 getInverse() const throw(MathematicsException); // Return the inverse matrix
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Quaternion getQuaternion() const; // Return the quaternion corresponding to the matrix (it returns a unit quaternion)
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Quaternion getQuaternion() const; // Return the unit quaternion corresponding to the matrix
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static Matrix3x3 identityMatrix(); // Return the 3x3 identity matrix
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static Matrix3x3 identity(); // Return the 3x3 identity matrix
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void display() const; // TO DELETE
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void display() const; // TO DELETE
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@ -30,7 +30,8 @@ namespace reactphysics3d {
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/* -------------------------------------------------------------------
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/* -------------------------------------------------------------------
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Class Quaternion :
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Class Quaternion :
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This class represents a quaternion.
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This class represents a quaternion. We use the notation :
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q = (x*i, y*j, z*k, w) to represent a quaternion.
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-------------------------------------------------------------------
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-------------------------------------------------------------------
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*/
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*/
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class Quaternion
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class Quaternion
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// --- Overloaded operators --- //
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// --- Overloaded operators --- //
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Quaternion operator+(const Quaternion& quaternion) const; // Overloaded operator for the addition
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Quaternion operator+(const Quaternion& quaternion) const; // Overloaded operator for the addition
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Quaternion operator-(const Quaternion& quaternion) const; // Overloaded operator for the substraction
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Quaternion operator-(const Quaternion& quaternion) const; // Overloaded operator for the substraction
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Quaternion operator*(double nb) const; // Overloaded operator for the multiplication with a constant
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Quaternion operator*(const Quaternion& quaternion) const; // Overloaded operator for the multiplication
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Quaternion operator*(const Quaternion& quaternion) const; // Overloaded operator for the multiplication
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Quaternion& operator=(const Quaternion& quaternion); // Overloaded operator for assignment
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Quaternion& operator=(const Quaternion& quaternion); // Overloaded operator for assignment
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bool operator==(const Quaternion& quaternion) const; // Overloaded operator for equality condition
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bool operator==(const Quaternion& quaternion) const; // Overloaded operator for equality condition
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@ -127,6 +129,7 @@ inline Quaternion Quaternion::getUnit() const throw(MathematicsException) {
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// Check if the length is not equal to zero
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// Check if the length is not equal to zero
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if (lengthQuaternion != 0.0) {
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if (lengthQuaternion != 0.0) {
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// Compute and return the unit quaternion
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// Compute and return the unit quaternion
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return Quaternion(x/lengthQuaternion, y/lengthQuaternion, z/lengthQuaternion, w/lengthQuaternion);
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return Quaternion(x/lengthQuaternion, y/lengthQuaternion, z/lengthQuaternion, w/lengthQuaternion);
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}
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}
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@ -138,7 +141,7 @@ inline Quaternion Quaternion::getUnit() const throw(MathematicsException) {
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// Return the conjugate of the quaternion (inline)
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// Return the conjugate of the quaternion (inline)
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inline Quaternion Quaternion::getConjugate() const {
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inline Quaternion Quaternion::getConjugate() const {
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return Quaternion(x, -y, -z, -w);
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return Quaternion(-x, -y, -z, w);
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}
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}
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// Return the inverse of the quaternion (inline)
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// Return the inverse of the quaternion (inline)
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// Check if the length is not equal to zero
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// Check if the length is not equal to zero
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if (lengthQuaternion != 0.0) {
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if (lengthQuaternion != 0.0) {
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// Compute and return the inverse quaternion
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// Compute and return the inverse quaternion
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return Quaternion(x/lengthQuaternion, y/lengthQuaternion, z/lengthQuaternion, w/lengthQuaternion);
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return Quaternion(-x/lengthQuaternion, -y/lengthQuaternion, -z/lengthQuaternion, w/lengthQuaternion);
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}
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}
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else {
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else {
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// Throw an exception because the inverse cannot be computed
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// Throw an exception because the inverse cannot be computed
