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quatd.h
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25 // This file is generated by a script. Do not edit directly. Edit the
26 // quat.template.h file to make changes.
27 
28 #ifndef PXR_BASE_GF_QUATD_H
29 #define PXR_BASE_GF_QUATD_H
30 
31 /// \file gf/quatd.h
32 /// \ingroup group_gf_LinearAlgebra
33 
34 #include "pxr/pxr.h"
35 #include "pxr/base/gf/api.h"
36 #include "pxr/base/gf/declare.h"
37 #include "pxr/base/gf/vec3d.h"
38 #include "pxr/base/gf/traits.h"
39 
40 #include <hboost/functional/hash.hpp>
41 
42 #include <iosfwd>
43 
45 
46 template <>
47 struct GfIsGfQuat<class GfQuatd> { static const bool value = true; };
48 
49 
50 /// Return the dot (inner) product of two quaternions.
51 double GfDot(const GfQuatd& q1, const GfQuatd& q2);
52 
53 
54 /// \class GfQuatd
55 /// \ingroup group_gf_LinearAlgebra
56 ///
57 /// Basic type: a quaternion, a complex number with a real coefficient and
58 /// three imaginary coefficients, stored as a 3-vector.
59 ///
60 class GfQuatd
61 {
62  public:
63  typedef double ScalarType;
65 
66  /// Default constructor leaves the quaternion undefined.
67  GfQuatd() {}
68 
69  /// Initialize the real coefficient to \p realVal and the imaginary
70  /// coefficients to zero.
71  ///
72  /// Since quaternions typically must be normalized, reasonable values for
73  /// \p realVal are -1, 0, or 1. Other values are legal but are likely to
74  /// be meaningless.
75  ///
76  explicit GfQuatd (double realVal) : _imaginary(0), _real(realVal) {}
77 
78  /// Initialize the real and imaginary coefficients.
79  GfQuatd(double real, double i, double j, double k)
80  : _imaginary(i, j, k), _real(real)
81  {
82  }
83 
84  /// Initialize the real and imaginary coefficients.
85  GfQuatd(double real, const GfVec3d &imaginary)
86  : _imaginary(imaginary), _real(real)
87  {
88  }
89 
90  /// Implicitly convert from GfQuatf.
91  GF_API
92  GfQuatd(class GfQuatf const &other);
93  /// Implicitly convert from GfQuath.
94  GF_API
95  GfQuatd(class GfQuath const &other);
96 
97  /// Return the identity quaternion, with real coefficient 1 and an
98  /// imaginary coefficients all zero.
99  static GfQuatd GetIdentity() { return GfQuatd(1.0); }
100 
101  /// Return the real coefficient.
102  double GetReal() const { return _real; }
103 
104  /// Set the real coefficient.
105  void SetReal(double real) { _real = real; }
106 
107  /// Return the imaginary coefficient.
108  const GfVec3d &GetImaginary() const { return _imaginary; }
109 
110  /// Set the imaginary coefficients.
111  void SetImaginary(const GfVec3d &imaginary) {
112  _imaginary = imaginary;
113  }
114 
115  /// Set the imaginary coefficients.
116  void SetImaginary(double i, double j, double k) {
117  _imaginary.Set(i, j, k);
118  }
119 
120  /// Return geometric length of this quaternion.
121  double GetLength() const { return GfSqrt(_GetLengthSquared()); }
122 
123  /// length of this quaternion is smaller than \p eps, return the identity
124  /// quaternion.
125  GfQuatd
126  GetNormalized(double eps = GF_MIN_VECTOR_LENGTH) const {
127  GfQuatd ret(*this);
128  ret.Normalize(eps);
129  return ret;
130  }
131 
132  /// Normalizes this quaternion in place to unit length, returning the
133  /// length before normalization. If the length of this quaternion is
134  /// smaller than \p eps, this sets the quaternion to identity.
135  GF_API
136  double Normalize(double eps = GF_MIN_VECTOR_LENGTH);
137 
138  /// Return this quaternion's conjugate, which is the quaternion with the
139  /// same real coefficient and negated imaginary coefficients.
141  return GfQuatd(GetReal(), -GetImaginary());
142  }
143 
144  /// Return this quaternion's inverse, or reciprocal. This is the
145  /// quaternion's conjugate divided by it's squared length.
