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git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@90 92aac97c-a6ce-11dd-a772-7fcde58d38e6

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chappuis.daniel 2009-02-12 07:45:12 +00:00
parent 20f5361624
commit da3b7a7ec2
2 changed files with 23 additions and 0 deletions
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10
sources/reactphysics3d/mathematics/Quaternion.cpp
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@ -19,6 +19,7 @@
// Libraries
#include "Quaternion.h"
#include <cassert>
// Namespaces
using namespace reactphysics3d;
@ -52,4 +53,13 @@ Quaternion::~Quaternion() {
}
// --- Others functions --- //
// Compute the spherical linear interpolation between two quaternions.
// The t argument has to be such that 0 <= t <= 1
Quaternion slerp(const Quaternion& quaternion1, const Quaternion& quaternion2, double t) {
//TODO : Implement this method
assert(t >= 0 && t <= 1);
}

13
sources/reactphysics3d/mathematics/Quaternion.h
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@ -61,6 +61,7 @@ class Quaternion
Quaternion getUnit() const throw (MathematicsException); // Return the unit quaternion
Quaternion getConjugate() const; // Return the conjugate quaternion
Quaternion getInverse() const throw (MathematicsException); // Return the inverse of the quaternion
double scalarProduct(const Quaternion& quaternion); // Scalar product between two quaternions
// --- Overloaded operators --- //
Quaternion operator+(const Quaternion& quaternion) const; // Overloaded operator for the addition
@ -71,6 +72,7 @@ class Quaternion
bool operator==(const Quaternion& quaternion) const; // Overloaded operator for equality condition
};
// --- Inline functions --- //
// Get the value x (inline)
inline double Quaternion::getX() const {
@ -161,6 +163,12 @@ inline Quaternion Quaternion::getInverse() const throw(MathematicsException) {
}
}
// Scalar product between two quaternions
// TODO : Test for this method
inline double Quaternion::scalarProduct(const Quaternion& quaternion) {
return (x*quaternion.x + y*quaternion.y + z*quaternion.z + w*quaternion.w);
}
// Overloaded operator for the addition of two quaternions
inline Quaternion Quaternion::operator+(const Quaternion& quaternion) const {
// Return the result quaternion
@ -204,6 +212,11 @@ inline bool Quaternion::operator==(const Quaternion& quaternion) const {
return (x == quaternion.x && y == quaternion.y && z == quaternion.z && w == quaternion.w);
}
// --- Others functions --- //
// Compute the spherical linear interpolation between two quaternions
Quaternion slerp(const Quaternion& quaternion1, const Quaternion& quaternion2, double t);
} // End of the ReactPhysics3D namespace
#endif