Changeset 3822 in orxonox.OLD for orxonox/trunk/src/lib/math/vector.h

Timestamp:

Apr 14, 2005, 1:05:07 AM (19 years ago)

Author:

patrick

Message:

orxonox/trunk: quaternion functions inlined

File:

• orxonox/trunk/src/lib/math/vector.h (modified) (1 diff)

orxonox/trunk/src/lib/math/vector.h

@@ -69 +69 @@
   float w;        //!< Real part of the number
   
-  Quaternion ();
+  inline Quaternion () { w = 1; v = Vector(0,0,0); }
+  inline Quaternion (const Vector& b, float a) { w = a; v = b; }
   Quaternion (float m[4][4]);
-  Quaternion (float angle, const Vector& axis);
+  inline Quaternion (float angle, const Vector& axis) { w = cos(angle/2); v = axis * sin(angle/2); }
   Quaternion (const Vector& dir, const Vector& up);
   Quaternion (float roll, float pitch, float yaw);
-  
   Quaternion operator/ (const float& f) const;
   Quaternion operator* (const float& f) const;
   Quaternion operator* (const Quaternion& q) const;
-  Quaternion operator+ (const Quaternion& q) const;
-  Quaternion operator- (const Quaternion& q) const;
+  inline Quaternion operator+ (const Quaternion& q) const { return Quaternion(q.v + v, q.w + w); }
+  inline Quaternion operator- (const Quaternion& q) const { return Quaternion(q.v - v, q.w - w); }
   Quaternion conjugate () const;
   Quaternion inverse () const;
-  Vector apply (Vector& f) const;
+  Vector apply (Vector& f) const ;//{ Quaternion q; q.v = v; q.w = 0; q = *this * q * conjugate(); return q.v; }
   float norm () const;
   void matrix (float m[4][4]) const;