d762312d68
git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@452 92aac97c-a6ce-11dd-a772-7fcde58d38e6
229 lines
10 KiB
C++
229 lines
10 KiB
C++
/********************************************************************************
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* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/ *
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* Copyright (c) 2010-2012 Daniel Chappuis *
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*********************************************************************************
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* *
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* This software is provided 'as-is', without any express or implied warranty. *
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* In no event will the authors be held liable for any damages arising from the *
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* use of this software. *
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* *
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* Permission is granted to anyone to use this software for any purpose, *
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* including commercial applications, and to alter it and redistribute it *
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* freely, subject to the following restrictions: *
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* *
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* 1. The origin of this software must not be misrepresented; you must not claim *
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* that you wrote the original software. If you use this software in a *
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* product, an acknowledgment in the product documentation would be *
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* appreciated but is not required. *
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* *
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* 2. Altered source versions must be plainly marked as such, and must not be *
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* misrepresented as being the original software. *
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* *
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* 3. This notice may not be removed or altered from any source distribution. *
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* *
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********************************************************************************/
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#ifndef QUATERNION_H
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#define QUATERNION_H
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// Libraries
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#include <cmath>
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#include "Vector3.h"
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#include "Matrix3x3.h"
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#include "exceptions.h"
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// ReactPhysics3D namespace
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namespace reactphysics3d {
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/* -------------------------------------------------------------------
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Class 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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class Quaternion {
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private :
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double x; // Component x of the quaternion
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double y; // Component y of the quaternion
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double z; // Component z of the quaternion
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double w; // Component w of the quaternion
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public :
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Quaternion(); // Constructor
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Quaternion(double x, double y, double z, double w); // Constructor with arguments
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Quaternion(double w, const Vector3& v); // Constructor with the component w and the vector v=(x y z)
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Quaternion(const Quaternion& quaternion); // Copy-constructor
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Quaternion(const Matrix3x3& matrix); // Create a unit quaternion from a rotation matrix
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~Quaternion(); // Destructor
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double getX() const; // Return the component x of the quaternion
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double getY() const; // Return the component y of the quaternion
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double getZ() const; // Return the component z of the quaternion
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double getW() const; // Return the component w of the quaternion
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void setX(double x); // Set the value x
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void setY(double y); // Set the value y
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void setZ(double z); // Set the value z
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void setW(double w); // Set the value w
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Vector3 vectorV() const; // Return the vector v=(x y z) of the quaternion
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double length() const; // Return the length of the quaternion
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Quaternion getUnit() const; // Return the unit quaternion
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Quaternion getConjugate() const; // Return the conjugate quaternion
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Quaternion getInverse() const throw (MathematicsException); // Return the inverse of the quaternion
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Matrix3x3 getMatrix() const; // Return the orientation matrix corresponding to this quaternion
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static Quaternion identity(); // Return the identity quaternion
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double dot(const Quaternion& quaternion) const; // Dot product between two quaternions
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void getRotationAngleAxis(double& angle, Vector3& axis) const; // Compute the rotation angle (in radians) and the axis
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static Quaternion slerp(const Quaternion& quaternion1,
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const Quaternion& quaternion2, double t); // Compute the spherical linear interpolation between two quaternions
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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 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); // Overloaded operator for assignment
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bool operator==(const Quaternion& quaternion) const; // Overloaded operator for equality condition
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};
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// --- Inline functions --- //
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// Get the value x (inline)
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inline double Quaternion::getX() const {
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return x;
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}
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// Get the value y (inline)
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inline double Quaternion::getY() const {
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return y;
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}
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// Get the value z (inline)
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inline double Quaternion::getZ() const {
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return z;
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}
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// Get the value w (inline)
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inline double Quaternion::getW() const {
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return w;
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}
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// Set the value x (inline)
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inline void Quaternion::setX(double x) {
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this->x = x;
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}
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// Set the value y (inline)
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inline void Quaternion::setY(double y) {
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this->y = y;
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}
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// Set the value z (inline)
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inline void Quaternion::setZ(double z) {
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this->z = z;
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}
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// Set the value w (inline)
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inline void Quaternion::setW(double w) {
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this->w = w;
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}
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// Return the vector v=(x y z) of the quaternion
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inline Vector3 Quaternion::vectorV() const {
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// Return the vector v
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return Vector3(x, y, z);
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}
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// Return the length of the quaternion (inline)
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inline double Quaternion::length() const {
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return sqrt(x*x + y*y + z*z + w*w);
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}
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// Return the unit quaternion
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inline Quaternion Quaternion::getUnit() const {
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double lengthQuaternion = length();
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// Check if the length is not equal to zero
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assert (lengthQuaternion != 0.0);
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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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}
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// Return the identity quaternion
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inline Quaternion Quaternion::identity() {
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return Quaternion(0.0, 0.0, 0.0, 1.0);
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}
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// Return the conjugate of the quaternion (inline)
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inline Quaternion Quaternion::getConjugate() const {
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return Quaternion(-x, -y, -z, w);
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}
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// Return the inverse of the quaternion (inline)
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inline Quaternion Quaternion::getInverse() const throw(MathematicsException) {
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double lengthQuaternion = length();
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lengthQuaternion = lengthQuaternion * lengthQuaternion;
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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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// Compute and return the inverse quaternion
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return Quaternion(-x/lengthQuaternion, -y/lengthQuaternion, -z/lengthQuaternion, w/lengthQuaternion);
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}
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else {
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// Throw an exception because the inverse cannot be computed
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throw MathematicsException("MathematicsException : Impossible to compute the inverse of the quaternion because it's length is zero");
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}
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}
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// Scalar product between two quaternions
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inline double Quaternion::dot(const Quaternion& quaternion) const {
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return (x*quaternion.x + y*quaternion.y + z*quaternion.z + w*quaternion.w);
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}
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// Overloaded operator for the addition of two quaternions
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inline Quaternion Quaternion::operator+(const Quaternion& quaternion) const {
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// Return the result quaternion
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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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// Overloaded operator for the substraction of two quaternions
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inline Quaternion Quaternion::operator-(const Quaternion& quaternion) const {
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// Return the result of the substraction
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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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// 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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inline Quaternion Quaternion::operator*(const Quaternion& quaternion) const {
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// Return the result of the multiplication
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return Quaternion(w*quaternion.w - vectorV().dot(quaternion.vectorV()), w*quaternion.vectorV()+quaternion.w*vectorV() + vectorV().cross(quaternion.vectorV()));
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}
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// Overloaded operator for the assignment
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inline Quaternion& Quaternion::operator=(const Quaternion& quaternion) {
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// Check for self-assignment
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if (this != &quaternion) {
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x = quaternion.x;
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y = quaternion.y;
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z = quaternion.z;
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w = quaternion.w;
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}
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// Return this quaternion
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return *this;
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}
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// Overloaded operator for equality condition
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inline bool Quaternion::operator==(const Quaternion& quaternion) const {
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return (x == quaternion.x && y == quaternion.y && z == quaternion.z && w == quaternion.w);
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}
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} // End of the ReactPhysics3D namespace
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#endif
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