146  GfQuatd GetInverse() const {
147  return GetConjugate() / _GetLengthSquared();
148  }
149 
150  /// Transform the GfVec3d point. If the quaternion is normalized,
151  /// the transformation is a rotation. Given a GfQuatd q, q.Transform(point)
152  /// is equivalent to:
153  ///
154  /// (q * GfQuatd(0, point) * q.GetInverse()).GetImaginary()
155  ///
156  /// but is more efficient.
157  GF_API
158  GfVec3d Transform(const GfVec3d& point) const;
159 
160  /// Hash.
161  friend inline size_t hash_value(const GfQuatd &q) {
162  size_t h = hboost::hash<ScalarType>()(q.GetReal());
163  hboost::hash_combine(h, q.GetImaginary());
164  return h;
165  }
166 
167  /// Component-wise negation.
168  GfQuatd operator-() const {
169  return GfQuatd(-GetReal(), -GetImaginary());
170  }
171 
172  /// Component-wise quaternion equality test. The real and imaginary parts
173  /// must match exactly for quaternions to be considered equal.
174  bool operator==(const GfQuatd &q) const {
175  return (GetReal() == q.GetReal() &&
176  GetImaginary() == q.GetImaginary());
177  }
178 
179  /// Component-wise quaternion inequality test. The real and imaginary
180  /// parts must match exactly for quaternions to be considered equal.
181  bool operator!=(const GfQuatd &q) const {
182  return !(*this == q);
183  }
184 
185  /// Post-multiply quaternion \p q into this quaternion.
186  GF_API
187  GfQuatd &operator *=(const GfQuatd &q);
188 
189  /// Multiply this quaternion's coefficients by \p s.
190  GfQuatd &operator *=(double s) {
191  _real *= s;
192  _imaginary *= s;
193  return *this;
194  }
195 
196  /// Divide this quaternion's coefficients by \p s.
197  GfQuatd &operator /=(double s) {
198  _real /= s;
199  _imaginary /= s;
200  return *this;
201  }
202 
203  /// Add quaternion \p q to this quaternion.
205  _real += q._real;
206  _imaginary += q._imaginary;
207  return *this;
208  }
209 
210  /// Component-wise unary difference operator.
212  _real -= q._real;
213  _imaginary -= q._imaginary;
214  return *this;
215  }
216 
217  /// Component-wise binary sum operator.
218  friend GfQuatd
219  operator +(const GfQuatd &q1, const GfQuatd &q2) {
220  return GfQuatd(q1) += q2;
221  }
222 
223  /// Component-wise binary difference operator.
224  friend GfQuatd
225  operator -(const GfQuatd &q1, const GfQuatd &q2) {
226  return GfQuatd(q1) -= q2;
227  }
228 
229  /// Returns the product of quaternions \p q1 and \p q2.
230  friend GfQuatd
231  operator *(const GfQuatd &q1, const GfQuatd &q2) {
232  return GfQuatd(q1) *= q2;
233  }
234 
235  /// Returns the product of quaternion \p q and scalar \p s.
236  friend GfQuatd
237  operator *(const GfQuatd &q, double s) {
238  return GfQuatd(q) *= s;
239  }
240 
241  /// Returns the product of quaternion \p q and scalar \p s.
242  friend GfQuatd
243  operator *(double s, const GfQuatd &q) {
244  return GfQuatd(q) *= s;
245  }
246 
247  /// Returns the product of quaternion \p q and scalar 1 / \p s.
248  friend GfQuatd
249  operator /(const GfQuatd &q, double s) {
250  return GfQuatd(q) /= s;
251  }
252 
253  private:
254  /// Imaginary part
255  GfVec3d _imaginary;
256 
257  /// Real part
258  double _real;
259 
260  /// Returns the square of the length
261  double
262  _GetLengthSquared() const {
263  return GfDot(*this, *this);
264  }
265 };
266 
267 /// Spherically linearly interpolate between \p q0 and \p q1.
268 ///
269 /// If the interpolant \p alpha is zero, then the result is \p q0, while
270 /// \p alpha of one yields \p q1.
272 GfSlerp(double alpha, const GfQuatd& q0, const GfQuatd& q1);
273 
275 GfSlerp(const GfQuatd& q0, const GfQuatd& q1, double alpha);
276 
277 inline double
278 GfDot(GfQuatd const &q1, GfQuatd const &q2) {
279  return GfDot(q1.GetImaginary(), q2.GetImaginary()) +
280  q1.GetReal()*q2.GetReal();
281 }
282 
283 /// Output a GfQuatd using the format (re, i, j, k)
284 /// \ingroup group_gf_DebuggingOutput
285 GF_API std::ostream& operator<<(std::ostream &, GfQuatd const &);
286 
288 
289 #endif // PXR_BASE_GF_QUATD_H
Definition: quath.h:61
const GfVec3d & GetImaginary() const
Return the imaginary coefficient.
