72 lines
2.2 KiB
C++
72 lines
2.2 KiB
C++
// This Source Code Form is subject to the terms of the Mozilla Public
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// License, v. 2.0.If a copy of the MPL was not distributed with this
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// file, You can obtain one at https ://mozilla.org/MPL/2.0/.
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#ifndef SWINGTWIST_H
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#define SWINGTWIST_H
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#include "Angle.h"
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#include "Direction.h"
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#include "Quaternion.h"
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#include "Spherical.h"
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namespace Passer {
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namespace LinearAlgebra {
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template <typename T>
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class SwingTwistOf {
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public:
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DirectionOf<T> swing;
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AngleOf<T> twist;
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SwingTwistOf<T>();
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SwingTwistOf<T>(DirectionOf<T> swing, AngleOf<T> twist);
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SwingTwistOf<T>(AngleOf<T> horizontal, AngleOf<T> vertical, AngleOf<T> twist);
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static SwingTwistOf<T> Degrees(float horizontal,
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float vertical = 0,
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float twist = 0);
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Quaternion ToQuaternion() const;
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static SwingTwistOf<T> FromQuaternion(Quaternion q);
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SphericalOf<T> ToAngleAxis() const;
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static SwingTwistOf<T> FromAngleAxis(SphericalOf<T> aa);
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const static SwingTwistOf<T> identity;
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/// <summary>
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/// Rotate a vector using this rotation
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/// </summary>
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/// <param name="vector">The vector to rotate</param>
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/// <returns>The rotated vector</returns>
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SphericalOf<T> operator*(const SphericalOf<T>& vector) const;
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/// <summary>
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/// Multiply this rotation with another rotation
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/// </summary>
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/// <param name="rotation">The swing/twist rotation to multiply with</param>
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/// <returns>The resulting swing/twist rotation</returns>
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/// The result will be this rotation rotated according to
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/// the give rotation.
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SwingTwistOf<T> operator*(const SwingTwistOf<T>& rotation) const;
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SwingTwistOf<T> operator*=(const SwingTwistOf<T>& rotation);
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static SwingTwistOf<T> Inverse(SwingTwistOf<T> rotation);
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/// <summary>
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/// Convert an angle/axis representation to a swingt
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/// </summary>
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/// <param name="angle">The angle</param>
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/// <param name="axis">The axis</param>
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/// <returns>The resulting quaternion</returns>
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static SwingTwistOf<T> AngleAxis(float angle, const SphericalOf<T>& axis);
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};
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using SwingTwistSingle = SwingTwistOf<float>;
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using SwingTwist16 = SwingTwistOf<signed short>;
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} // namespace LinearAlgebra
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} // namespace Passer
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using namespace Passer::LinearAlgebra;
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#endif
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