зеркало из https://github.com/mozilla/gecko-dev.git
93 строки
2.6 KiB
C++
93 строки
2.6 KiB
C++
/** @file
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@brief Header
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Must be c-safe!
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@date 2014
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@author
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Sensics, Inc.
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<http://sensics.com/osvr>
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*/
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/*
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// Copyright 2014 Sensics, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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*/
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#ifndef INCLUDED_QuaternionC_h_GUID_1470A5FE_8209_41A6_C19E_46077FDF9C66
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#define INCLUDED_QuaternionC_h_GUID_1470A5FE_8209_41A6_C19E_46077FDF9C66
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/* Internal Includes */
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#include <osvr/Util/APIBaseC.h>
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/* Library/third-party includes */
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/* none */
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/* Standard includes */
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/* none */
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OSVR_EXTERN_C_BEGIN
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/** @addtogroup UtilMath
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@{
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*/
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/** @brief A structure defining a quaternion, often a unit quaternion
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* representing 3D rotation.
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*/
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typedef struct OSVR_Quaternion {
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/** @brief Internal data - direct access not recommended */
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double data[4];
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} OSVR_Quaternion;
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#define OSVR_QUAT_MEMBER(COMPONENT, INDEX) \
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/** @brief Accessor for quaternion component COMPONENT */ \
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OSVR_INLINE double osvrQuatGet##COMPONENT(OSVR_Quaternion const *q) { \
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return q->data[INDEX]; \
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} \
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/** @brief Setter for quaternion component COMPONENT */ \
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OSVR_INLINE void osvrQuatSet##COMPONENT(OSVR_Quaternion *q, double val) { \
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q->data[INDEX] = val; \
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}
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OSVR_QUAT_MEMBER(W, 0)
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OSVR_QUAT_MEMBER(X, 1)
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OSVR_QUAT_MEMBER(Y, 2)
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OSVR_QUAT_MEMBER(Z, 3)
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#undef OSVR_QUAT_MEMBER
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/** @brief Set a quaternion to the identity rotation */
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OSVR_INLINE void osvrQuatSetIdentity(OSVR_Quaternion *q) {
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osvrQuatSetW(q, 1);
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osvrQuatSetX(q, 0);
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osvrQuatSetY(q, 0);
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osvrQuatSetZ(q, 0);
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}
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/** @} */
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OSVR_EXTERN_C_END
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#ifdef __cplusplus
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template <typename StreamType>
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inline StreamType &operator<<(StreamType &os, OSVR_Quaternion const &quat) {
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os << "(" << osvrQuatGetW(&quat) << ", (" << osvrQuatGetX(&quat) << ", "
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<< osvrQuatGetY(&quat) << ", " << osvrQuatGetZ(&quat) << "))";
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return os;
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}
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#endif
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#endif
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