Definition: quatd.h:108
GfQuatd GetNormalized(double eps=GF_MIN_VECTOR_LENGTH) const
Definition: quatd.h:126
GfQuatd & operator+=(const GfQuatd &q)
Add quaternion q to this quaternion.
Definition: quatd.h:204
GfQuatd()
Default constructor leaves the quaternion undefined.
Definition: quatd.h:67
double GfSqrt(double f)
Definition: math.h:80
*get result *(waiting if necessary)*A common idiom is to fire a bunch of sub tasks at the and then *wait for them to all complete We provide a helper class
Definition: thread.h:629
double GfDot(const GfQuatd &q1, const GfQuatd &q2)
Return the dot (inner) product of two quaternions.
Definition: quatd.h:278
GF_API std::ostream & operator<<(std::ostream &, GfQuatd const &)
GfQuatd & operator-=(const GfQuatd &q)
Component-wise unary difference operator.
Definition: quatd.h:211
double ScalarType
Definition: quatd.h:63
Definition: quatf.h:60
double GetLength() const
Return geometric length of this quaternion.
Definition: quatd.h:121
static GfQuatd GetIdentity()
Definition: quatd.h:99
GF_API GfQuatd GfSlerp(double alpha, const GfQuatd &q0, const GfQuatd &q1)
GLdouble GLdouble GLdouble GLdouble q
Definition: glew.h:1419
double GetReal() const
Return the real coefficient.
Definition: quatd.h:102
GF_API GfQuatd & operator*=(const GfQuatd &q)
Post-multiply quaternion q into this quaternion.
GfQuatd GetInverse() const
Definition: quatd.h:146
GfQuatd GetConjugate() const
Definition: quatd.h:140
GfQuatd(double real, double i, double j, double k)
Initialize the real and imaginary coefficients.
Definition: quatd.h:79
bool operator!=(const GfQuatd &q) const
Definition: quatd.h:181
GLfloat GLfloat GLfloat GLfloat h
Definition: glcorearb.h:2001
PXR_NAMESPACE_CLOSE_SCOPE PXR_NAMESPACE_OPEN_SCOPE
Definition: path.h:1375
GfQuatd(double realVal)
Definition: quatd.h:76
GfQuatd & operator/=(double s)
Divide this quaternion's coefficients by s.
Definition: quatd.h:197
void SetImaginary(const GfVec3d &imaginary)
Set the imaginary coefficients.
Definition: quatd.h:111
GfVec3d & Set(double s0, double s1, double s2)
Set all elements with passed arguments.
Definition: vec3d.h:130
friend GfQuatd operator+(const GfQuatd &q1, const GfQuatd &q2)
Component-wise binary sum operator.
Definition: quatd.h:219
void SetImaginary(double i, double j, double k)
Set the imaginary coefficients.
Definition: quatd.h:116
void SetReal(double real)
Set the real coefficient.
Definition: quatd.h:105
Definition: vec3d.h:63
friend size_t hash_value(const GfQuatd &q)
Hash.
Definition: quatd.h:161
#define PXR_NAMESPACE_CLOSE_SCOPE
Definition: pxr.h:91
GLsizei const GLfloat * value
Definition: glcorearb.h:823
friend GfQuatd operator*(const GfQuatd &q1, const GfQuatd &q2)
Returns the product of quaternions q1 and q2.
Definition: quatd.h:231
GfQuatd operator-() const
Component-wise negation.
Definition: quatd.h:168
GF_API GfVec3d Transform(const GfVec3d &point) const
GF_API double Normalize(double eps=GF_MIN_VECTOR_LENGTH)
Definition: quatd.h:60
GfQuatd(double real, const GfVec3d &imaginary)
Initialize the real and imaginary coefficients.
Definition: quatd.h:85
bool operator==(const GfQuatd &q) const
Definition: quatd.h:174
GLfloat GLfloat GLfloat alpha
Definition: glcorearb.h:111
GLdouble s
Definition: glew.h:1395
#define GF_MIN_VECTOR_LENGTH
Definition: limits.h:34
friend GfQuatd operator/(const GfQuatd &q, double s)
Returns the product of quaternion q and scalar 1 / s.
Definition: quatd.h:249
#define GF_API
Definition: api.h:40
GfVec3d ImaginaryType
Definition: quatd.h:64