#ifndef _QUATERNIONS_H_ #define _QUATERNIONS_H_ #include #include "PhysicsMath.h" /**> Quaternion Structures <**/ #define PI 3.14159265355555897932384626 #define RADIANS 0 #define DEGREES 1 #define deg2rad .0174532925 using namespace std; typedef float Matrix_t [4][4]; struct euler { float x, y, z; }; struct angle_axis { float x, y, z, angle; }; struct quaternion { float x, y, z, w; }; class XYZ{ public: float x; float y; float z; XYZ operator+(XYZ add); XYZ operator-(XYZ add); XYZ operator*(float add); XYZ operator*(XYZ add); XYZ operator/(float add); void operator+=(XYZ add); void operator-=(XYZ add); void operator*=(float add); void operator*=(XYZ add); void operator/=(float add); void operator=(float add); void vec(Vector add); bool operator==(XYZ add); }; /*********************> Quaternion Function definition <********/ quaternion To_Quat(int Degree_Flag, euler Euler); quaternion To_Quat(angle_axis Ang_Ax); quaternion To_Quat(Matrix_t m); angle_axis Quat_2_AA(quaternion Quat); void Quat_2_Matrix(quaternion Quat, Matrix_t m); quaternion Normalize(quaternion Quat); quaternion Quat_Mult(quaternion q1, quaternion q2); quaternion QNormalize(quaternion Quat); XYZ Quat2Vector(quaternion Quat); void CrossProduct(XYZ P, XYZ Q, XYZ *V); void Normalise(XYZ *vectory); float normaldotproduct(XYZ point1, XYZ point2); bool PointInTriangle(XYZ *p, XYZ normal, XYZ *p1, XYZ *p2, XYZ *p3); bool LineFacet(XYZ p1,XYZ p2,XYZ pa,XYZ pb,XYZ pc,XYZ *p); float LineFacetd(XYZ p1,XYZ p2,XYZ pa,XYZ pb,XYZ pc,XYZ *p); float LineFacetd(XYZ p1,XYZ p2,XYZ pa,XYZ pb,XYZ pc,XYZ n, XYZ *p); float LineFacetd(XYZ *p1,XYZ *p2,XYZ *pa,XYZ *pb,XYZ *pc,XYZ *n, XYZ *p); bool PointInTriangle(Vector *p, Vector normal, float p11, float p12, float p13, float p21, float p22, float p23, float p31, float p32, float p33); bool LineFacet(Vector p1,Vector p2,Vector pa,Vector pb,Vector pc,Vector *p); void ReflectVector(XYZ *vel, XYZ *n); XYZ DoRotation(XYZ thePoint, float xang, float yang, float zang); XYZ DoRotationRadian(XYZ thePoint, float xang, float yang, float zang); float findDistance(XYZ point1, XYZ point2); float findLength(XYZ point1); float findLengthfast(XYZ point1); float findDistancefast(XYZ point1, XYZ point2); float dotproduct(XYZ point1, XYZ point2); bool sphere_line_intersection ( float x1, float y1 , float z1, float x2, float y2 , float z2, float x3, float y3 , float z3, float r ); #endif