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return Quaternion(x-quaternion.x, y - quaternion.y, z - quaternion.z, w - quaternion.w);
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return Quaternion(x-quaternion.x, y - quaternion.y, z - quaternion.z, w - quaternion.w);
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}
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}
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// Overloaded operator for the multiplication with a constant
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inline Quaternion Quaternion::operator*(double nb) const {
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// Return the result
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return Quaternion(nb*x, nb*y, nb*z, nb*w);
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}
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// Overloaded operator for the multiplication of two quaternions
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// Overloaded operator for the multiplication of two quaternions
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inline Quaternion Quaternion::operator*(const Quaternion& quaternion) const {
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inline Quaternion Quaternion::operator*(const Quaternion& quaternion) const {
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// Return the result of the multiplication
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// Return the result of the multiplication
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@ -124,13 +124,6 @@ Vector Vector::crossProduct(const Vector& vector) const throw(MathematicsExcepti
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}
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}
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}
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}
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// TO DELETE
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void Vector::display() const {
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for (int i=0; i<nbComponent; ++i) {
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std::cout << tab[i] << std::endl;
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}
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}
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// Overloaded operator for addition
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// Overloaded operator for addition
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Vector Vector::operator+(const Vector& vector) const throw(MathematicsException) {
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Vector Vector::operator+(const Vector& vector) const throw(MathematicsException) {
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// Check the size of the two vectors
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// Check the size of the two vectors
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double scalarProduct(const Vector& vector) const throw(MathematicsException); // Scalar product of two vectors
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double scalarProduct(const Vector& vector) const throw(MathematicsException); // Scalar product of two vectors
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Vector crossProduct(const Vector& vector) const throw(MathematicsException); // Cross product of two vectors (in 3D only)
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Vector crossProduct(const Vector& vector) const throw(MathematicsException); // Cross product of two vectors (in 3D only)
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void display() const; // TO DELETE
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// --- Overloaded operators --- //
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// --- Overloaded operators --- //
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Vector operator+(const Vector& vector) const throw(MathematicsException); // Overloaded operator for addition
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Vector operator+(const Vector& vector) const throw(MathematicsException); // Overloaded operator for addition
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Vector operator-(const Vector& vector) const throw(MathematicsException); // Overloaded operator for substraction
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Vector operator-(const Vector& vector) const throw(MathematicsException); // Overloaded operator for substraction
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@ -63,11 +63,6 @@ Vector3D Vector3D::getUnit() const throw(MathematicsException) {
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}
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}
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}
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}
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// TO DELETE THIS IS JUST FOR TESTS
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void Vector3D::display() const {
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std::cout << x << std::endl << y << std::endl << z << std::endl;
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}
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// Overloaded operator for addition
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// Overloaded operator for addition
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Vector3D Vector3D::operator+(const Vector3D& vector) const {
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Vector3D Vector3D::operator+(const Vector3D& vector) const {
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// Compute and return the sum of the two vectors
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// Compute and return the sum of the two vectors
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@ -56,8 +56,6 @@ class Vector3D {
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double scalarProduct(const Vector3D& vector) const; // Scalar product of two vectors
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double scalarProduct(const Vector3D& vector) const; // Scalar product of two vectors
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Vector3D crossProduct(const Vector3D& vector) const; // Cross product of two vectors
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Vector3D crossProduct(const Vector3D& vector) const; // Cross product of two vectors
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void display() const; // TO DELETE
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// --- Overloaded operators --- //
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// --- Overloaded operators --- //
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Vector3D operator+(const Vector3D& vector) const; // Overloaded operator for addition
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Vector3D operator+(const Vector3D& vector) const; // Overloaded operator for addition
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Vector3D operator-(const Vector3D& vector) const ; // Overloaded operator for substraction
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Vector3D operator-(const Vector3D& vector) const ; // Overloaded operator for substraction
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